diff --git a/3128-Common.json b/3128-Common.json
index e34196f..fc7d0a8 100644
--- a/3128-Common.json
+++ b/3128-Common.json
@@ -1,6 +1,6 @@
{
"name": "3128-common",
- "version": "1.3.1",
+ "version": "1.3.2",
"uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
"frcYear": "2024",
"mavenUrls": [
@@ -12,7 +12,7 @@
{
"groupId": "com.github.Team3128",
"artifactId": "3128-common",
- "version": "1.3.1"
+ "version": "1.3.2"
}
],
"jniDependencies": [],
diff --git a/3128-common.json b/3128-common.json
index e34196f..fc7d0a8 100644
--- a/3128-common.json
+++ b/3128-common.json
@@ -1,6 +1,6 @@
{
"name": "3128-common",
- "version": "1.3.1",
+ "version": "1.3.2",
"uuid": "ae3fa5a2-78d9-47e8-921a-dba45b889445",
"frcYear": "2024",
"mavenUrls": [
@@ -12,7 +12,7 @@
{
"groupId": "com.github.Team3128",
"artifactId": "3128-common",
- "version": "1.3.1"
+ "version": "1.3.2"
}
],
"jniDependencies": [],
diff --git a/doc/allclasses-index.html b/doc/allclasses-index.html
index 904dff7..ffba171 100644
--- a/doc/allclasses-index.html
+++ b/doc/allclasses-index.html
@@ -195,69 +195,71 @@
All Classes and Interfaces<
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/SwerveBase.html b/doc/common/core/swerve/SwerveBase.html
index b277dce..c51e187 100644
--- a/doc/common/core/swerve/SwerveBase.html
+++ b/doc/common/core/swerve/SwerveBase.html
@@ -203,43 +203,46 @@
Method Summary
void
-
+
-
static edu.wpi.first.math.geometry.Twist2d
-
PoseLog (edu.wpi.first.math.geometry.Pose2d transform)
-
+
void
+
+
+
static edu.wpi.first.math.geometry.Twist2d
+
PoseLog (edu.wpi.first.math.geometry.Pose2d transform)
+
Logical inverse of the Pose exponential from 254.
-
void
-
-
void
-
+
void
-
+
void
-
+
void
-
setModuleStates (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates)
+
void
-
+
setModuleStates (edu.wpi.first.math.kinematics.SwerveModuleState[] desiredStates)
void
-
+
void
-
+
void
-
+
-
abstract void
-
-
+
void
+
+
+
abstract void
+
+
@@ -518,6 +521,12 @@
getModules
+
+
+initStateCheck
+public void initStateCheck ()
+
+
diff --git a/doc/common/core/swerve/SwerveModule.html b/doc/common/core/swerve/SwerveModule.html
index 65ecb52..80a9729 100644
--- a/doc/common/core/swerve/SwerveModule.html
+++ b/doc/common/core/swerve/SwerveModule.html
@@ -146,34 +146,37 @@
Method Summary
Returns the Swerve module's position containing the drive and angular position
-
edu.wpi.first.math.kinematics.SwerveModuleState
-
-
-
Returns the Swerve module's state consisting of velocity and angular position
-
-
void
-
+
+
+
+
edu.wpi.first.math.kinematics.SwerveModuleState
+
-
Resets the angle motor to the CANCoder position
+
Returns the Swerve module's state consisting of velocity and angular position
void
-
+
-
Sets the module's neutral mode
+
Resets the angle motor to the CANCoder position
void
-
setDesiredState (edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
+
-
Changes the modules velocity and angular position to the desired state
+
Sets the module's neutral mode
void
-
+
setDesiredState (edu.wpi.first.math.kinematics.SwerveModuleState desiredState)
-
Stops the Swerve Module from moving
+
Changes the modules velocity and angular position to the desired state
void
-
xLock (edu.wpi.first.math.geometry.Rotation2d angle)
+
+
Stops the Swerve Module from moving
+
+
