Merge pull request #19 from frc1711/odometry

Wpilib 2023 and odometry

.project

@@ -21,7 +21,7 @@
 			<type>30</type>
 			<matcher>
 				<id>org.eclipse.core.resources.regexFilterMatcher</id>
-				<arguments>node_modules|.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
 			</matcher>
 		</filter>
 	</filteredResources>

.settings/org.eclipse.buildship.core.prefs

@@ -1,5 +1,5 @@
-arguments=
-auto.sync=false
+arguments=--init-script C\:\\Users\\gabri\\AppData\\Roaming\\Code\\User\\globalStorage\\redhat.java\\1.13.0\\config_win\\org.eclipse.osgi\\53\\0\\.cp\\gradle\\init\\init.gradle --init-script C\:\\Users\\gabri\\AppData\\Roaming\\Code\\User\\globalStorage\\redhat.java\\1.13.0\\config_win\\org.eclipse.osgi\\53\\0\\.cp\\gradle\\protobuf\\init.gradle
+auto.sync=true
 build.scans.enabled=false
 connection.gradle.distribution=GRADLE_DISTRIBUTION(WRAPPER)
 connection.project.dir=

.vscode/settings.json

@@ -1,3 +1,3 @@
 {
-    "java.configuration.updateBuildConfiguration": "interactive"
+    "java.configuration.updateBuildConfiguration": "automatic"
 }

swervelib/.project

@@ -22,12 +22,12 @@
 	</natures>
 	<filteredResources>
 		<filter>
-			<id>0</id>
+			<id>1673477118218</id>
 			<name></name>
 			<type>30</type>
 			<matcher>
 				<id>org.eclipse.core.resources.regexFilterMatcher</id>
-				<arguments>node_modules|.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
+				<arguments>node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__</arguments>
 			</matcher>
 		</filter>
 	</filteredResources>

swervelib/build.gradle

@@ -35,13 +35,14 @@ dependencies {
     // Go to https://frcmaven.wpi.edu/ui/native/release/edu/wpi/first
     // to get dependencies for all subpackages of edu.wpi.first
     // Note that edu.wpi.first.wpilibj2.command corresponds with edu.wpi.first.wpilibNewCommands
-    api 'edu.wpi.first.wpilibj:wpilibj-java:2022.4.1'
-    api 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2022.4.1'
-    api 'edu.wpi.first.wpiutil:wpiutil-java:2022.4.1'
+    api 'edu.wpi.first.wpilibj:wpilibj-java:2023.1.1'
+    api 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2023.1.1'
+    api 'edu.wpi.first.wpiutil:wpiutil-java:2023.1.1'
+    api 'edu.wpi.first.wpilibj:commands:2023.1.1'
 
 }
 
-version = 'v4.2022.4.1'
+version = 'v4.2023.1.1'
 group = 'io.github.frc1711'
 
