Class SwerveDriveJson

java.lang.Object

swervelib.core.parser.json.SwerveDriveJson

public class SwerveDriveJson
extends Object

SwerveDrive JSON parsed class. Used to access parsed data from the swervedrive.json file.

Field Summary

Fields

Modifier and Type	Field	Description
DeviceJson	gyro	Robot Gyroscope used to determine the heading of the robot.
String	gyroAxis	Gyro axis that points up through the robot, one of yaw, pitch, or roll.
boolean	gyroInvert	Invert the Gyroscope heading of the robot.
String[]	modules	Module JSONs in order clockwise order starting from front left.

Constructor Summary

Constructors

Constructor	Description
SwerveDriveJson()

Method Summary

Methods inherited from class Object

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

Field Details

gyro

public DeviceJson gyro

Robot Gyroscope used to determine the heading of the robot.

gyroAxis

public String gyroAxis

Gyro axis that points up through the robot, one of yaw, pitch, or roll. Passed to SwerveDriveConfig.withGyroHeadingAxis(yams.core.mechanisms.config.enums.GyroAxis).

gyroInvert

public boolean gyroInvert

Invert the Gyroscope heading of the robot.

modules

public String[] modules

Module JSONs in order clockwise order starting from front left.

Constructor Details

SwerveDriveJson

public SwerveDriveJson()