void
+
xLock (edu.wpi.first.math.geometry.Rotation2d angle)
+
Sets the module in its x-lock angle and sets the velocity to 0
@@ -324,6 +327,12 @@
getAngleMotor
+
+
+
diff --git a/doc/common/utility/narwhaldashboard/NarwhalDashboard.State.html b/doc/common/utility/narwhaldashboard/NarwhalDashboard.State.html
new file mode 100644
index 0000000..bf33e31
--- /dev/null
+++ b/doc/common/utility/narwhaldashboard/NarwhalDashboard.State.html
@@ -0,0 +1,228 @@
+
+
+
+
+
NarwhalDashboard.State (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/utility/narwhaldashboard/NarwhalDashboard.html b/doc/common/utility/narwhaldashboard/NarwhalDashboard.html
index 0fe115e..fceab35 100644
--- a/doc/common/utility/narwhaldashboard/NarwhalDashboard.html
+++ b/doc/common/utility/narwhaldashboard/NarwhalDashboard.html
@@ -100,6 +100,15 @@
Class NarwhalDashboard
Nested Class Summary
+Nested Classes
+
Nested classes/interfaces inherited from class org.java_websocket.server.WebSocketServer
org.java_websocket.server.WebSocketServer.WebSocketWorker
@@ -161,51 +170,55 @@ Method Summary
Sends an object to the web server every update
void
-
-
+
+
+
void
+
+
-
-
-
-
-
-
+
+
+
+
+
+
Returns the selectedAuto on the web server
-
void
-
onClose (org.java_websocket.WebSocket conn,
+void
+onClose (org.java_websocket.WebSocket conn,
int code,
String reason,
boolean remote)
-
-void
-
void
-onMessage (org.java_websocket.WebSocket conn,
+
+
+void
+
-
+
Called when a message from the web server is sent
-
void
-
onOpen (org.java_websocket.WebSocket conn,
+void
+onOpen (org.java_websocket.WebSocket conn,
org.java_websocket.handshake.ClientHandshake handshake)
-
+
Called after connecting to the web server
-
void
-
-
void
-
-
+
+
+
void
+
+
Sends a message to console.log on Narwhal Dashboard.
-
static void
-
-
+
static void
+
+
Sets the IP address' port number
@@ -380,6 +393,13 @@
onMessage
+
+
+
onError
public void onError (org.java_websocket.WebSocket conn,
diff --git a/doc/common/utility/narwhaldashboard/package-summary.html b/doc/common/utility/narwhaldashboard/package-summary.html
index f012446..6f5cd5e 100644
--- a/doc/common/utility/narwhaldashboard/package-summary.html
+++ b/doc/common/utility/narwhaldashboard/package-summary.html
@@ -15,7 +15,11 @@
-
JavaScript is disabled on your browser.
@@ -80,14 +84,18 @@ Package common
-
Classes
-
+
All Classes and Interfaces Classes Enum Classes
+
+
Team 3128's WebSocketServer
class, used to log robot data and select autos
+
+
+
diff --git a/doc/common/utility/narwhaldashboard/package-tree.html b/doc/common/utility/narwhaldashboard/package-tree.html
index 55efeed..30e3faf 100644
--- a/doc/common/utility/narwhaldashboard/package-tree.html
+++ b/doc/common/utility/narwhaldashboard/package-tree.html
@@ -75,6 +75,20 @@
Class Hierarchy
+
+Enum Class Hierarchy
+
+
diff --git a/doc/index-all.html b/doc/index-all.html
index 3821687..30f01fd 100644
--- a/doc/index-all.html
+++ b/doc/index-all.html
@@ -286,6 +286,8 @@ C
chassisVelocityCorrection - Variable in class common.core.swerve.SwerveBase
+checkState(String, Supplier<NarwhalDashboard.State>) - Method in class common.utility.narwhaldashboard.NarwhalDashboard
+
clear() - Method in class common.utility.sysid.FFCharacterization
Clears the data stored in the FFCharacterization object.
