Package swervelib.parser.json

Class ControllerPropertiesJson

java.lang.Object

swervelib.parser.json.ControllerPropertiesJson

public class ControllerPropertiesJson
extends Object

SwerveController parsed class. Used to access the JSON data.

Field Summary

Fields

Modifier and Type	Field	Description
double	angleJoystickRadiusDeadband	The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
PIDFConfig	heading	The PID used to control the robot heading.

Constructor Summary

Constructors

Constructor	Description
ControllerPropertiesJson()

Method Summary

Modifier and Type	Method	Description
SwerveControllerConfiguration	createControllerConfiguration(SwerveDriveConfiguration driveConfiguration, double maxSpeedMPS)	Create the SwerveControllerConfiguration based on parsed and given data.

Methods inherited from class java.lang.Object

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

Field Details

angleJoystickRadiusDeadband

public double angleJoystickRadiusDeadband

The minimum radius of the angle control joystick to allow for heading adjustment of the robot.

heading

public PIDFConfig heading

The PID used to control the robot heading.

Constructor Details

ControllerPropertiesJson

public ControllerPropertiesJson()

Method Details

createControllerConfiguration

public SwerveControllerConfiguration createControllerConfiguration(SwerveDriveConfiguration driveConfiguration,
 double maxSpeedMPS)

Create the SwerveControllerConfiguration based on parsed and given data.

Parameters:

driveConfiguration - SwerveDriveConfiguration parsed configuration.

maxSpeedMPS - Maximum speed in meters per second for the angular acceleration of the robot.

Returns:

SwerveControllerConfiguration object based on parsed data.