Class SwerveParser

java.lang.Object

swervelib.core.parser.SwerveParser

swervelib.commands2.SwerveParser

public class SwerveParser
extends SwerveParser

SwerveParser for WPILib Commands v2. Creates a SwerveDrive whose motor controllers are bound to the Subsystem of the given SwerveDriveConfig.

Nested Class Summary

Nested classes/interfaces inherited from class SwerveParser

SwerveParser.SwerveDriveDevices<D>, SwerveParser.SwerveDriveHardware, SwerveParser.SwerveModuleDevices

Field Summary

Fields inherited from class SwerveParser

moduleJsons, physicalPropertiesJson, pidfPropertiesJson, swerveDriveJson

Constructor Summary

Constructors

Constructor	Description
SwerveParser()	Construct a swerve parser.

Method Summary

Modifier and Type	Method	Description
static SwerveDrive	createSwerveDrive(SwerveDriveConfig swerveDriveConfig)	Create a SwerveDrive from the parsed JSON configuration.
static SwerveParser.SwerveDriveDevices<SwerveDrive>	createSwerveDriveDevices(SwerveDriveConfig swerveDriveConfig)	Create a SwerveDrive from the parsed JSON configuration, exposing the raw vendor hardware devices created along the way (drive/azimuth motor controllers, absolute encoders, and the gyro) alongside it.

Methods inherited from class SwerveParser

buildSwerveDrive, parse, parseDirectory, readJson

Methods inherited from class Object

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

Constructor Details

SwerveParser

public SwerveParser()

Construct a swerve parser.

Method Details

createSwerveDrive

public static SwerveDrive createSwerveDrive(SwerveDriveConfig swerveDriveConfig)

Create a SwerveDrive from the parsed JSON configuration.

Parameters:

swerveDriveConfig - SwerveDriveConfig to apply to the created SwerveDrive.

Returns:

Configured SwerveDrive.

createSwerveDriveDevices

public static SwerveParser.SwerveDriveDevices<SwerveDrive> createSwerveDriveDevices(SwerveDriveConfig swerveDriveConfig)

Create a SwerveDrive from the parsed JSON configuration, exposing the raw vendor hardware devices created along the way (drive/azimuth motor controllers, absolute encoders, and the gyro) alongside it. Useful when code needs direct access to a vendor device for configuration that isn't exposed through SmartMotorController -- everything else should prefer createSwerveDrive(SwerveDriveConfig).

Parameters:

swerveDriveConfig - SwerveDriveConfig to apply to the created SwerveDrive.

Returns:

SwerveParser.SwerveDriveDevices containing the configured SwerveDrive and every raw device created for it.