diff --git a/3128-Common.json b/3128-Common.json
index 36f48de..857eab0 100644
--- a/3128-Common.json
+++ b/3128-Common.json
@@ -1,6 +1,6 @@
{
"name": "3128-common",
- "version": "1.2.8",
+ "version": "1.3.0",
"uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
"frcYear": "2024",
"mavenUrls": [
@@ -12,7 +12,7 @@
{
"groupId": "com.github.Team3128",
"artifactId": "3128-common",
- "version": "1.2.8"
+ "version": "1.3.0"
}
],
"jniDependencies": [],
diff --git a/3128-common.json b/3128-common.json
index 36f48de..857eab0 100644
--- a/3128-common.json
+++ b/3128-common.json
@@ -1,6 +1,6 @@
{
"name": "3128-common",
- "version": "1.2.8",
+ "version": "1.3.0",
"uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
"frcYear": "2024",
"mavenUrls": [
@@ -12,7 +12,7 @@
{
"groupId": "com.github.Team3128",
"artifactId": "3128-common",
- "version": "1.2.8"
+ "version": "1.3.0"
}
],
"jniDependencies": [],
diff --git a/doc/allclasses-index.html b/doc/allclasses-index.html
index f6ecf86..904dff7 100644
--- a/doc/allclasses-index.html
+++ b/doc/allclasses-index.html
@@ -123,137 +123,141 @@
All Classes and Interfaces<
Team 3128's streamlined PhotonCamera
class that provides additional functionality and ease of use.
-
+
-
Team 3128's streamlined CANSparkMax
class.
+
Team 3128's streamlined CANSparkBase
class.
-
+
-
Type of encoder used
+
Type of controller used
-
+
+
+
Team 3128's status frames
-
-
+
+
Wrapper for the WPILib Joystick
class.
-
-
+
+
Team 3128's motor class replacement for MotorController
-
-
+
+
-
-
+
+
Store conversion factors for motor
-
-
-
-
+
+
+
+
Motor states when no voltage is applied
-
-
+
+
Team 3128's PIDCommand that uses a ControllerBase to control an output.
-
-
+
+
A subsystem based off of PIDSubsystem
-
-
+
+
Team 3128's Robot class that includes advantageScope and addPeriodic
-
-
-
-
+
+
+
+
Team 3128's Wrapper class for Shuffleboard
-
-
+
+
Team 3128's streamlined WPI_TalonSRX
class.
-
-
+
+
Wrapper for the WPILib XboxController class.
-
-
+
+
Enum to represent buttons
-
-
+
+
Team 3128's WebSocketServer
class, used to log robot data and select autos
-
-
+
+
Stores PID and feedforward constants.
-
-
-
-
+
+
+
+
Team 3128's Pivot Template class.
-
-
+
+
Team 3128's class to take the derivative of a Polynomial Regression function.
-
-
+
+
The PolynomialRegression
class performs a polynomial regression on an set of N
data points (yi , xi ).
-
-
+
+
Team 3128's Shooter Template class.
-
-
-
-
+
+
+
+
-
-
+
+
Team 3128's conversion class for Swerve
-
-
+
+
Team 3128's Swerve Module class
-
-
+
+
Swerve Module configuration class which is used to configure
SwerveModule
.
-
-
-
+
-
-
+
+
+
+
Team 3128's Tester utility class used to run system checks at competitions.
-
-
+
+
Collection of tests to be run for a system
-
-
+
+
Enum representing test states
-
-
+
+
-
-
+
+
Team 3128's streamlined ProfiledPIDController
class.
diff --git a/doc/common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html b/doc/common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html
index 4df99b4..20ec50b 100644
--- a/doc/common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html
+++ b/doc/common/core/swerve/SwerveModuleConfig.SwerveMotorConfig.html
@@ -89,11 +89,11 @@
Field Summary
-
-
+
+
-
final int
-
+
+
@@ -109,7 +109,7 @@
Constructor Summary
-
SwerveMotorConfig (int motorID,
+
@@ -135,9 +135,9 @@ Methods inherited from cl
Field Details
-
-motorID
-public final int motorID
+
@@ -161,9 +161,9 @@ pidffConfig
Constructor Details
-
+
SwerveMotorConfig
-public SwerveMotorConfig (int motorID,
+
diff --git a/doc/common/hardware/motorcontroller/NAR_CANSparkMax.EncoderType.html b/doc/common/hardware/motorcontroller/NAR_CANSpark.ControllerType.html
similarity index 87%
rename from doc/common/hardware/motorcontroller/NAR_CANSparkMax.EncoderType.html
rename to doc/common/hardware/motorcontroller/NAR_CANSpark.ControllerType.html
index a3ed84d..c8a1481 100644
--- a/doc/common/hardware/motorcontroller/NAR_CANSparkMax.EncoderType.html
+++ b/doc/common/hardware/motorcontroller/NAR_CANSpark.ControllerType.html
@@ -2,10 +2,10 @@
-NAR_CANSparkMax.EncoderType (3128-common)
+NAR_CANSpark.ControllerType (3128-common)
-
+
@@ -68,26 +68,26 @@
java.lang.Object
-
@@ -108,9 +108,9 @@ Enum Constant Summary
@@ -126,12 +126,12 @@
Method Summary
-
+
Returns the enum constant of this class with the specified name.
