Classes
class	NetworkTablesHomingStorage
	Saves and loads swerve module homes to networkTables. More...

struct	SwerveModulePositions
	Representation of the absolute encoder position of each module at home position. More...

struct	TranslationSpeeds
	Translation speeds as percent max output. More...

Functions
frc::SwerveModuleState	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.

template<class T , int size, class V >
constexpr TranslationSpeeds	CircularInterpolate (const TranslationSpeeds rawSpeeds, const argos_lib::InterpolationMap< T, size, V > interpMap)
	Use argos_lib::InterpolationMap to apply mapping according to joystick vector magnitude.

Function Documentation

◆ CircularInterpolate()

template<class T , int size, class V >

constexpr TranslationSpeeds argos_lib::swerve::CircularInterpolate	(	const TranslationSpeeds	rawSpeeds,
		const argos_lib::InterpolationMap< T, size, V >	interpMap
	)

constexpr

Use argos_lib::InterpolationMap to apply mapping according to joystick vector magnitude.

Template Parameters

T	Type of interpolated input
size	Number of elements in interpolation map
V	Type of interpolated output

Parameters

rawSpeeds	Joystick inputs as percentages
interpMap	Interpolation map to apply to magnitudes

Returns: Remapped joystick percentages. Angle of vector will match rawSpeeds, but magnitude will scale according to interpMap. This results in circular deadband and other mapping results.

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.

Parameters

desiredState	Requested state. Output must result in same motion
currentModuleAngle	Module rotation angle in relative or absolute position
currentModuleAngularRate	Current module rotation speed. To prevent rapid changes in rotation direction.
currentModuleDriveVel	Current module drive velocity. To prevent rapid changes in drive motor velocity.
maxVelocity	Max velocity for determining max transition change thresholds

Returns: Optimized swerve module state that results in same motion as desiredState