diff --git a/.project b/.project index df21935..e96dc4b 100644 --- a/.project +++ b/.project @@ -21,7 +21,7 @@ 30 org.eclipse.core.resources.regexFilterMatcher - node_modules|.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__ + node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__ diff --git a/.settings/org.eclipse.buildship.core.prefs b/.settings/org.eclipse.buildship.core.prefs index 8c6a68c..fec3882 100644 --- a/.settings/org.eclipse.buildship.core.prefs +++ b/.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= diff --git a/.vscode/settings.json b/.vscode/settings.json index c5f3f6b..e0f15db 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,3 +1,3 @@ { - "java.configuration.updateBuildConfiguration": "interactive" + "java.configuration.updateBuildConfiguration": "automatic" } \ No newline at end of file diff --git a/swervelib/.project b/swervelib/.project index 8e14152..5787acc 100644 --- a/swervelib/.project +++ b/swervelib/.project @@ -22,12 +22,12 @@ - 0 + 1673477118218 30 org.eclipse.core.resources.regexFilterMatcher - node_modules|.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__ + node_modules|\.git|__CREATED_BY_JAVA_LANGUAGE_SERVER__ diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class index 192244e..985339f 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class and b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class deleted file mode 100644 index cf25a83..0000000 Binary files a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class and /dev/null differ diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class deleted file mode 100644 index eb583bb..0000000 Binary files a/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class and /dev/null differ diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class deleted file mode 100644 index 7f0e166..0000000 Binary files a/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class and /dev/null differ diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class index 9d6ee51..57bf478 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class index abb0cf9..346005f 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class index dd7da51..07b91c6 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class index 4f16ed9..08b24ed 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class index d58d0ee..daf841c 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class and b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/InputHandler.class b/swervelib/bin/main/frc/team1711/swerve/util/InputHandler.class index fc38f9d..fa57944 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/util/InputHandler.class and b/swervelib/bin/main/frc/team1711/swerve/util/InputHandler.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/Vector.class b/swervelib/bin/main/frc/team1711/swerve/util/Vector.class index d4ffbfe..38075c6 100644 Binary files a/swervelib/bin/main/frc/team1711/swerve/util/Vector.class and b/swervelib/bin/main/frc/team1711/swerve/util/Vector.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/Manner$SpeedSupplier.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Manner$SpeedSupplier.class new file mode 100644 index 0000000..b289014 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Manner$SpeedSupplier.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/Manner.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Manner.class new file mode 100644 index 0000000..dbe1bf1 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Manner.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class new file mode 100644 index 0000000..0485c23 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class new file mode 100644 index 0000000..641a0ba Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/MovementManner.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/Odometry.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Odometry.class new file mode 100644 index 0000000..11a59c0 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Odometry.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/Position.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Position.class new file mode 100644 index 0000000..0953cdf Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/Position.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class new file mode 100644 index 0000000..5745bf4 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotMovement.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class new file mode 100644 index 0000000..d4f41b5 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/RobotTurn.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class new file mode 100644 index 0000000..0130c24 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class differ diff --git a/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class new file mode 100644 index 0000000..06626c4 Binary files /dev/null and b/swervelib/bin/main/frc/team1711/swerve/util/odometry/TurnManner.class differ diff --git a/swervelib/build.gradle b/swervelib/build.gradle index 7d80cb9..ec6c589 100644 --- a/swervelib/build.gradle +++ b/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 { diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class index 8539cd8..98e203c 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDrive.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDriveSimple.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDriveSimple.class deleted file mode 100644 index 0de3a2e..0000000 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonDriveSimple.class and /dev/null differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class deleted file mode 100644 index 3dd822b..0000000 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonTurn.class and /dev/null differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class deleted file mode 100644 index 08073f4..0000000 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/commands/AutonWheelTurn.class and /dev/null differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class index 9c028ef..a107697 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class index b623a71..da8a626 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/AutoSwerveWheel.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class index 1498e0a..bb4335d 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/GyroSwerveDrive.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class index b0eaa6f..d72fa97 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveDrive.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveWheel.class b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveWheel.class index 4d07bf8..81cc9e1 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveWheel.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/subsystems/SwerveWheel.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/InputHandler.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/InputHandler.class index 2fe5058..dc8aab3 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/InputHandler.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/InputHandler.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/Vector.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/Vector.class index 9c0439f..f800b44 100644 Binary files a/swervelib/build/classes/java/main/frc/team1711/swerve/util/Vector.class and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/Vector.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Manner$SpeedSupplier.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Manner$SpeedSupplier.class new file mode 100644 index 0000000..11938ea Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Manner$SpeedSupplier.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Manner.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Manner.class new file mode 100644 index 0000000..63f29e4 Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Manner.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class new file mode 100644 index 0000000..a6a143d Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner$MovementSpeedSupplier.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class new file mode 100644 index 0000000..527636e Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/MovementManner.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Odometry.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Odometry.class new file mode 100644 index 0000000..98b38cf Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Odometry.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Position.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Position.class new file mode 100644 index 0000000..d5b8dae Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/Position.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class new file mode 100644 index 0000000..c6bf798 Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotMovement.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class new file mode 100644 index 0000000..502e8a0 Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/RobotTurn.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class new file mode 100644 index 0000000..5f8e7f1 Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner$TurnSpeedSupplier.class differ diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class new file mode 100644 index 0000000..9583926 Binary files /dev/null and b/swervelib/build/classes/java/main/frc/team1711/swerve/util/odometry/TurnManner.class differ diff --git a/swervelib/build/docs/javadoc/allclasses-index.html b/swervelib/build/docs/javadoc/allclasses-index.html index 6665735..ecff43a 100644 --- a/swervelib/build/docs/javadoc/allclasses-index.html +++ b/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"; @@ -120,24 +120,19 @@