 java {

swervelib/build/docs/javadoc/allclasses-index.html

@@ -26,7 +26,7 @@
     catch(err) {
     }
 //-->
-var data = {"i0":2,"i1":2,"i2":2,"i3":2,"i4":2,"i5":4,"i6":2,"i7":2,"i8":1,"i9":2,"i10":2,"i11":2,"i12":2};
+var data = {"i0":2,"i1":2,"i2":2,"i3":2,"i4":4,"i5":2,"i6":2,"i7":1,"i8":2,"i9":1,"i10":2,"i11":1,"i12":2,"i13":2,"i14":2,"i15":2,"i16":2,"i17":2,"i18":2,"i19":2,"i20":1,"i21":2};
 var tabs = {65535:["t0","All Classes"],1:["t1","Interface Summary"],2:["t2","Class Summary"],4:["t3","Enum Summary"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -120,78 +120,137 @@ <h1 title="All&amp;nbsp;Classes" class="title">All&nbsp;Classes</h1>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/commands/AutonDrive.html" title="class in frc.team1711.swerve.commands">AutonDrive</a></td>
 <th class="colLast" scope="row">
-<div class="block">A command which drives a given <a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveDrive</code></a> in any
- direction, without turning.</div>
+<div class="block">A command to drive the robot to a given <a href="frc/team1711/swerve/util/odometry/Position.html" title="class in frc.team1711.swerve.util.odometry"><code>Position</code></a> on the field, or to drive
+ using robot-relative or field-relative <a href="frc/team1711/swerve/util/odometry/RobotTurn.html" title="class in frc.team1711.swerve.util.odometry"><code>RobotTurn</code></a> and <a href="frc/team1711/swerve/util/odometry/RobotMovement.html" title="class in frc.team1711.swerve.util.odometry"><code>RobotMovement</code></a>
+ descriptor objects.</div>
 </th>
 </tr>
 <tr id="i2" class="altColor">
-<td class="colFirst"><a href="frc/team1711/swerve/commands/AutonTurn.html" title="class in frc.team1711.swerve.commands">AutonTurn</a></td>
-<th class="colLast" scope="row">
-<div class="block">Turns the entire <a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveDrive</code></a> body in a certain direction.</div>
-</th>
-</tr>
-<tr id="i3" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a></td>
 <th class="colLast" scope="row">
 <div class="block">Expands on the <a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>GyroSwerveDrive</code></a> for autonomous control, requiring
  the use of <a href="frc/team1711/swerve/subsystems/AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveWheel</code></a> rather than <a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a>.</div>
 </th>
 </tr>
-<tr id="i4" class="altColor">
+<tr id="i3" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/subsystems/AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a></td>
 <th class="colLast" scope="row">
 <div class="block">Used by <a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveDrive</code></a> to represent a module with encoders on the drive motors
  (in addition to the encoders on the steering motors which are necessary for basic swerve
  functionality).</div>
 </th>
 </tr>
-<tr id="i5" class="rowColor">
+<tr id="i4" class="altColor">
 <td class="colFirst"><a href="frc/team1711/swerve/commands/FrameOfReference.html" title="enum in frc.team1711.swerve.commands">FrameOfReference</a></td>
 <th class="colLast" scope="row">
 <div class="block">The spatial orientation to be used as a frame of reference for an autonomous command.</div>
 </th>
 </tr>
-<tr id="i6" class="altColor">
+<tr id="i5" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></td>
 <th class="colLast" scope="row">
 <div class="block">Expands on the <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> for field relative control, using a gyro.</div>
 </th>
 </tr>
-<tr id="i7" class="rowColor">
+<tr id="i6" class="altColor">
 <td class="colFirst"><a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a></td>
 <th class="colLast" scope="row">
 <div class="block">Represents a system for converting continuous user input into a usable input into robot-control functions.</div>
 </th>
 </tr>
-<tr id="i8" class="altColor">
+<tr id="i7" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/util/InputHandler.Curve.html" title="interface in frc.team1711.swerve.util">InputHandler.Curve</a></td>
 <th class="colLast" scope="row">
 <div class="block">A functional interface which represents an input curve, useful for allowing for better control
  at certain input magnitudes.</div>
 </th>
 </tr>
+<tr id="i8" class="altColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/Manner.html" title="class in frc.team1711.swerve.util.odometry">Manner</a></td>
+<th class="colLast" scope="row">
+<div class="block">An abstract class representing the way in which an autonomous function is performed by the robot.</div>
+</th>
+</tr>
 <tr id="i9" class="rowColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/Manner.SpeedSupplier.html" title="interface in frc.team1711.swerve.util.odometry">Manner.SpeedSupplier</a></td>
+<th class="colLast" scope="row">
+<div class="block">A functional interface which gets the speed the robot should perform an abstract autonomous task given
