Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.CanandcoderCanandmagCanandcoder representing the CANandCoder on the CAN bus.Canandmag representing the CANandCoder on the CAN bus.ADXRS450_Gyro device to read the current headings from.voidsetVisionMeasurementStdDevs(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs) voidvoidupdateCacheValidityPeriods(long imu,
- long driveMotor,
- long absoluteEncoder) voidupdateCacheValidityPeriods(long imu,
+ long driveMotor,
+ long absoluteEncoder) voidzeroGyro()voidzeroGyro()visionMeasurementStdDevs - Standard deviations of the vision measurements. Increase these numbers to trust
+ global measurements from vision less. This matrix is in the form [x, y, theta],
+ with units in meters and radians.Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.com.reduxrobotics.sensors.canandcoder.Canandcodercom.reduxrobotics.sensors.canandmag.CanandmagCanandcoder representing the CANandCoder on the CAN bus.Canandmag representing the CANandCoder on the CAN bus.CanAndCoderSwerve(int canid) CanandcoderCanandmagCanandcoder representing the CANandCoder on the CAN bus.Canandmag representing the CANandCoder on the CAN bus.CanandcoderCanandmagcanid - The CAN ID whenever the CANandCoder is operating on the CANBus.Canandcoder from ReduxRobotics absolute encoder, attached through the CAN bus.Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.edu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) edu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) edu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) private final edu.wpi.first.wpilibj.AnalogGyroedu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) private com.kauailabs.navx.frc.AHRSedu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) edu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) edu.wpi.first.math.geometry.Rotation3ddoublegetRate()Rotation3d from the IMU without any zeroing.edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.voidsetInverted(boolean invertIMU) edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) abstract edu.wpi.first.math.geometry.Rotation3dabstract doublegetRate()Rotation3d from the IMU without any zeroing.abstract edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.Rotation3d from the IMU without any zeroing.abstract voidsetInverted(boolean invertIMU) abstract edu.wpi.first.math.geometry.Rotation3dRotation3d from the IMU.abstract voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset) setInverted(boolean invertIMU) abstract voidsetOffset(edu.wpi.first.math.geometry.Rotation3d offset)
A more formal definition: returns the closest angle n to scopeReference such that n is
congruent to newAngle.
* A more formal definition: returns the closest angle {@code n} to {@code scopeReference} such that {@code n} is * congruent to {@code newAngle}. * diff --git a/swervelib/motors/SparkFlexSwerve.java b/swervelib/motors/SparkFlexSwerve.java index 0c96826a..40a27702 100644 --- a/swervelib/motors/SparkFlexSwerve.java +++ b/swervelib/motors/SparkFlexSwerve.java @@ -200,7 +200,11 @@ public void clearStickyFaults() @Override public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) { - if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor) + if (encoder == null) + { + absoluteEncoder = null; + configureSparkFlex(() -> pid.setFeedbackDevice(this.encoder)); + } else if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor) { absoluteEncoderOffsetWarning.set(true); absoluteEncoder = encoder; diff --git a/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/swervelib/motors/SparkMaxBrushedMotorSwerve.java index bb33fc4c..d8fb2a8a 100644 --- a/swervelib/motors/SparkMaxBrushedMotorSwerve.java +++ b/swervelib/motors/SparkMaxBrushedMotorSwerve.java @@ -237,7 +237,11 @@ public void clearStickyFaults() @Override public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) { - if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) + if (encoder == null) + { + absoluteEncoder = null; + configureSparkMax(() -> pid.setFeedbackDevice(this.encoder)); + } else if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder) { absoluteEncoder = (AbsoluteEncoder) encoder.getAbsoluteEncoder(); configureSparkMax(() -> pid.setFeedbackDevice(absoluteEncoder)); diff --git a/swervelib/motors/SparkMaxSwerve.java b/swervelib/motors/SparkMaxSwerve.java index aa19a0cf..a2c421e1 100644 --- a/swervelib/motors/SparkMaxSwerve.java +++ b/swervelib/motors/SparkMaxSwerve.java @@ -192,10 +192,16 @@ public void clearStickyFaults() @Override public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder) { - if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor) + if (encoder == null) + { + absoluteEncoder = null; + configureSparkMax(() -> pid.setFeedbackDevice(this.encoder)); + velocity = this.encoder::getVelocity; + position = this.encoder::getPosition; + } else if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor) { DriverStation.reportWarning( - "IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the" + + "IF possible configure the encoder offset in the REV Hardware Client instead of using the" + " absoluteEncoderOffset in the Swerve Module JSON!", false); absoluteEncoder = encoder; diff --git a/swervelib/parser/SwerveDriveConfiguration.java b/swervelib/parser/SwerveDriveConfiguration.java index d3bcf0c1..347b187d 100644 --- a/swervelib/parser/SwerveDriveConfiguration.java +++ b/swervelib/parser/SwerveDriveConfiguration.java @@ -11,6 +11,10 @@ public class SwerveDriveConfiguration { + /** + * Number of modules on the robot. + */ + public final int moduleCount; /** * Swerve Module locations. */ @@ -19,10 +23,6 @@ public class SwerveDriveConfiguration * Swerve IMU */ public SwerveIMU imu; - /** - * Number of modules on the robot. - */ - public final int moduleCount; /** * Swerve Modules. */ diff --git a/swervelib/parser/json/ModuleJson.java b/swervelib/parser/json/ModuleJson.java index 5eb34713..4e89652b 100644 --- a/swervelib/parser/json/ModuleJson.java +++ b/swervelib/parser/json/ModuleJson.java @@ -81,15 +81,6 @@ public SwerveModuleConfiguration createModuleConfiguration( SwerveMotor angleMotor = angle.createMotor(false); SwerveAbsoluteEncoder absEncoder = encoder.createEncoder(angleMotor); - // If the absolute encoder is attached. - if (absEncoder != null && angleMotor.getMotor() instanceof CANSparkMax) - { - if (absEncoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor) - { - angleMotor.setAbsoluteEncoder(absEncoder); - } - } - // Setup deprecation notice. // if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0) // { diff --git a/swervelib/parser/json/PhysicalPropertiesJson.java b/swervelib/parser/json/PhysicalPropertiesJson.java index 7715d9d9..60be9d25 100644 --- a/swervelib/parser/json/PhysicalPropertiesJson.java +++ b/swervelib/parser/json/PhysicalPropertiesJson.java @@ -2,8 +2,6 @@ import swervelib.parser.SwerveModulePhysicalCharacteristics; import swervelib.parser.json.modules.ConversionFactorsJson; -import swervelib.telemetry.Alert; -import swervelib.telemetry.Alert.AlertType; /** * {@link swervelib.parser.SwerveModulePhysicalCharacteristics} parsed data. Used to configure the SwerveModule.