All Classes

AutonDrive -
A command which drives a given AutoSwerveDrive in any - direction, without turning.
+
A command to drive the robot to a given Position on the field, or to drive + using robot-relative or field-relative RobotTurn and RobotMovement + descriptor objects.
-AutonTurn - -
Turns the entire AutoSwerveDrive body in a certain direction.
- - - AutoSwerveDrive
Expands on the GyroSwerveDrive for autonomous control, requiring the use of AutoSwerveWheel rather than SwerveWheel.
- + AutoSwerveWheel
Used by AutoSwerveDrive to represent a module with encoders on the drive motors @@ -145,38 +140,89 @@

All Classes

functionality).
- + FrameOfReference
The spatial orientation to be used as a frame of reference for an autonomous command.
- + GyroSwerveDrive
Expands on the SwerveDrive for field relative control, using a gyro.
- + InputHandler
Represents a system for converting continuous user input into a usable input into robot-control functions.
- + InputHandler.Curve
A functional interface which represents an input curve, useful for allowing for better control at certain input magnitudes.
+ +Manner + +
An abstract class representing the way in which an autonomous function is performed by the robot.
+ + +Manner.SpeedSupplier + +
A functional interface which gets the speed the robot should perform an abstract autonomous task given + the amount left to be completed.
+ + + +MovementManner + +
MovementManner describes the way in which the robot moves along a given RobotMovement + path.
+ + + +MovementManner.MovementSpeedSupplier + +
A functional interface which gets the speed the robot should move at given the distance + that has yet to be traveled.
+ + + +Odometry + +
A class used in coordination with AutoSwerveDrive in order to track the position of the robot on the field.
+ + + +Position + +
Represents position of the robot on the field, with location and direction components.
+ + + +RobotMovement + +
Represents an autonomous movement of the robot (only strafing, not turning).
+ + + +RobotTurn + +
Represents an autonomous robot turn, including both the turn itself and the way the robot makes the turn.
+ + + SwerveDrive
Utilizes SwerveWheel subsystems to create a singular, easy-to-use swerve drive.
- + SwerveDrive.ControlsConfig
A class representing the configuration of relative speeds for SwerveDrive in @@ -184,14 +230,27 @@

All Classes

an InputHandler which handles user-generated input.
- + SwerveWheel
An abstract class used by SwerveDrive to represent a module.
- + +TurnManner + +
TurnManner describes the way in which the robot performs an autonomous RobotTurn.
+ + + +TurnManner.TurnSpeedSupplier + +
A functional interface which gets the speed the robot should turn at given the + remaining angle to turn.
+ + + Vector
A vector class used by SwerveDrive for calculating target velocities and rotational positions.
diff --git a/swervelib/build/docs/javadoc/allclasses.html b/swervelib/build/docs/javadoc/allclasses.html index bc0027a..ef4a897 100644 --- a/swervelib/build/docs/javadoc/allclasses.html +++ b/swervelib/build/docs/javadoc/allclasses.html @@ -22,16 +22,25 @@

All Classes

diff --git a/swervelib/build/docs/javadoc/allpackages-index.html b/swervelib/build/docs/javadoc/allpackages-index.html index bf772e1..a2e6e1e 100644 --- a/swervelib/build/docs/javadoc/allpackages-index.html +++ b/swervelib/build/docs/javadoc/allpackages-index.html @@ -116,6 +116,10 @@

All Packages

frc.team1711.swerve.util   + +frc.team1711.swerve.util.odometry +  + diff --git a/swervelib/build/docs/javadoc/element-list b/swervelib/build/docs/javadoc/element-list index 64392a3..89e52b5 100644 --- a/swervelib/build/docs/javadoc/element-list +++ b/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 diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html index f2ddbaa..04cb093 100644 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html +++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html @@ -26,8 +26,8 @@ catch(err) { } //--> -var data = {"i0":9,"i1":9}; -var tabs = {65535:["t0","All Methods"],1:["t1","Static Methods"],8:["t4","Concrete Methods"]}; +var data = {"i0":10,"i1":10,"i2":10,"i3":10}; +var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; var tableTab = "tableTab"; @@ -125,22 +125,12 @@