@@ -462,6 +464,8 @@ D
Stops the camera from updating robot odometry.
+ DISCONNECTED - Enum constant in enum class common.utility.narwhaldashboard.NarwhalDashboard.State
+
distanceFactor - Variable in class common.hardware.motorcontroller.NAR_Motor.MotorConfig
drive(Translation2d, double, boolean) - Method in class common.core.swerve.SwerveBase
@@ -860,6 +864,8 @@ G
getRotation2d() - Method in class common.core.swerve.SwerveBase
+getRunningState() - Method in class common.core.swerve.SwerveModule
+
getSelectedAuto() - Method in class common.utility.narwhaldashboard.NarwhalDashboard
Returns the selectedAuto on the web server
@@ -1020,6 +1026,8 @@ I
Adds a PID tuning setup to a specific shuffleboard tab.
+ initStateCheck() - Method in class common.core.swerve.SwerveBase
+
inputPower - Variable in class common.hardware.motorcontroller.NAR_Motor.NAR_MotorIO
intake() - Method in class common.core.subsystems.ManipulatorTemplate
@@ -1348,6 +1356,8 @@ N
Team 3128's WebSocketServer
class, used to log robot data and select autos
+NarwhalDashboard.State - Enum Class in common.utility.narwhaldashboard
+
NEO_550CurrentLimit - Static variable in class common.hardware.motorcontroller.MotorControllerConstants
NEO_CurrentLimit - Static variable in class common.hardware.motorcontroller.MotorControllerConstants
@@ -1393,6 +1403,8 @@ O
P
+PARTIALLY_RUNNING - Enum constant in enum class common.utility.narwhaldashboard.NarwhalDashboard.State
+
passCondition - Variable in class common.utility.tester.Tester.UnitTest
PASSED - Enum constant in enum class common.utility.tester.Tester.TestState
@@ -1548,6 +1560,8 @@ R
Sets manipulator power.
+RUNNING - Enum constant in enum class common.utility.narwhaldashboard.NarwhalDashboard.State
+
RUNNING - Enum constant in enum class common.utility.tester.Tester.TestState
runPivot(double) - Method in class common.core.subsystems.PivotTemplate
@@ -2131,6 +2145,10 @@ V
Returns the enum constant of this class with the specified name.
+valueOf(String) - Static method in enum class common.utility.narwhaldashboard.NarwhalDashboard.State
+
+Returns the enum constant of this class with the specified name.
+
valueOf(String) - Static method in enum class common.utility.tester.Tester.TestState
Returns the enum constant of this class with the specified name.
@@ -2195,6 +2213,11 @@ V
Returns an array containing the constants of this enum class, in
the order they are declared.
+values() - Static method in enum class common.utility.narwhaldashboard.NarwhalDashboard.State
+
+Returns an array containing the constants of this enum class, in
+the order they are declared.
+
values() - Static method in enum class common.utility.tester.Tester.TestState
Returns an array containing the constants of this enum class, in
diff --git a/doc/index.html b/doc/index.html
index 0487a34..9cdb677 100644
--- a/doc/index.html
+++ b/doc/index.html
@@ -51,7 +51,7 @@
3128-common
FRC Team 3128 Robot Control Program Utility Library
Provides utility classes and functions for FRC robot control programs.
