#include <SwerveModuleVelocityWithAzimuth.hpp>

Inheritance diagram for yams::mechanisms::swerve::SwerveModuleVelocityWithAzimuth:

Collaboration diagram for yams::mechanisms::swerve::SwerveModuleVelocityWithAzimuth:

Public Member Functions
	SwerveModuleVelocityWithAzimuth ()=default

	SwerveModuleVelocityWithAzimuth (wpi::units::meters_per_second_t velocity, wpi::math::Rotation2d angle, wpi::units::radians_per_second_t azimuthVelocity)

Static Public Member Functions
static wpi::math::SwerveModuleVelocity	Optimize (const wpi::math::SwerveModuleVelocity &desired, const SwerveModuleVelocityWithAzimuth &measured, const std::optional< wpi::math::Rotation2d > &lastCommanded, wpi::units::degree_t hysteresis=wpi::units::degree_t{30})

Public Attributes
wpi::units::radians_per_second_t	azimuthVelocity {0}

Detailed Description

A swerve module velocity that also carries how fast the azimuth is turning.

Constructor & Destructor Documentation

◆ SwerveModuleVelocityWithAzimuth() [1/2]

yams::mechanisms::swerve::SwerveModuleVelocityWithAzimuth::SwerveModuleVelocityWithAzimuth ( )

default

◆ SwerveModuleVelocityWithAzimuth() [2/2]

yams::mechanisms::swerve::SwerveModuleVelocityWithAzimuth::SwerveModuleVelocityWithAzimuth	(	wpi::units::meters_per_second_t	velocity,
		wpi::math::Rotation2d	angle,
		wpi::units::radians_per_second_t	azimuthVelocity
	)

inline

Parameters

velocity	Wheel velocity.
angle	Azimuth angle.
azimuthVelocity	How fast the azimuth is turning.

Member Function Documentation

◆ Optimize()

static wpi::math::SwerveModuleVelocity yams::mechanisms::swerve::SwerveModuleVelocityWithAzimuth::Optimize	(	const wpi::math::SwerveModuleVelocity &	desired,
		const SwerveModuleVelocityWithAzimuth &	measured,
		const std::optional< wpi::math::Rotation2d > &	lastCommanded,
		wpi::units::degree_t	hysteresis = `wpi::units::degree_t{30}`
	)

inlinestatic

Optimize a desired state against the measured one, keeping the orientation the wheel was last sent to unless the other is better by more than the hysteresis. Without it a wheel that is still turning reverses back and forth as the target moves across the 90 degree boundary.

Parameters

desired	Desired state.
measured	Measured state.
lastCommanded	Angle the wheel was last sent to, if any.
hysteresis	How much better the other orientation must be before the wheel reverses.

Returns: The optimized state.

Member Data Documentation

◆ azimuthVelocity

wpi::units::radians_per_second_t yams::mechanisms::swerve::SwerveModuleVelocityWithAzimuth::azimuthVelocity {0}

How fast the azimuth is turning.

The documentation for this struct was generated from the following file:

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/SwerveModuleVelocityWithAzimuth.hpp

Public Member Functions

Static Public Member Functions

Public Attributes