Class AutonDrive

  • edu.wpi.first.wpilibj2.command.CommandBase
  • -
    • - - -
    @@ -194,29 +181,23 @@

    Constructor Summary

    Description -AutonDrive​(AutoSwerveDrive swerveDrive, - double direction, - double distance, - double speed, - double wheelMarginOfError, - double correctionScalar, - FrameOfReference frameOfReference) +AutonDrive​(AutoSwerveDrive swerveDrive, + Position finalPosition, + MovementManner movementManner, + TurnManner turnManner) -
    Constructs an AutonDrive command.
    +
    Constructs an AutonDrive command given an AutoSwerveDrive subsystem instance, + a Position final position on the field, a MovementManner describing how the robot + should strafe, and a TurnManner describing how the robot should turn.
    -AutonDrive​(AutoSwerveDrive swerveDrive, - double direction, - double distance, - double speed, - double wheelMarginOfError, - double correctionScalar, - FrameOfReference frameOfReference, - double easeOutSpeed, - double easeOutDistance) +AutonDrive​(AutoSwerveDrive swerveDrive, + RobotMovement robotMovement, + RobotTurn robotTurn) -
    Constructs an AutonDrive command with an ease-out phase.
    +
    Construct an AutonDrive command given an AutoSwerveDrive subsystem instance, + a RobotMovement, and a RobotTurn.
    @@ -231,56 +212,34 @@

    Constructor Summary

    Method Summary

    - + - - - + + + - - - + + + + + + + + + + + + +
    All Methods Static Methods Concrete Methods All Methods Instance Methods Concrete Methods 
    Modifier and Type Method Description
    static AutonDrivefromMovement​(AutoSwerveDrive swerveDrive, - double inchesRight, - double inchesForward, - double speed, - double wheelMarginOfError, - double correctionScalar, - FrameOfReference frameOfReference) -
    Constructs an AutonDrive command from a desired distance to the right and forwards.
    -    		voidend​(boolean interrupted) 
    static AutonDrivefromMovement​(AutoSwerveDrive swerveDrive, - double inchesRight, - double inchesForward, - double speed, - double wheelMarginOfError, - double correctionScalar, - FrameOfReference frameOfReference, - double easeOutSpeed, - double easeOutDistance) -
    Constructs an AutonDrive command with an ease-out phase from a desired distance to the right and forwards.
    -    		voidexecute() 
    voidinitialize() 
    booleanisFinished() 
    - - @@ -317,73 +276,47 @@

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

    Constructor Detail

    - + - + @@ -397,82 +330,40 @@

    AutonDrive

    Method Detail

    - + - + + + + + + + + + diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html deleted file mode 100644 index 79c7602..0000000 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html +++ /dev/null @@ -1,407 +0,0 @@ - - - - - -AutonTurn (swervelib v4.2022.4.1 API) - - - - - - - - - - - - - -
    - -
    - -
    -
    -
    Package frc.team1711.swerve.commands
    -

    Class AutonTurn

    -
    -
    - -
    -
      -
    • -
      -
      All Implemented Interfaces:
      -
      edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Command
      -
      -
      -
      public class AutonTurn
-extends edu.wpi.first.wpilibj2.command.CommandBase
      -
      Turns the entire AutoSwerveDrive body in a certain direction.
      -
      • -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Field Summary

        -
          -
        • - - -

          Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

          -m_requirements
          • -
        -
        • -
      -
      - -
      -
        -
      • - - -

        Constructor Summary

        - - - - - - - - - - -
        Constructors 
        ConstructorDescription
        AutonTurn​(AutoSwerveDrive swerveDrive, - double direction, - double turnSpeed, - double marginOfError, - FrameOfReference frameOfReference) -
        Constructs a new AutonTurn.
        -
        -
        • -
      -
      - -
      -
        -
      • - - -

        Method Summary

        - - - - - - - - - - - - - - - - - - - - - - - - - - - -
        All Methods Instance Methods Concrete Methods 
        Modifier and TypeMethodDescription
        voidend​(boolean interrupted) 
        voidexecute() 
        voidinitialize() 
        booleanisFinished() 
        -
          -
        • - - -

          Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

          -addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName
          • -
        -
          -
        • - - -

          Methods inherited from class java.lang.Object

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

          Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

          -alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, until, withInterrupt, withTimeout
          • -
        -
        • -
      -
      -
      • -
    -
    -
    -
      -
    • - -
      -
        -
      • - - -