-
Version 1.3.1 (February 10 2024)
+Version 1.3.2 (February 10 2024)
Packages
diff --git a/doc/member-search-index.js b/doc/member-search-index.js
index 79b538b..cf44a20 100644
--- a/doc/member-search-index.js
+++ b/doc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = [{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"Absolute"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"ABSOLUTE"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem.SetpointTest","l":"add()"},{"p":"common.utility.sysid","c":"FFCharacterization","l":"add(double, double, double)","u":"add(double,double,double)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addAction(String, Consumer
)","u":"addAction(java.lang.String,java.util.function.Consumer)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addAutos(String...)","u":"addAutos(java.lang.String...)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addAutos(String[])","u":"addAutos(java.lang.String[])"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addButton(String, BooleanConsumer)","u":"addButton(java.lang.String,edu.wpi.first.util.function.BooleanConsumer)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Object)","u":"addData(java.lang.String,java.lang.String,java.lang.Object)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Object, int, int)","u":"addData(java.lang.String,java.lang.String,java.lang.Object,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Object, int, int, int, int)","u":"addData(java.lang.String,java.lang.String,java.lang.Object,int,int,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Supplier)","u":"addData(java.lang.String,java.lang.String,java.util.function.Supplier)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Supplier, int, int)","u":"addData(java.lang.String,java.lang.String,java.util.function.Supplier,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addData(String, String, Supplier, int, int, int, int)","u":"addData(java.lang.String,java.lang.String,java.util.function.Supplier,int,int,int,int)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addInit(String, List)","u":"addInit(java.lang.String,java.util.List)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addInit(String, Object)","u":"addInit(java.lang.String,java.lang.Object)"},{"p":"common.core.controllers","c":"ControllerBase","l":"addMotor(MotorController)","u":"addMotor(edu.wpi.first.wpilibj.motorcontrol.MotorController)"},{"p":"common.core.controllers","c":"ControllerBase","l":"addMotor(NAR_Motor)","u":"addMotor(common.hardware.motorcontroller.NAR_Motor)"},{"p":"common.core.controllers","c":"ControllerBase","l":"addOutput(DoubleConsumer)","u":"addOutput(java.util.function.DoubleConsumer)"},{"p":"common.core.misc","c":"NAR_Robot","l":"addPeriodic(Runnable, double)","u":"addPeriodic(java.lang.Runnable,double)"},{"p":"common.core.misc","c":"NAR_Robot","l":"addPeriodic(Runnable, double, double)","u":"addPeriodic(java.lang.Runnable,double,double)"},{"p":"common.core.misc","c":"NAR_Robot","l":"addReceiver(boolean, NAR_Robot.LoggingState)","u":"addReceiver(boolean,common.core.misc.NAR_Robot.LoggingState)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addSendable(String, String, Sendable, int, int)","u":"addSendable(java.lang.String,java.lang.String,edu.wpi.first.util.sendable.Sendable,int,int)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addSendable(String, String, Sendable, int, int, int, int)","u":"addSendable(java.lang.String,java.lang.String,edu.wpi.first.util.sendable.Sendable,int,int,int,int)"},{"p":"common.utility.tester","c":"Tester","l":"addTest(String, Tester.UnitTest)","u":"addTest(java.lang.String,common.utility.tester.Tester.UnitTest)"},{"p":"common.utility.tester","c":"Tester.Test","l":"addTest(Tester.UnitTest)","u":"addTest(common.utility.tester.Tester.UnitTest)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard","l":"addUpdate(String, Supplier)","u":"addUpdate(java.lang.String,java.util.function.Supplier)"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"addVideoStream(String, String, String, String, int, int, int, int)","u":"addVideoStream(java.lang.String,java.lang.