From 51520c0d2d9f2c20b7c7f7482a4c9285eb07032f Mon Sep 17 00:00:00 2001 From: T Grinch <10247070+thenetworkgrinch@users.noreply.github.com> Date: Tue, 5 Dec 2023 16:28:03 -0600 Subject: [PATCH] Fixed docs, moved donate button lower. Signed-off-by: thenetworkgrinch --- README.md | 4 +++- .../swervelib/parser/SwerveControllerConfiguration.java | 4 +++- .../java/swervelib/parser/SwerveDriveConfiguration.java | 9 +++++---- .../java/swervelib/parser/SwerveModuleConfiguration.java | 3 ++- 4 files changed, 13 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index f1bbaddcb..d4301eecc 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,3 @@ -Buy Me a Robot at ko-fi.com # Yet Another Generic Swerve Library (YAGSL) Example project YAGSL is intended to be an easy implementation of a generic swerve drive that should work for most @@ -36,6 +35,9 @@ We will be actively montoring this and fix any issues when we can! * Development happens here on `YAGSL-Example`. `YAGSL` and `YAGSL-Lib` are updated on a nightly basis. +# Support our developers! +Buy Me a Robot at ko-fi.com + ### TL;DR Generate and download your configuration [here](https://broncbotz3481.github.io/YAGSL-Example/) and unzip it so that it follows structure below: ```text diff --git a/src/main/java/swervelib/parser/SwerveControllerConfiguration.java b/src/main/java/swervelib/parser/SwerveControllerConfiguration.java index 3266a458e..7f1d96718 100644 --- a/src/main/java/swervelib/parser/SwerveControllerConfiguration.java +++ b/src/main/java/swervelib/parser/SwerveControllerConfiguration.java @@ -23,8 +23,10 @@ public class SwerveControllerConfiguration public double maxAngularVelocity; /** - * Construct the swerve controller configuration. + * Construct the swerve controller configuration. Assumes robot is square to fetch maximum angular velocity. * + * @param driveCfg {@link SwerveDriveConfiguration} to fetch the first module X and Y used to + * calculate the maximum angular velocity. * @param headingPIDF Heading PIDF configuration. * @param angleJoyStickRadiusDeadband Deadband on radius of angle joystick. * @param maxSpeedMPS Maximum speed in meters per second for angular velocity, remember if you have diff --git a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java index 6e618e03b..e55d693be 100644 --- a/src/main/java/swervelib/parser/SwerveDriveConfiguration.java +++ b/src/main/java/swervelib/parser/SwerveDriveConfiguration.java @@ -39,10 +39,11 @@ public class SwerveDriveConfiguration /** * Create swerve drive configuration. * - * @param moduleConfigs Module configuration. - * @param swerveIMU Swerve IMU. - * @param invertedIMU Invert the IMU. - * @param driveFeedforward The drive motor feedforward to use for the {@link SwerveModule}. + * @param moduleConfigs Module configuration. + * @param swerveIMU Swerve IMU. + * @param invertedIMU Invert the IMU. + * @param driveFeedforward The drive motor feedforward to use for the {@link SwerveModule}. + * @param physicalCharacteristics {@link SwerveModulePhysicalCharacteristics} to store in association with self. */ public SwerveDriveConfiguration( SwerveModuleConfiguration[] moduleConfigs, diff --git a/src/main/java/swervelib/parser/SwerveModuleConfiguration.java b/src/main/java/swervelib/parser/SwerveModuleConfiguration.java index 91d1fe7bd..2e8d9f890 100644 --- a/src/main/java/swervelib/parser/SwerveModuleConfiguration.java +++ b/src/main/java/swervelib/parser/SwerveModuleConfiguration.java @@ -17,7 +17,7 @@ public class SwerveModuleConfiguration * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} respectively to calculate the * conversion factors. */ - public final MotorConfigDouble conversionFactors; + public final MotorConfigDouble conversionFactors; /** * Angle offset in degrees for the Swerve Module. */ @@ -79,6 +79,7 @@ public class SwerveModuleConfiguration * @param velocityPIDF Velocity PIDF configuration. * @param physicalCharacteristics Physical characteristics of the swerve module. * @param name The name for the swerve module. + * @param conversionFactors Conversion factors to be applied to the drive and angle motors. */ public SwerveModuleConfiguration( SwerveMotor driveMotor,