        Constructor Detail

        - - - -
          -
        • -

          AutonTurn

          -
          public AutonTurn​(AutoSwerveDrive swerveDrive,
-                 double direction,
-                 double turnSpeed,
-                 double marginOfError,
-                 FrameOfReference frameOfReference)
          -
          Constructs a new AutonTurn.
          -
          -
          Parameters:
          -
          swerveDrive - The AutoSwerveDrive drive train
          -
          direction - The direction, in degrees, to turn the body towards. Zero degrees - corresponds with directly forward, and an increase in direction corresponds with - a direction further clockwise from a top-down view.
          -
          turnSpeed - The turning speed of the robot. This must be on the interval (0, 1].
          -
          marginOfError - The acceptable margin of error from its target rotation, in degrees.
          -
          frameOfReference - The FrameOfReference for this autonomous command.
          -
          -
          • -
        -
        • -
      -
      - -
      -
        -
      • - - -

        Method Detail

        - - - -
          -
        • -

          initialize

          -
          public void initialize()
          -
          • -
        - - - -
          -
        • -

          execute

          -
          public void execute()
          -
          • -
        - - - -
          -
        • -

          end

          -
          public void end​(boolean interrupted)
          -
          • -
        - - - -
          -
        • -

          isFinished

          -
          public boolean isFinished()
          -
          • -
        -
        • -
      -
      -
      • -
    -
    -
    -
    - - - - diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html index 8d20455..1facf50 100644 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html +++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html @@ -166,7 +166,7 @@

    Enum Constant Summary

    FIELD
    Denoting a frame of reference for an autonomous command that is relative - to the field (or more precisely, relative to the gyro's initial orientation).
    + to the field. @@ -259,7 +259,7 @@

    ROBOT

    FIELD

    public static final FrameOfReference FIELD
    Denoting a frame of reference for an autonomous command that is relative - to the field (or more precisely, relative to the gyro's initial orientation).
    + to the field. diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html index 5181406..4fcedb4 100644 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html +++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-summary.html @@ -107,14 +107,9 @@

    Package frc.team1711.swerve.commands

    AutonDrive -
    A command which drives a given AutoSwerveDrive in any - direction, without turning.
    - - - -AutonTurn - -
    Turns the entire AutoSwerveDrive body in a certain direction.
    +
    A command to drive the robot to a given Position on the field, or to drive + using robot-relative or field-relative RobotTurn and RobotMovement + descriptor objects.
    diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html index b0479b4..1b482c7 100644 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html +++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/package-tree.html @@ -106,21 +106,12 @@

    Class Hierarchy

    - -

    Enum Hierarchy

    diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html index dd21b2c..2f07ccd 100644 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html +++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/AutoSwerveDrive.html @@ -26,7 +26,7 @@ catch(err) { } //--> -var data = {"i0":10,"i1":10}; +var data = {"i0":10,"i1":10,"i2":10}; var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]}; var altColor = "altColor"; var rowColor = "rowColor"; @@ -152,7 +152,8 @@

    Class AutoSwerveDrive

    public abstract class AutoSwerveDrive
 extends GyroSwerveDrive
    Expands on the GyroSwerveDrive for autonomous control, requiring - the use of AutoSwerveWheel rather than SwerveWheel.
    + the use of AutoSwerveWheel rather than SwerveWheel. Uses + Odometry to track the position of the robot on the field. @@ -219,18 +220,25 @@

    Method Summary

    Description -double -getDistanceTraveled() +Position +getPosition() -
    Gets the distance traveled, in inches, since the last distance reference was set.
    +
    Gets the current Position of the robot on the field.
    void -setDistanceReference() +resetPosition​(Position newPosition) -
    Sets a distance reference on the encoders, such that the output of - getDistanceTraveled() will be based on the distance from this reference.
    +
    Resets the robot's odometry to a given Position.
    + + + +protected void +updateOdometry() + +
    A method overridden in AutoSwerveDrive which is called to update the odometry systems + whenever new inputs are passed to the wheels.
    @@ -239,7 +247,7 @@

    Method Summary

    Methods inherited from class frc.team1711.swerve.subsystems.GyroSwerveDrive

    -calibrateGyro, fieldRelativeUserInputDrive, getGyroAngle, resetGyro +fieldRelativeUserInputDrive, getAbsoluteGyroAngle, getGyroAngle, resetGyro, resetGyro
    diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html index 8175b84..bef3aac 100644 --- a/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html +++ b/swervelib/build/docs/javadoc/frc/team1711/swerve/subsystems/SwerveWheel.html @@ -200,7 +200,7 @@

    Method Summary

    -protected abstract double +abstract double getDirection()
    Gets the current steering direction, in degrees, on the interval [0, 360).
    @@ -231,7 +231,7 @@

    Method Summary

    -protected void +void stop()
    Stops all movement.
    @@ -342,7 +342,7 @@

    steerAndDrive