String,java.lang.String,java.lang.String,int,int,int,int)"},{"p":"common.core.swerve","c":"SwerveBase","l":"addVisionMeasurement(Pose2d, double)","u":"addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)"},{"p":"common.core.swerve","c":"SwerveModuleConfig","l":"angleConfig"},{"p":"common.core.swerve","c":"SwerveModuleConstants","l":"angleMotorID"},{"p":"common.core.swerve","c":"SwerveModuleConfig","l":"angleOffset"},{"p":"common.core.swerve","c":"SwerveModuleConstants","l":"angleOffset"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.NAR_MotorIO","l":"appliedOutput"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"AREA"},{"p":"common.core.controllers","c":"ControllerBase","l":"atSetpoint()"},{"p":"common.core.controllers","c":"TrapController","l":"atSetpoint()"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"atSetpoint()"},{"p":"common.utility.sysid","c":"PolynomialRegression","l":"beta(int)"},{"p":"common.hardware.limelight","c":"LEDMode","l":"BLINK"},{"p":"common.hardware.limelight","c":"Pipeline","l":"BLUE"},{"p":"common.hardware.limelight","c":"StreamMode","l":"BOTH"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Neutral","l":"BRAKE"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"burnFlash()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark","l":"burnFlashAll()"},{"p":"common.core.controllers","c":"ControllerBase","l":"calculate(double)"},{"p":"common.core.controllers","c":"TrapController","l":"calculate(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"calculate(double, double)","u":"calculate(double,double)"},{"p":"common.core.controllers","c":"TrapController","l":"calculate(TrapezoidProfile.State, double)","u":"calculate(edu.wpi.first.math.trajectory.TrapezoidProfile.State,double)"},{"p":"common.hardware.limelight","c":"Limelight","l":"calculateDistToGroundTarget(double)"},{"p":"common.hardware.limelight","c":"Limelight","l":"calculateDistToTopTarget(double)"},{"p":"common.core.controllers","c":"Controller","l":"calculateFF(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"calculateFF(double)"},{"p":"common.core.controllers","c":"TrapController","l":"calculateFF(double)"},{"p":"common.core.controllers","c":"Controller","l":"calculatePID(double)"},{"p":"common.core.controllers","c":"ControllerBase","l":"calculatePID(double)"},{"p":"common.core.controllers","c":"TrapController","l":"calculatePID(double)"},{"p":"common.hardware.camera","c":"NAR_Camera","l":"camera"},{"p":"common.hardware.camera","c":"Camera","l":"Camera(String, boolean, Transform2d, 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double)","u":"%3Cinit%3E(int,int,int,double)"},{"p":"common.core.swerve","c":"SwerveModuleConfig.SwerveMotorConfig","l":"SwerveMotorConfig(NAR_CANSpark, NAR_Motor.MotorConfig, PIDFFConfig)","u":"%3Cinit%3E(common.hardware.motorcontroller.NAR_CANSpark,common.hardware.motorcontroller.NAR_Motor.MotorConfig,common.core.controllers.PIDFFConfig)"},{"p":"common.hardware.motorcontroller","c":"MotorControllerConstants","l":"TALONSRX_ENCODER_RESOLUTION"},{"p":"common.hardware.camera","c":"NAR_Camera","l":"targetAmbiguity()"},{"p":"common.hardware.camera","c":"NAR_Camera","l":"targetId()"},{"p":"common.hardware.limelight","c":"Limelight","l":"targetWidth"},{"p":"common.utility.tester","c":"Tester.UnitTest","l":"testName"},{"p":"common.utility.tester","c":"Tester.UnitTest","l":"testState"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"timeConversionFactor"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.MotorConfig","l":"timeFactor"},{"p":"common.core.swerve","c":"SwerveBase","l":"toggle()"},{"p":"common.hardware.limelight","c":"LimelightData","l":"toString()"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"toString()"},{"p":"common.utility.sysid","c":"PolynomialRegression","l":"toString()"},{"p":"common.core.controllers","c":"TrapController","l":"TrapController(PIDFFConfig, TrapezoidProfile.Constraints)","u":"%3Cinit%3E(common.core.controllers.PIDFFConfig,edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints)"},{"p":"common.core.controllers","c":"TrapController","l":"TrapController(PIDFFConfig, TrapezoidProfile.Constraints, double)","u":"%3Cinit%3E(common.core.controllers.PIDFFConfig,edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints,double)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"unitConversionFactor"},{"p":"common.utility.tester","c":"Tester.UnitTest","l":"UnitTest(String, Command)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command)"},{"p":"common.utility.tester","c":"Tester.UnitTest","l":"UnitTest(String, Command, BooleanSupplier)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.wpilibj2.command.Command,java.util.function.BooleanSupplier)"},{"p":"common.utility","c":"Log","l":"unusual(String, String)","u":"unusual(java.lang.String,java.lang.String)"},{"p":"common.hardware.camera","c":"NAR_Camera","l":"update()"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"update()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor","l":"updateIO(NAR_MotorIOAutoLogged)","u":"updateIO(common.hardware.motorcontroller.NAR_MotorIOAutoLogged)"},{"p":"common.core.controllers","c":"ControllerBase","l":"useOutput()"},{"p":"common.core.subsystems","c":"ElevatorTemplate","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.core.subsystems","c":"NAR_PIDSubsystem","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.core.subsystems","c":"PivotTemplate","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.core.subsystems","c":"ShooterTemplate","l":"useOutput(double, double)","u":"useOutput(double,double)"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"VALID_TARGET"},{"p":"common.hardware.limelight","c":"LimelightConstants","l":"VALUE_KEYS"},{"p":"common.hardware.limelight","c":"LimelightConstants","l":"VALUE_KEYS_PNP"},{"p":"common.core.controllers","c":"Controller.Type","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.core.misc","c":"NAR_Robot.LoggingState","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.input","c":"NAR_XboxController.XboxButton","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"LEDMode","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"Pipeline","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.limelight","c":"StreamMode","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.ControllerType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Control","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Neutral","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard.State","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.utility.tester","c":"Tester.TestState","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"common.core.controllers","c":"Controller.Type","l":"values()"},{"p":"common.core.misc","c":"NAR_Robot.LoggingState","l":"values()"},{"p":"common.hardware.input","c":"NAR_XboxController.XboxButton","l":"values()"},{"p":"common.hardware.limelight","c":"LEDMode","l":"values()"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"values()"},{"p":"common.hardware.limelight","c":"Pipeline","l":"values()"},{"p":"common.hardware.limelight","c":"StreamMode","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.ControllerType","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.EncoderType","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Control","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Neutral","l":"values()"},{"p":"common.utility.narwhaldashboard","c":"NarwhalDashboard.State","l":"values()"},{"p":"common.utility.tester","c":"Tester.TestState","l":"values()"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.NAR_MotorIO","l":"velocity"},{"p":"common.hardware.motorcontroller","c":"NAR_Motor.Control","l":"Velocity"},{"p":"common.core.controllers","c":"Controller.Type","l":"VELOCITY"},{"p":"common.hardware.motorcontroller","c":"NAR_CANSpark.SparkMaxConfig","l":"VELOCITY"},{"p":"common.hardware.limelight","c":"LimelightConstants","l":"VERTICAL_FOV"},{"p":"common.hardware.limelight","c":"LimelightKey","l":"VERTICAL_OFFSET"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"WINDOW_HEIGHT"},{"p":"common.utility.shuffleboard","c":"NAR_Shuffleboard","l":"WINDOW_WIDTH"},{"p":"common.core.swerve","c":"SwerveBase","l":"xlock()"},{"p":"common.core.swerve","c":"SwerveModule","l":"xLock(Rotation2d)","u":"xLock(edu.wpi.first.math.geometry.Rotation2d)"},{"p":"common.core.swerve","c":"SwerveBase","l":"zeroGyro(double)"}];updateSearchResults();
