Package swervelib.parser

Class SwerveDriveConfiguration

java.lang.Object

swervelib.parser.SwerveDriveConfiguration

public class SwerveDriveConfiguration
extends Object

Swerve drive configurations used during SwerveDrive construction.

Field Summary

Fields

Modifier and Type	Field	Description
SwerveIMU	imu	Swerve IMU
final int	moduleCount	Number of modules on the robot.
Translation2d[]	moduleLocationsMeters	Swerve Module locations.
SwerveModule[]	modules	Swerve Modules.
SwerveModulePhysicalCharacteristics	physicalCharacteristics	Physical characteristics of the swerve drive from physicalproperties.json.

Constructor Summary

Constructors

Constructor	Description
SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, boolean invertedIMU, SwerveModulePhysicalCharacteristics physicalCharacteristics)	Create swerve drive configuration.

Method Summary

Modifier and Type	Method	Description
SwerveModule[]	createModules(SwerveModuleConfiguration[] swerves)	Create modules based off of the SwerveModuleConfiguration.
DCMotor	getAngleMotorSim()	Get the DCMotor corresponding to the first module configuration.
double	getDriveBaseRadiusMeters()	Calculate the Drive Base Radius
DCMotor	getDriveMotorSim()	Get the DCMotor corresponding to the first module's configuration.
Supplier<GyroSimulation>	getGyroSim()	Get the gyro simulation for the robot.
double	getTracklength()	Get the tracklength of the swerve modules.
double	getTrackwidth()	Get the trackwidth of the swerve modules.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

moduleCount

public final int moduleCount

Number of modules on the robot.

moduleLocationsMeters

public Translation2d[] moduleLocationsMeters

Swerve Module locations.

imu

public SwerveIMU imu

Swerve IMU

modules

public SwerveModule[] modules

Swerve Modules.

physicalCharacteristics

public SwerveModulePhysicalCharacteristics physicalCharacteristics

Physical characteristics of the swerve drive from physicalproperties.json.

Constructor Details

SwerveDriveConfiguration

public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs,
 SwerveIMU swerveIMU,
 boolean invertedIMU,
 SwerveModulePhysicalCharacteristics physicalCharacteristics)

Create swerve drive configuration.

Parameters:

moduleConfigs - Module configuration.

swerveIMU - Swerve IMU.

invertedIMU - Invert the IMU.

physicalCharacteristics - SwerveModulePhysicalCharacteristics to store in association with self.

Method Details

createModules

public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)

Create modules based off of the SwerveModuleConfiguration.

Parameters:

swerves - Swerve constants.

Returns:

Swerve Modules.

getDriveBaseRadiusMeters

public double getDriveBaseRadiusMeters()

Calculate the Drive Base Radius

Returns:

Drive base radius from center of robot to the farthest wheel in meters.

getTrackwidth

public double getTrackwidth()

Get the trackwidth of the swerve modules.

Returns:

Effective trackwdtih in Meters

getTracklength

public double getTracklength()

Get the tracklength of the swerve modules.

Returns:

Effective tracklength in Meters

getDriveMotorSim

public DCMotor getDriveMotorSim()

Get the DCMotor corresponding to the first module's configuration.

Returns:

DCMotor of the drive motor.

getAngleMotorSim

public DCMotor getAngleMotorSim()

Get the DCMotor corresponding to the first module configuration.

Returns:

DCMotor of the angle motor.

getGyroSim

public Supplier<GyroSimulation> getGyroSim()

Get the gyro simulation for the robot.

Returns:

GyroSimulation gyro simulation.