+ the amount left to be completed.</div>
+</th>
+</tr>
+<tr id="i10" class="altColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/MovementManner.html" title="class in frc.team1711.swerve.util.odometry">MovementManner</a></td>
+<th class="colLast" scope="row">
+<div class="block"><code>MovementManner</code> describes the way in which the robot moves along a given <a href="frc/team1711/swerve/util/odometry/RobotMovement.html" title="class in frc.team1711.swerve.util.odometry"><code>RobotMovement</code></a>
+ path.</div>
+</th>
+</tr>
+<tr id="i11" class="rowColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/MovementManner.MovementSpeedSupplier.html" title="interface in frc.team1711.swerve.util.odometry">MovementManner.MovementSpeedSupplier</a></td>
+<th class="colLast" scope="row">
+<div class="block">A functional interface which gets the speed the robot should move at given the distance
+ that has yet to be traveled.</div>
+</th>
+</tr>
+<tr id="i12" class="altColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/Odometry.html" title="class in frc.team1711.swerve.util.odometry">Odometry</a></td>
+<th class="colLast" scope="row">
+<div class="block">A class used in coordination with <a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveDrive</code></a> in order to track the position of the robot on the field.</div>
+</th>
+</tr>
+<tr id="i13" class="rowColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/Position.html" title="class in frc.team1711.swerve.util.odometry">Position</a></td>
+<th class="colLast" scope="row">
+<div class="block">Represents position of the robot on the field, with location and direction components.</div>
+</th>
+</tr>
+<tr id="i14" class="altColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/RobotMovement.html" title="class in frc.team1711.swerve.util.odometry">RobotMovement</a></td>
+<th class="colLast" scope="row">
+<div class="block">Represents an autonomous movement of the robot (only strafing, not turning).</div>
+</th>
+</tr>
+<tr id="i15" class="rowColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/RobotTurn.html" title="class in frc.team1711.swerve.util.odometry">RobotTurn</a></td>
+<th class="colLast" scope="row">
+<div class="block">Represents an autonomous robot turn, including both the turn itself and the way the robot makes the turn.</div>
+</th>
+</tr>
+<tr id="i16" class="altColor">
 <td class="colFirst"><a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></td>
 <th class="colLast" scope="row">
 <div class="block">Utilizes <a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveWheel</code></a> subsystems to create a singular, easy-to-use swerve drive.</div>
 </th>
 </tr>
-<tr id="i10" class="altColor">
+<tr id="i17" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></td>
 <th class="colLast" scope="row">
 <div class="block">A class representing the configuration of relative speeds for <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> in
  <a href="frc/team1711/swerve/subsystems/SwerveDrive.html#userInputDrive(double,double,double,frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig)"><code>SwerveDrive.userInputDrive(double, double, double, ControlsConfig)</code></a>, along with
  an <a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util"><code>InputHandler</code></a> which handles user-generated input.</div>
 </th>
 </tr>
-<tr id="i11" class="rowColor">
+<tr id="i18" class="altColor">
 <td class="colFirst"><a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a></td>
 <th class="colLast" scope="row">
 <div class="block">An abstract class used by <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> to represent a
  module.</div>
 </th>
 </tr>
-<tr id="i12" class="altColor">
+<tr id="i19" class="rowColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/TurnManner.html" title="class in frc.team1711.swerve.util.odometry">TurnManner</a></td>
+<th class="colLast" scope="row">
+<div class="block"><code>TurnManner</code> describes the way in which the robot performs an autonomous <a href="frc/team1711/swerve/util/odometry/RobotTurn.html" title="class in frc.team1711.swerve.util.odometry"><code>RobotTurn</code></a>.</div>
+</th>
+</tr>
+<tr id="i20" class="altColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/odometry/TurnManner.TurnSpeedSupplier.html" title="interface in frc.team1711.swerve.util.odometry">TurnManner.TurnSpeedSupplier</a></td>
+<th class="colLast" scope="row">
+<div class="block">A functional interface which gets the speed the robot should turn at given the
+ remaining angle to turn.</div>
+</th>
+</tr>
+<tr id="i21" class="rowColor">
 <td class="colFirst"><a href="frc/team1711/swerve/util/Vector.html" title="class in frc.team1711.swerve.util">Vector</a></td>
 <th class="colLast" scope="row">
 <div class="block">A vector class used by <a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> for calculating target velocities and rotational positions.</div>

