angle helper class, input control for inputDrive, more comments

frc1711 · Mar 24, 2021 · eef7eef · eef7eef
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diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDrive.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonDriveSimple.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonTurn.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class b/swervelib/bin/main/frc/team1711/swerve/commands/AutonWheelTurn.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/AutoSwerveDrive.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveDrive.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class b/swervelib/bin/main/frc/team1711/swerve/subsystems/SwerveWheel.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/Angles.class b/swervelib/bin/main/frc/team1711/swerve/util/Angles.class
diff --git a/swervelib/bin/main/frc/team1711/swerve/util/Vector.class b/swervelib/bin/main/frc/team1711/swerve/util/Vector.class
diff --git a/swervelib/build.gradle b/swervelib/build.gradle
@@ -39,5 +39,5 @@ java {
     withJavadocJar()
 }
 
-version = '1.6'
+version = '1.7'
 group = 'io.github.frc1711'
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
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
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
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
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
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
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
diff --git a/swervelib/build/classes/java/main/frc/team1711/swerve/util/Angles.class b/swervelib/build/classes/java/main/frc/team1711/swerve/util/Angles.class
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
diff --git a/swervelib/build/docs/javadoc/allclasses-index.html b/swervelib/build/docs/javadoc/allclasses-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (swervelib 1.6 API)</title>
+<title>All Classes (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,13 +20,13 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Classes (swervelib 1.6 API)";
+            parent.document.title="All Classes (swervelib 1.7 API)";
         }
     }
     catch(err) {
     }
 //-->
-var data = {"i0":2,"i1":2,"i2":2,"i3":2,"i4":4,"i5":2,"i6":2,"i7":2};
+var data = {"i0":2,"i1":2,"i2":2,"i3":2,"i4":2,"i5":4,"i6":2,"i7":2,"i8":2};
 var tabs = {65535:["t0","All Classes"],2:["t2","Class Summary"],4:["t3","Enum Summary"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -110,52 +110,60 @@ <h1 title="All&amp;nbsp;Classes" class="title">All&nbsp;Classes</h1>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr id="i0" class="altColor">
+<td class="colFirst"><a href="frc/team1711/swerve/util/Angles.html" title="class in frc.team1711.swerve.util">Angles</a></td>
+<th class="colLast" scope="row">
+<div class="block">Provides useful methods allowing for more easily working with different
+ measurements of angles, along with the circle constants <a href="frc/team1711/swerve/util/Angles.html#PI"><code>Angles.PI</code></a> and
+ <a href="frc/team1711/swerve/util/Angles.html#TAU"><code>Angles.TAU</code></a>.</div>
+</th>
+</tr>
+<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>
 </th>
 </tr>
-<tr id="i1" class="rowColor">
+<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="i2" class="altColor">
+<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/SwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>SwerveDrive</code></a> for autonomous control.</div>
 </th>
 </tr>
-<tr id="i3" class="rowColor">
+<tr id="i4" class="altColor">
 <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="i4" class="altColor">
+<tr id="i5" class="rowColor">
 <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="i5" class="rowColor">
+<tr id="i6" 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="i6" class="altColor">
+<tr id="i7" class="rowColor">
 <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="i7" class="rowColor">
+<tr id="i8" class="altColor">
 <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>

diff --git a/swervelib/build/docs/javadoc/allclasses.html b/swervelib/build/docs/javadoc/allclasses.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Classes (swervelib 1.6 API)</title>
+<title>All Classes (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,6 +20,7 @@
 <h1 class="bar">All&nbsp;Classes</h1>
 <main role="main" class="indexContainer">
 <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>

diff --git a/swervelib/build/docs/javadoc/allpackages-index.html b/swervelib/build/docs/javadoc/allpackages-index.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>All Packages (swervelib 1.6 API)</title>
+<title>All Packages (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="All Packages (swervelib 1.6 API)";
+            parent.document.title="All Packages (swervelib 1.7 API)";
         }
     }
     catch(err) {

diff --git a/swervelib/build/docs/javadoc/constant-values.html b/swervelib/build/docs/javadoc/constant-values.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Constant Field Values (swervelib 1.6 API)</title>
+<title>Constant Field Values (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Constant Field Values (swervelib 1.6 API)";
+            parent.document.title="Constant Field Values (swervelib 1.7 API)";
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diff --git a/swervelib/build/docs/javadoc/deprecated-list.html b/swervelib/build/docs/javadoc/deprecated-list.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>Deprecated List (swervelib 1.6 API)</title>
+<title>Deprecated List (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="Deprecated List (swervelib 1.6 API)";
+            parent.document.title="Deprecated List (swervelib 1.7 API)";
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diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonDrive.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutonDrive (swervelib 1.6 API)</title>
+<title>AutonDrive (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutonDrive (swervelib 1.6 API)";
+            parent.document.title="AutonDrive (swervelib 1.7 API)";
         }
     }
     catch(err) {

diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/AutonTurn.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>AutonTurn (swervelib 1.6 API)</title>
+<title>AutonTurn (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="AutonTurn (swervelib 1.6 API)";
+            parent.document.title="AutonTurn (swervelib 1.7 API)";
         }
     }
     catch(err) {
@@ -179,8 +179,9 @@ <h3>Constructor Summary</h3>
 <th class="colLast" scope="col">Description</th>
 </tr>
 <tr class="altColor">
-<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,frc.team1711.swerve.commands.FrameOfReference)">AutonTurn</a></span>&#8203;(<a href="../subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a>&nbsp;swerveDrive,
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,double,frc.team1711.swerve.commands.FrameOfReference)">AutonTurn</a></span>&#8203;(<a href="../subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a>&nbsp;swerveDrive,
          double&nbsp;direction,
+         double&nbsp;turnSpeed,
          <a href="FrameOfReference.html" title="enum in frc.team1711.swerve.commands">FrameOfReference</a>&nbsp;frameOfReference)</code></th>
 <td class="colLast">
 <div class="block">Constructs a new <code>AutonTurn</code>.</div>
@@ -269,23 +270,24 @@ <h3>Methods inherited from interface&nbsp;edu.wpi.first.wpilibj.Sendable</h3>
 <!--   -->
 </a>
 <h3>Constructor Detail</h3>
-<a id="&lt;init&gt;(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,frc.team1711.swerve.commands.FrameOfReference)">
+<a id="&lt;init&gt;(frc.team1711.swerve.subsystems.AutoSwerveDrive,double,double,frc.team1711.swerve.commands.FrameOfReference)">
 <!--   -->
 </a>
 <ul class="blockListLast">
 <li class="blockList">
 <h4>AutonTurn</h4>
 <pre>public&nbsp;AutonTurn&#8203;(<a href="../subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems">AutoSwerveDrive</a>&nbsp;swerveDrive,
                  double&nbsp;direction,
+                 double&nbsp;turnSpeed,
                  <a href="FrameOfReference.html" title="enum in frc.team1711.swerve.commands">FrameOfReference</a>&nbsp;frameOfReference)</pre>
 <div class="block">Constructs a new <code>AutonTurn</code>.</div>
 <dl>
 <dt><span class="paramLabel">Parameters:</span></dt>
 <dd><code>swerveDrive</code> - The <a href="../subsystems/AutoSwerveDrive.html" title="class in frc.team1711.swerve.subsystems"><code>AutoSwerveDrive</code></a> drive train</dd>
 <dd><code>direction</code> - The direction, in degrees, to turn the body towards. Zero degrees
  corresponds with directly forward, and an increase in <code>direction</code> corresponds with
- a direction further clockwise from a top-down view. This value must be on the interval
- [0, 360).</dd>
+ a direction further clockwise from a top-down view.</dd>
+<dd><code>turnSpeed</code> - The turning speed of the robot. This must be on the interval (0, 1].</dd>
 <dd><code>frameOfReference</code> - The <a href="FrameOfReference.html" title="enum in frc.team1711.swerve.commands"><code>FrameOfReference</code></a> for this autonomous command.</dd>
 </dl>
 </li>

diff --git a/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html b/swervelib/build/docs/javadoc/frc/team1711/swerve/commands/FrameOfReference.html
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>FrameOfReference (swervelib 1.6 API)</title>
+<title>FrameOfReference (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
 <link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.css" title="Style">
@@ -20,7 +20,7 @@
 <script type="text/javascript"><!--
     try {
         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="FrameOfReference (swervelib 1.6 API)";
+            parent.document.title="FrameOfReference (swervelib 1.7 API)";
         }
     }
     catch(err) {

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
@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
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+<title>frc.team1711.swerve.commands (swervelib 1.7 API)</title>
 <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
 <link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
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@@ -20,7 +20,7 @@
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         if (location.href.indexOf('is-external=true') == -1) {
-            parent.document.title="frc.team1711.swerve.commands (swervelib 1.6 API)";
+            parent.document.title="frc.team1711.swerve.commands (swervelib 1.7 API)";
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@@ -3,7 +3,7 @@
 <html lang="en">
 <head>
 <!-- Generated by javadoc -->
-<title>frc.team1711.swerve.commands Class Hierarchy (swervelib 1.6 API)</title>
+<title>frc.team1711.swerve.commands Class Hierarchy (swervelib 1.7 API)</title>
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@@ -20,7 +20,7 @@
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     try {
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-            parent.document.title="frc.team1711.swerve.commands Class Hierarchy (swervelib 1.6 API)";
+            parent.document.title="frc.team1711.swerve.commands Class Hierarchy (swervelib 1.7 API)";
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