-
+
Returns an array containing the constants of this enum class, in
@@ -158,15 +158,15 @@
Methods inherited from cl
Enum Constant Details
@@ -180,7 +180,7 @@ Method Details
values
-
+
Returns an array containing the constants of this enum class, in
the order they are declared.
@@ -192,7 +192,7 @@ values
valueOf
-
+
Returns the enum constant of this class with the specified name.
The string must match
exactly an identifier used to declare an
enum constant in this class. (Extraneous whitespace characters are
diff --git a/doc/common/hardware/motorcontroller/NAR_CANSpark.EncoderType.html b/doc/common/hardware/motorcontroller/NAR_CANSpark.EncoderType.html
new file mode 100644
index 0000000..4c0a773
--- /dev/null
+++ b/doc/common/hardware/motorcontroller/NAR_CANSpark.EncoderType.html
@@ -0,0 +1,221 @@
+
+
+
+
+
NAR_CANSpark.EncoderType (3128-common)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+JavaScript is disabled on your browser.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Nested Class Summary
+
+
+
+
+
+
+Enum Constant Summary
+Enum Constants
+
+
+
+
+
+
+Method Summary
+
+
All Methods Static Methods Concrete Methods
+
+
+
+
+
+
+
+
+
Returns the enum constant of this class with the specified name.
+
+
+
+
+
Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+
+
+
+
+
Methods inherited from class java.lang.Enum
+
clone , compareTo , describeConstable , equals , finalize , getDeclaringClass , hashCode , name , ordinal , toString , valueOf
+
+
+
+
+
+
+
+
+
+
+Enum Constant Details
+
+
+
+
+
+
+Method Details
+
+
+
+values
+
+Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+Returns:
+an array containing the constants of this enum class, in the order they are declared
+
+
+
+
+
+valueOf
+
+Returns the enum constant of this class with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this class. (Extraneous whitespace characters are
+not permitted.)
+
+Parameters:
+name
- the name of the enum constant to be returned.
+Returns:
+the enum constant with the specified name
+Throws:
+IllegalArgumentException
- if this enum class has no constant with the specified name
+NullPointerException
- if the argument is null
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/doc/common/hardware/motorcontroller/NAR_CANSparkMax.SparkMaxConfig.html b/doc/common/hardware/motorcontroller/NAR_CANSpark.SparkMaxConfig.html
similarity index 87%
rename from doc/common/hardware/motorcontroller/NAR_CANSparkMax.SparkMaxConfig.html
rename to doc/common/hardware/motorcontroller/NAR_CANSpark.SparkMaxConfig.html
index 06f2509..8ff0045 100644
--- a/doc/common/hardware/motorcontroller/NAR_CANSparkMax.SparkMaxConfig.html
+++ b/doc/common/hardware/motorcontroller/NAR_CANSpark.SparkMaxConfig.html
@@ -2,10 +2,10 @@
-
NAR_CANSparkMax.SparkMaxConfig (3128-common)
+
NAR_CANSpark.SparkMaxConfig (3128-common)
-
+
@@ -68,25 +68,25 @@
java.lang.Object
-
@@ -165,12 +165,12 @@ Method Summary
-
+
Returns the enum constant of this class with the specified name.
-
+
Returns an array containing the constants of this enum class, in
@@ -199,31 +199,31 @@
Enum Constant Details
@@ -287,7 +287,7 @@
Method Details
values
-
+
Returns an array containing the constants of this enum class, in
the order they are declared.
@@ -299,7 +299,7 @@ values
valueOf
-
+
Returns the enum constant of this class with the specified name.