swervelib/build/docs/javadoc/allclasses.html

@@ -22,16 +22,25 @@ <h1 class="bar">All&nbsp;Classes</h1>
 <ul>
 <li><a href="frc/team1711/swerve/util/Angles.html" title="class in frc.team1711.swerve.util">Angles</a></li>
 <li><a href="frc/team1711/swerve/commands/AutonDrive.html" title="class in frc.team1711.swerve.commands">AutonDrive</a></li>
-<li><a href="frc/team1711/swerve/commands/AutonTurn.html" title="class in frc.team1711.swerve.commands">AutonTurn</a></li>
 <li><a href="frc/team1711/swerve/subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a></li>
 <li><a href="frc/team1711/swerve/subsystems/AutoSwerveWheel.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveWheel</a></li>
 <li><a href="frc/team1711/swerve/commands/FrameOfReference.html" title="enum in frc.team1711.swerve.commands">FrameOfReference</a></li>
 <li><a href="frc/team1711/swerve/subsystems/GyroSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">GyroSwerveDrive</a></li>
 <li><a href="frc/team1711/swerve/util/InputHandler.html" title="class in frc.team1711.swerve.util">InputHandler</a></li>
 <li><a href="frc/team1711/swerve/util/InputHandler.Curve.html" title="interface in frc.team1711.swerve.util"><span class="interfaceName">InputHandler.Curve</span></a></li>
+<li><a href="frc/team1711/swerve/util/odometry/Manner.html" title="class in frc.team1711.swerve.util.odometry">Manner</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/Manner.SpeedSupplier.html" title="interface in frc.team1711.swerve.util.odometry"><span class="interfaceName">Manner.SpeedSupplier</span></a></li>
+<li><a href="frc/team1711/swerve/util/odometry/MovementManner.html" title="class in frc.team1711.swerve.util.odometry">MovementManner</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/MovementManner.MovementSpeedSupplier.html" title="interface in frc.team1711.swerve.util.odometry"><span class="interfaceName">MovementManner.MovementSpeedSupplier</span></a></li>
+<li><a href="frc/team1711/swerve/util/odometry/Odometry.html" title="class in frc.team1711.swerve.util.odometry">Odometry</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/Position.html" title="class in frc.team1711.swerve.util.odometry">Position</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/RobotMovement.html" title="class in frc.team1711.swerve.util.odometry">RobotMovement</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/RobotTurn.html" title="class in frc.team1711.swerve.util.odometry">RobotTurn</a></li>
 <li><a href="frc/team1711/swerve/subsystems/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive</a></li>
 <li><a href="frc/team1711/swerve/subsystems/SwerveDrive.ControlsConfig.html" title="class in frc.team1711.swerve.subsystems">SwerveDrive.ControlsConfig</a></li>
 <li><a href="frc/team1711/swerve/subsystems/SwerveWheel.html" title="class in frc.team1711.swerve.subsystems">SwerveWheel</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/TurnManner.html" title="class in frc.team1711.swerve.util.odometry">TurnManner</a></li>
+<li><a href="frc/team1711/swerve/util/odometry/TurnManner.TurnSpeedSupplier.html" title="interface in frc.team1711.swerve.util.odometry"><span class="interfaceName">TurnManner.TurnSpeedSupplier</span></a></li>
 <li><a href="frc/team1711/swerve/util/Vector.html" title="class in frc.team1711.swerve.util">Vector</a></li>
 </ul>
 </main>

swervelib/build/docs/javadoc/allpackages-index.html

@@ -116,6 +116,10 @@ <h1 title="All&amp;nbsp;Packages" class="title">All&nbsp;Packages</h1>
 <th class="colFirst" scope="row"><a href="frc/team1711/swerve/util/package-summary.html">frc.team1711.swerve.util</a></th>
 <td class="colLast">&nbsp;</td>
 </tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="frc/team1711/swerve/util/odometry/package-summary.html">frc.team1711.swerve.util.odometry</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
 </tbody>
 </table>
 </li>

swervelib/build/docs/javadoc/element-list

@@ -1,3 +1,4 @@
 frc.team1711.swerve.commands
 frc.team1711.swerve.subsystems
 frc.team1711.swerve.util
+frc.team1711.swerve.util.odometry