Class SwerveOffsetParams

java.lang.Object

frc.robot.subsystems.swerve.SwerveOffsetParams

public final class SwerveOffsetParams
extends Object

The swerve CANcoder magnet offsets as params, group swerve, so a module re-zeroed in the pit (SwerveAlignment) can be saved without a code change.

The offsets are per robot: they live in params/robots/<robot>/swerve.json, and each default is the offset in that robot's config class (FM2026 and so on). A missing or unreadable file, or a value out of bounds, leaves the config's offset.

Read once at boot, before the drivetrain is built, because CTRE writes each offset into its CANcoder's config when the drivetrain starts. A value changed later (tuning mode, disabled) does not reach the modules until the robot reboots, and an alert says so until then. Applying it live would take a blocking CANcoder config call and rebuilt module constants.

Field Summary

Fields

Modifier and Type	Field	Description
static final String	GROUP
static final List<String>	KEYS	In the order of SwerveConfig.getEncoderOffsetRotations().
static final double	MAX_ABS_ROTATIONS	Any offset has an equivalent within half a turn, and every robot's is there, so a value outside it is a typo (a misplaced digit, or degrees for rotations).

Method Summary

Modifier and Type	Method	Description
static void	apply(SwerveConfig config)	Declares the offsets and gives the config their resolved values.
static boolean	changedSinceBoot()	Whether an offset differs from the one the drivetrain booted with, as of periodic().
static List<DoubleParam>	declare(SwerveConfig config)	Declares the four offsets with this robot's config values as the defaults.
static void	periodic()	Raises an alert while an offset differs from the one the drivetrain booted with.

Methods inherited from class Object

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

Field Details

GROUP

public static final String GROUP

See Also:

• Constant Field Values

KEYS

public static final List<String> KEYS

In the order of SwerveConfig.getEncoderOffsetRotations().

MAX_ABS_ROTATIONS

public static final double MAX_ABS_ROTATIONS

Any offset has an equivalent within half a turn, and every robot's is there, so a value outside it is a typo (a misplaced digit, or degrees for rotations).

See Also:

• Constant Field Values

Method Details

declare

public static List<DoubleParam> declare(SwerveConfig config)

Declares the four offsets with this robot's config values as the defaults. Declared once per run; a second call must come from the same robot config.

Parameters:

config - the robot's swerve config, offsets as its config class set them

Returns:

the params, in the order of KEYS

apply

public static void apply(SwerveConfig config)

Declares the offsets and gives the config their resolved values. Call once at boot, after Params.start(Path, String, Path, ParamTransport) and before the drivetrain is built.

Parameters:

config - the robot's swerve config

changedSinceBoot

public static boolean changedSinceBoot()

Whether an offset differs from the one the drivetrain booted with, as of periodic().

periodic

public static void periodic()

Raises an alert while an offset differs from the one the drivetrain booted with.