Package frclib.drivebase

Class FrcSwerveDrive.SwerveInfo

java.lang.Object

frclib.drivebase.FrcRobotDrive.RobotInfo

frclib.drivebase.FrcSwerveDrive.SwerveInfo

Enclosing class:

FrcSwerveDrive

public static class FrcSwerveDrive.SwerveInfo
extends FrcRobotDrive.RobotInfo

This class contains Swerve Robot Info.

Field Summary

Fields

Modifier and Type	Field	Description
double	driveGearRatio
double	driveKa
double	driveKs
double	driveKv
boolean	invertGyro
double	maxAngularVelocity
double	maxSpeed
int[]	steerEncoderIds
boolean[]	steerEncoderInverted
String[]	steerEncoderNames
FrcSwerveDrive.SteerEncoderType	steerEncoderType
double[]	steerEncoderZeros
boolean	steerMotorAbsEnc
boolean	steerMotorBrushless
int[]	steerMotorIds
boolean[]	steerMotorInverted
String[]	steerMotorNames
TrcPidController.PidCoefficients	steerMotorPidCoeffs
double	steerMotorPidTolerance
FrcMotorActuator.MotorType	steerMotorType
String	steerZerosFilePath
edu.wpi.first.math.kinematics.SwerveDriveKinematics	swerveKinematics
String[]	swerveModuleNames
double	trackWidth
double	wheelBase
double	wheelBaseLength
double	wheelBaseWidth
double	wheelCircumference

Fields inherited from class frclib.drivebase.FrcRobotDrive.RobotInfo

absoluteOdometry, cam1, cam2, driveMotorAbsEnc, driveMotorBrushless, driveMotorIds, driveMotorInverted, driveMotorNames, driveMotorType, drivePidTolerance, headingWrapRangeHigh, headingWrapRangeLow, imuName, imuPort, imuType, odometryType, odWheelXScale, odWheelYScale, pidStallDetectionEnabled, ppdFollowingDistance, profiledMaxAcceleration, profiledMaxDeceleration, profiledMaxTurnRate, profiledMaxVelocity, robotLength, robotMaxAcceleration, robotMaxDeceleration, robotMaxTurnRate, robotMaxVelocity, robotName, robotWidth, turnMaxPidRampRate, turnPidCoeffs, turnPidPowerLimit, turnPidTolerance, velPidCoeffs, xDriveMaxPidRampRate, xDrivePidCoeffs, xDrivePidPowerLimit, xDrivePosScale, xOdWheelIndices, xOdWheelXOffsets, xOdWheelYOffsets, yDriveMaxPidRampRate, yDrivePidCoeffs, yDrivePidPowerLimit, yDrivePosScale, yOdWheelIndices, yOdWheelXOffsets, yOdWheelYOffsets

Constructor Summary

Constructors

Constructor	Description
SwerveInfo()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

steerEncoderType

public FrcSwerveDrive.SteerEncoderType steerEncoderType

steerEncoderNames

public String[] steerEncoderNames

steerEncoderIds

public int[] steerEncoderIds

steerEncoderInverted

public boolean[] steerEncoderInverted

steerEncoderZeros

public double[] steerEncoderZeros

steerZerosFilePath

public String steerZerosFilePath

steerMotorType

public FrcMotorActuator.MotorType steerMotorType

steerMotorBrushless

public boolean steerMotorBrushless

steerMotorAbsEnc

public boolean steerMotorAbsEnc

steerMotorNames

public String[] steerMotorNames

steerMotorIds

public int[] steerMotorIds

steerMotorInverted

public boolean[] steerMotorInverted

steerMotorPidCoeffs

public TrcPidController.PidCoefficients steerMotorPidCoeffs

steerMotorPidTolerance

public double steerMotorPidTolerance

swerveModuleNames

public String[] swerveModuleNames

wheelBaseWidth

public double wheelBaseWidth

wheelBaseLength

public double wheelBaseLength

driveGearRatio

public double driveGearRatio

invertGyro

public boolean invertGyro

wheelBase

public double wheelBase

trackWidth

public double trackWidth

wheelCircumference

public double wheelCircumference

swerveKinematics

public edu.wpi.first.math.kinematics.SwerveDriveKinematics swerveKinematics

maxSpeed

public double maxSpeed

maxAngularVelocity

public double maxAngularVelocity

driveKs

public double driveKs

driveKv

public double driveKv

driveKa

public double driveKa

Constructor Details

SwerveInfo

public SwerveInfo()