Class DeviceJson

java.lang.Object

swervelib.core.parser.json.DeviceJson

public class DeviceJson
extends Object

Device JSON parsed class. Used to access the JSON data.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	DeviceJson.VENDOR	Vendor of a device (motor controller, encoder, or gyroscope).

Field Summary

Fields

Modifier and Type	Field	Description
String	canbus	The CAN bus the device is on if using CAN: empty for can_s0, or the bus number, such as "1" for can_s1.
int	channel	SmartIO Channel.
int	id	The CAN ID or pin ID of the device.
String	type	The device type

Constructor Summary

Constructors

Constructor	Description
DeviceJson()

Method Summary

Modifier and Type	Method	Description
org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object>	getAbsoluteEncoder(ReflectionsManager.VendorMotorController angleMotorVendor, SmartMotorController angleMotorController, boolean inverted)	Get the Absolute Encoder Supplier and Vendor Absolute Encoder Object.
static org.wpilib.math.system.DCMotor	getDCMotor(String motorType)	Get the DC motor from the motor type.
org.wpilib.util.Pair<Supplier<org.wpilib.math.geometry.Rotation3d>, Object>	getGyro()	Get the gyro attitude supplier.
ReflectionsManager.VendorMotorController	getMotorController()	Get the ReflectionsManager.VendorMotorController object for the device.
SmartMotorController	getSmartMotorController(SmartMotorControllerConfig config)	Get the SmartMotorController from the DeviceJson when given the SmartMotorControllerConfig.
DeviceJson.VENDOR	getVendor(DeviceJson.VENDOR attachedType)	Get the vendor of the device.

Methods inherited from class Object

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

Field Details

type

public String type

The device type

id

public int id

The CAN ID or pin ID of the device.

channel

public int channel

SmartIO Channel.

canbus

public String canbus

The CAN bus the device is on if using CAN: empty for can_s0, or the bus number, such as "1" for can_s1. CTRE devices also take a CANivore's name. See CANBuses.

Constructor Details

DeviceJson

public DeviceJson()

Method Details

getDCMotor

public static org.wpilib.math.system.DCMotor getDCMotor(String motorType)

Get the DC motor from the motor type.

Parameters:

motorType - Motor type.

Returns:

DCMotor

getGyro

public org.wpilib.util.Pair<Supplier<org.wpilib.math.geometry.Rotation3d>, Object> getGyro()

Get the gyro attitude supplier.

Returns:

Pair of the gyroscope attitude Supplier and the vendor gyroscope Object, or null if the gyro type is "custom" and the user is expected to configure the gyro themselves.

getVendor

public DeviceJson.VENDOR getVendor(DeviceJson.VENDOR attachedType)

Get the vendor of the device.

Parameters:

attachedType - Vendor to return when the device is directly attached (not on CAN/DIO/Analog), since the attached vendor cannot be determined from the device type string alone.

Returns:

Vendor of the device.

getMotorController

public ReflectionsManager.VendorMotorController getMotorController()

Get the ReflectionsManager.VendorMotorController object for the device.

Returns:

ReflectionsManager.VendorMotorController object for the device.

getAbsoluteEncoder

public org.wpilib.util.Pair<Supplier<org.wpilib.units.measure.Angle>, Object> getAbsoluteEncoder(ReflectionsManager.VendorMotorController angleMotorVendor,
 SmartMotorController angleMotorController,
 boolean inverted)

Get the Absolute Encoder Supplier and Vendor Absolute Encoder Object.

Parameters:

angleMotorVendor - Vendor of the angle/steering/azimuth motor controller, used when the absolute encoder is attached to the angle motor controller.

angleMotorController - Angle/steering/azimuth SmartMotorController, used when the absolute encoder is attached to the angle motor controller.

inverted - Inversion of the absolute encoder.

Returns:

Pair of Supplier and Vendor Absolute Encoder Object

getSmartMotorController

public SmartMotorController getSmartMotorController(SmartMotorControllerConfig config)

Get the SmartMotorController from the DeviceJson when given the SmartMotorControllerConfig.

Parameters:

config - SmartMotorControllerConfig to apply when creating SmartMotorController.

Returns:

SmartMotorController