The string must match
exactly an identifier used to declare an
enum constant in this class. (Extraneous whitespace characters are
diff --git a/doc/common/hardware/motorcontroller/NAR_CANSparkMax.html b/doc/common/hardware/motorcontroller/NAR_CANSpark.html
similarity index 83%
rename from doc/common/hardware/motorcontroller/NAR_CANSparkMax.html
rename to doc/common/hardware/motorcontroller/NAR_CANSpark.html
index bdd19df..d88904f 100644
--- a/doc/common/hardware/motorcontroller/NAR_CANSparkMax.html
+++ b/doc/common/hardware/motorcontroller/NAR_CANSpark.html
@@ -2,10 +2,10 @@
-
NAR_CANSparkMax (3128-common)
+
NAR_CANSpark (3128-common)
-
+
@@ -68,11 +68,11 @@
@@ -81,9 +81,9 @@ Class NAR_CANSparkMax
AutoCloseable
-public class NAR_CANSparkMax
+
-
Team 3128's streamlined CANSparkMax
class.
+
Team 3128's streamlined CANSparkBase
class.
Since:
2023 Charged Up
@@ -101,13 +101,18 @@ Nested Class Summary
static enum
-
+
-
Type of encoder used
+
Type of controller used
static enum
-
+
+static enum
+
+
Team 3128's status frames
@@ -125,7 +130,7 @@ Field Summary
-protected final com.revrobotics.CANSparkMax
+protected final com.revrobotics.CANSparkBase
@@ -142,29 +147,37 @@ Constructor Summary
-
+
Create a new object to control a SPARK MAX motor
-
NAR_CANSparkMax (int deviceNumber,
- com.revrobotics.CANSparkLowLevel.MotorType type)
+
-
Create a new object to control a SPARK MAX motor
+
Create a new object to control a SPARK motor
-
+
-
Create a new object to control a SPARK MAX motor
+
Create a new object to control a SPARK motor
+
+
+
+
Create a new object to control a SPARK motor
-
NAR_CANSparkMax (int deviceNumber,
- com.revrobotics.CANSparkLowLevel.MotorType type,
- NAR_CANSparkMax.EncoderType encoderType,
+
-
-
Create a new object to control a SPARK MAX motor
+
+
Create a new object to control a SPARK motor
@@ -207,7 +220,7 @@ Method Summary
Sets voltage compensation, keeps output consistent when battery is above x volts
void
-
follow (NAR_CANSparkMax leader,
+
Sets a motor's output based on the leader's
@@ -222,7 +235,7 @@
Method Summary
Gets the motors current output
-
com.revrobotics.CANSparkMax
+
com.revrobotics.CANSparkBase
Returns the motor object controlling the motion
@@ -290,21 +303,26 @@
Method Summary
Set the rate of transmission for periodic frames from the SPARK MAX
-
protected void
-
+
void
+
-
Sets motor output based on its position
+
Set the PID values for the controller.
-
void
-
+
protected void
+
+
Sets motor output based on its position
+
+
void
+
+
Set the rate of transmission for periodic frames from the SPARK MAX
-
protected void
-
setVelocity (double rpm,
+protected void
+
-
+
Sets the motor output based on its velocity
@@ -330,7 +348,7 @@ Field Details
motor
-protected final com.revrobotics.CANSparkMax motor
+protected final com.revrobotics.CANSparkBase motor
@@ -342,21 +360,23 @@ motor
Constructor Details
-
-NAR_CANSparkMax
-public NAR_CANSparkMax (int deviceNumber,
- com.revrobotics.CANSparkLowLevel.MotorType type,
- NAR_CANSparkMax.EncoderType encoderType,
+
+NAR_CANSpark
+
-Create a new object to control a SPARK MAX motor
+Create a new object to control a SPARK motor
Parameters:
deviceNumber
- The device ID.
+controllerType
- The type of controller used, ie. CAN_SPARK_MAX or CAN_SPARK_FLEX
encoderType
- The type of encoder used, ie. relative build in encoder or absolute encoder
connected by an adapter.
-type
- The motor type connected to the controller. Brushless motor wires must be connected
+motorType
- The motor type connected to the controller. Brushless motor wires must be connected
to their matching colors and the hall sensor must be plugged in. Brushed motors must be
connected to the Red and Black terminals only.
kP
- The proportional coefficient of the on board PIDController.
@@ -366,16 +386,18 @@ NAR_CANSparkMax
-
-NAR_CANSparkMax
-
-Create a new object to control a SPARK MAX motor
+
+NAR_CANSpark
+
+Create a new object to control a SPARK motor
Parameters:
deviceNumber
- The device ID.
