swerve_utils.h File Reference

#include <frc/kinematics/SwerveModuleState.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/velocity.h>
#include <optional>
#include "interpolation.h"

Go to the source code of this file.

Classes
struct	argos_lib::swerve::SwerveModulePositions
	Representation of the absolute encoder position of each module at home position. More...
struct	argos_lib::swerve::TranslationSpeeds
	Translation speeds as percent max output. More...
class	argos_lib::swerve::SwerveHomeStorageInterface
	Interface capable of saving and loading module home positions from persistent storage. More...

Namespaces
namespace	argos_lib
namespace	argos_lib::swerve

Functions
units::degree_t	argos_lib::swerve::NearestAngle (units::degree_t desiredAngle, units::degree_t referenceAngle)
	Finds closest angle alias of desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded. More...
units::degree_t	argos_lib::swerve::InvertedAngle (units::degree_t desiredAngle, units::degree_t referenceAngle)
	Finds closest angle alias of a vector 180-degrees offset from desiredAngle relative to referencedAngle. All inputs are normalized so ranges are unbounded. More...
units::degree_t	argos_lib::swerve::ConstrainAngle (units::degree_t inVal, units::degree_t minVal, units::degree_t maxVal)
	Normalize angle to specified range. More...
double	argos_lib::swerve::ConstrainAngle (double inVal, double minVal, double maxVal)
	Normalize angle to specified range. More...
frc::SwerveModuleState	argos_lib::swerve::Optimize (frc::SwerveModuleState desiredState, units::degree_t currentModuleAngle, units::degrees_per_second_t currentModuleAngularRate, units::feet_per_second_t currentModuleDriveVel, units::feet_per_second_t maxVelocity)
	Optimize swerve module to minimize rotations and drive direction changes. More...
template<class T , int size, class V >
constexpr TranslationSpeeds	argos_lib::swerve::CircularInterpolate (const TranslationSpeeds rawSpeeds, const argos_lib::InterpolationMap< T, size, V > interpMap)
	Use argos_lib::InterpolationMap to apply mapping according to joystick vector magnitude. More...