\ No newline at end of file
diff --git a/doc/overview-tree.html b/doc/overview-tree.html
index b03f4bf..56d1945 100644
--- a/doc/overview-tree.html
+++ b/doc/overview-tree.html
@@ -200,6 +200,7 @@ Enum Class Hierarchy
common.hardware.motorcontroller.NAR_Motor.Neutral
common.core.misc.NAR_Robot.LoggingState
common.hardware.input.NAR_XboxController.XboxButton
+common.utility.narwhaldashboard.NarwhalDashboard.State
common.hardware.limelight.Pipeline
common.hardware.limelight.StreamMode
common.utility.tester.Tester.TestState
diff --git a/doc/type-search-index.js b/doc/type-search-index.js
index c107793..7c1f5af 100644
--- a/doc/type-search-index.js
+++ b/doc/type-search-index.js
@@ -1 +1 @@
-typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"common.hardware.camera","l":"Camera"},{"p":"common.utility.sysid","l":"CmdSysId"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Control"},{"p":"common.core.controllers","l":"Controller"},{"p":"common.core.controllers","l":"ControllerBase"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.ControllerType"},{"p":"common.core.swerve","l":"CTREModuleState"},{"p":"common.utility.tester","l":"CurrentTest"},{"p":"common.core.subsystems","l":"ElevatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.EncoderType"},{"p":"common.utility.sysid","l":"FFCharacterization"},{"p":"common.hardware.limelight","l":"LEDMode"},{"p":"common.hardware.limelight","l":"Limelight"},{"p":"common.hardware.limelight","l":"LimelightConstants"},{"p":"common.hardware.limelight","l":"LimelightData"},{"p":"common.hardware.limelight","l":"LimelightKey"},{"p":"common.utility","l":"Log"},{"p":"common.core.misc","l":"NAR_Robot.LoggingState"},{"p":"common.core.subsystems","l":"ManipulatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.MotorConfig"},{"p":"common.hardware.motorcontroller","l":"MotorControllerConstants"},{"p":"common.hardware.input","l":"NAR_ButtonBoard"},{"p":"common.hardware.camera","l":"NAR_Camera"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark"},{"p":"common.hardware.input","l":"NAR_Joystick"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.NAR_MotorIO"},{"p":"common.core.commands","l":"NAR_PIDCommand"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem"},{"p":"common.core.misc","l":"NAR_Robot"},{"p":"common.utility.shuffleboard","l":"NAR_Shuffleboard"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonSRX"},{"p":"common.hardware.input","l":"NAR_XboxController"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Neutral"},{"p":"common.core.controllers","l":"PIDFFConfig"},{"p":"common.hardware.limelight","l":"Pipeline"},{"p":"common.core.subsystems","l":"PivotTemplate"},{"p":"common.utility.sysid","l":"PolynomialDerivative"},{"p":"common.utility.sysid","l":"PolynomialRegression"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem.SetpointTest"},{"p":"common.core.subsystems","l":"ShooterTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.SparkMaxConfig"},{"p":"common.hardware.limelight","l":"StreamMode"},{"p":"common.core.swerve","l":"SwerveBase"},{"p":"common.core.swerve","l":"SwerveConversions"},{"p":"common.core.swerve","l":"SwerveModule"},{"p":"common.core.swerve","l":"SwerveModuleConfig"},{"p":"common.core.swerve","l":"SwerveModuleConstants"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveMotorConfig"},{"p":"common.utility.tester","l":"Tester.Test"},{"p":"common.utility.tester","l":"Tester"},{"p":"common.utility.tester","l":"Tester.TestState"},{"p":"common.core.controllers","l":"TrapController"},{"p":"common.core.controllers","l":"Controller.Type"},{"p":"common.utility.tester","l":"Tester.UnitTest"},{"p":"common.hardware.input","l":"NAR_XboxController.XboxButton"}];updateSearchResults();
\ No newline at end of file
+typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"common.hardware.camera","l":"Camera"},{"p":"common.utility.sysid","l":"CmdSysId"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Control"},{"p":"common.core.controllers","l":"Controller"},{"p":"common.core.controllers","l":"ControllerBase"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.ControllerType"},{"p":"common.core.swerve","l":"CTREModuleState"},{"p":"common.utility.tester","l":"CurrentTest"},{"p":"common.core.subsystems","l":"ElevatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.EncoderType"},{"p":"common.utility.sysid","l":"FFCharacterization"},{"p":"common.hardware.limelight","l":"LEDMode"},{"p":"common.hardware.limelight","l":"Limelight"},{"p":"common.hardware.limelight","l":"LimelightConstants"},{"p":"common.hardware.limelight","l":"LimelightData"},{"p":"common.hardware.limelight","l":"LimelightKey"},{"p":"common.utility","l":"Log"},{"p":"common.core.misc","l":"NAR_Robot.LoggingState"},{"p":"common.core.subsystems","l":"ManipulatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.MotorConfig"},{"p":"common.hardware.motorcontroller","l":"MotorControllerConstants"},{"p":"common.hardware.input","l":"NAR_ButtonBoard"},{"p":"common.hardware.camera","l":"NAR_Camera"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark"},{"p":"common.hardware.input","l":"NAR_Joystick"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.NAR_MotorIO"},{"p":"common.core.commands","l":"NAR_PIDCommand"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem"},{"p":"common.core.misc","l":"NAR_Robot"},{"p":"common.utility.shuffleboard","l":"NAR_Shuffleboard"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonSRX"},{"p":"common.hardware.input","l":"NAR_XboxController"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Neutral"},{"p":"common.core.controllers","l":"PIDFFConfig"},{"p":"common.hardware.limelight","l":"Pipeline"},{"p":"common.core.subsystems","l":"PivotTemplate"},{"p":"common.utility.sysid","l":"PolynomialDerivative"},{"p":"common.utility.sysid","l":"PolynomialRegression"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem.SetpointTest"},{"p":"common.core.subsystems","l":"ShooterTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.SparkMaxConfig"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard.State"},{"p":"common.hardware.limelight","l":"StreamMode"},{"p":"common.core.swerve","l":"SwerveBase"},{"p":"common.core.swerve","l":"SwerveConversions"},{"p":"common.core.swerve","l":"SwerveModule"},{"p":"common.core.swerve","l":"SwerveModuleConfig"},{"p":"common.core.swerve","l":"SwerveModuleConstants"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveMotorConfig"},{"p":"common.utility.tester","l":"Tester.Test"},{"p":"common.utility.tester","l":"Tester"},{"p":"common.utility.tester","l":"Tester.TestState"},{"p":"common.core.controllers","l":"TrapController"},{"p":"common.core.controllers","l":"Controller.Type"},{"p":"common.utility.tester","l":"Tester.UnitTest"},{"p":"common.hardware.input","l":"NAR_XboxController.XboxButton"}];updateSearchResults();
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 694e3c9..850eb3c 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -1,4 +1,4 @@
-LibraryVersion=1.3.1
+LibraryVersion=1.3.2
archivesGroup = com.github.Team3128
archivesBaseName = 3128-common
jsonFileName = 3128-common.json
diff --git a/src/main/java/common/core/swerve/SwerveModule.java b/src/main/java/common/core/swerve/SwerveModule.java
index b8d34f2..0f41a2f 100644
--- a/src/main/java/common/core/swerve/SwerveModule.java
+++ b/src/main/java/common/core/swerve/SwerveModule.java
@@ -218,6 +218,10 @@ public NAR_Motor getAngleMotor() {
return angleMotor;
}
+ /**
+ * Return the state of the swerve module.
+ * @return State of the swerve module.
+ */
public State getRunningState() {
if (driveMotor.getVelocity() != 0 && angleMotor.getVelocity() != 0) {
return State.RUNNING;
diff --git a/src/main/resources/overview.html b/src/main/resources/overview.html
index 37354c4..407e9a3 100644
--- a/src/main/resources/overview.html
+++ b/src/main/resources/overview.html
@@ -8,5 +8,5 @@
FRC Team 3128 Robot Control Program Utility Library
Provides utility classes and functions for FRC robot control programs.
-Version 1.3.1 (February 10 2024)
+Version 1.3.2 (February 10 2024)
\ No newline at end of file