-type
- The motor type connected to the controller. Brushless motor wires must be connected
+controllerType
- The type of controller used, ie. CAN_SPARK_MAX or CAN_SPARK_FLEX
+motorType
- The motor type connected to the controller. Brushless motor wires must be connected
to their matching colors and the hall sensor must be plugged in. Brushed motors must be
connected to the Red and Black terminals only.
encoderType
- The type of encoder used, ie. relative build in encoder or absolute encoder
@@ -384,24 +406,39 @@ NAR_CANSparkMax
-
-NAR_CANSparkMax
-public NAR_CANSparkMax (int deviceNumber,
- com.revrobotics.CANSparkLowLevel.MotorType type)
-Create a new object to control a SPARK MAX motor
+
+NAR_CANSpark
+public NAR_CANSpark (int deviceNumber,
+ NAR_CANSpark.ControllerType controllerType,
+ com.revrobotics.CANSparkLowLevel.MotorType motorType)
+Create a new object to control a SPARK motor
Parameters:
deviceNumber
- The device ID.
-type
- The motor type connected to the controller. Brushless motor wires must be connected
+controllerType
- The type of controller used, ie. CAN_SPARK_MAX or CAN_SPARK_FLEX
+motorType
- The motor type connected to the controller. Brushless motor wires must be connected
to their matching colors and the hall sensor must be plugged in. Brushed motors must be
connected to the Red and Black terminals only.
+
+NAR_CANSpark
+
+Create a new object to control a SPARK motor
+
+Parameters:
+deviceNumber
- The device ID.
+controllerType
- The type of controller used, ie. CAN_SPARK_MAX or CAN_SPARK_FLEX
+
+
+
+
-NAR_CANSparkMax
-public NAR_CANSparkMax (int deviceNumber)
+NAR_CANSpark
+public NAR_CANSpark (int deviceNumber)
Create a new object to control a SPARK MAX motor
Parameters:
@@ -441,6 +478,17 @@ initShuffleboard
+
+setPID
+
+Set the PID values for the controller.
+
+Parameters:
+config
- PIDFFConfig containing kP, kI, and kD values.
+
+
+
+
setCurrentLimit
public void setCurrentLimit (int limit)
@@ -489,9 +537,9 @@ setPeriodicFramePeriod
-
+
setStatusFrames
-
+
Set the rate of transmission for periodic frames from the SPARK MAX
Each motor controller sends back status frames with different data at set rates. Use this
@@ -536,9 +584,9 @@
burnFlash
-
+
follow
-public void follow (NAR_CANSparkMax leader,
+
Sets a motor's output based on the leader's
@@ -733,7 +781,7 @@ setCoastMode
getMotor
-public com.revrobotics.CANSparkMax getMotor ()
+public com.revrobotics.CANSparkBase getMotor ()
Returns the motor object controlling the motion
diff --git a/doc/common/hardware/motorcontroller/NAR_Motor.html b/doc/common/hardware/motorcontroller/NAR_Motor.html
index 4504c7f..9645cb8 100644
--- a/doc/common/hardware/motorcontroller/NAR_Motor.html
+++ b/doc/common/hardware/motorcontroller/NAR_Motor.html
@@ -80,7 +80,7 @@ Class NAR_Motor
Direct Known Subclasses:
-NAR_CANSparkMax
, NAR_TalonSRX
+NAR_CANSpark
, NAR_TalonSRX
public abstract class NAR_Motor
diff --git a/doc/common/hardware/motorcontroller/package-summary.html b/doc/common/hardware/motorcontroller/package-summary.html
index 2d4e4ca..d0eb0ab 100644
--- a/doc/common/hardware/motorcontroller/package-summary.html
+++ b/doc/common/hardware/motorcontroller/package-summary.html
@@ -76,38 +76,42 @@
Package common
Constants for motor control / conversion.
-
+
-
Team 3128's streamlined CANSparkMax
class.
+
Team 3128's streamlined CANSparkBase
class.
-
+
-
Type of encoder used
+
Type of controller used
-
+
+
+
Team 3128's status frames
-
-
+
+
Team 3128's motor class replacement for MotorController
-
-
+
+
-
-
+
+
Store conversion factors for motor
-
-
-
-
+
+
+
+
Motor states when no voltage is applied
-
-
+
+
Team 3128's streamlined WPI_TalonSRX
class.
diff --git a/doc/common/hardware/motorcontroller/package-tree.html b/doc/common/hardware/motorcontroller/package-tree.html
index b5b5f20..b51171d 100644
--- a/doc/common/hardware/motorcontroller/package-tree.html
+++ b/doc/common/hardware/motorcontroller/package-tree.html
@@ -61,7 +61,7 @@
Class Hierarchy
common.hardware.motorcontroller.MotorControllerConstants
common.hardware.motorcontroller.NAR_Motor (implements java.lang.AutoCloseable )
@@ -78,8 +78,9 @@
Enum Class Hierarchy