diff --git a/classfilters_1_1ExtendedKalmanFilter.html b/classfilters_1_1ExtendedKalmanFilter.html index 1fed1d22..f40b8982 100644 --- a/classfilters_1_1ExtendedKalmanFilter.html +++ b/classfilters_1_1ExtendedKalmanFilter.html @@ -124,20 +124,20 @@
Collaboration graph
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[legend]
diff --git a/classfilters_1_1ExtendedKalmanFilter__coll__graph.map b/classfilters_1_1ExtendedKalmanFilter__coll__graph.map index 40a79307..c5783d60 100644 --- a/classfilters_1_1ExtendedKalmanFilter__coll__graph.map +++ b/classfilters_1_1ExtendedKalmanFilter__coll__graph.map @@ -1,16 +1,16 @@ - - - - - - - + + + + + + + - - - - - - + + + + + + diff --git a/classfilters_1_1ExtendedKalmanFilter__coll__graph.png b/classfilters_1_1ExtendedKalmanFilter__coll__graph.png index ba6ede57..c4b57b06 100644 Binary files a/classfilters_1_1ExtendedKalmanFilter__coll__graph.png and b/classfilters_1_1ExtendedKalmanFilter__coll__graph.png differ diff --git a/classfilters_1_1KalmanFilter.html b/classfilters_1_1KalmanFilter.html index 78c142ed..5ffbab8e 100644 --- a/classfilters_1_1KalmanFilter.html +++ b/classfilters_1_1KalmanFilter.html @@ -123,20 +123,20 @@
Collaboration graph
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[legend]
diff --git a/classfilters_1_1KalmanFilterBase.html b/classfilters_1_1KalmanFilterBase.html index 4d20a139..c8f6b70e 100644 --- a/classfilters_1_1KalmanFilterBase.html +++ b/classfilters_1_1KalmanFilterBase.html @@ -127,18 +127,18 @@
Collaboration graph
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[legend]
diff --git a/classfilters_1_1KalmanFilterBase__coll__graph.map b/classfilters_1_1KalmanFilterBase__coll__graph.map index bff55cba..2cb0d604 100644 --- a/classfilters_1_1KalmanFilterBase__coll__graph.map +++ b/classfilters_1_1KalmanFilterBase__coll__graph.map @@ -1,14 +1,14 @@ - - - - - + + + + + - - - - - - + + + + + + diff --git a/classfilters_1_1KalmanFilterBase__coll__graph.png b/classfilters_1_1KalmanFilterBase__coll__graph.png index 64caaf2a..23885599 100644 Binary files a/classfilters_1_1KalmanFilterBase__coll__graph.png and b/classfilters_1_1KalmanFilterBase__coll__graph.png differ diff --git a/classfilters_1_1KalmanFilter__coll__graph.map b/classfilters_1_1KalmanFilter__coll__graph.map index bb76a56c..d2a2e74c 100644 --- a/classfilters_1_1KalmanFilter__coll__graph.map +++ b/classfilters_1_1KalmanFilter__coll__graph.map @@ -1,16 +1,16 @@ - - - - - - - + + + + + + + - - - - - - + + + + + + diff --git a/classfilters_1_1KalmanFilter__coll__graph.png b/classfilters_1_1KalmanFilter__coll__graph.png index ac4fc734..f6f124bc 100644 Binary files a/classfilters_1_1KalmanFilter__coll__graph.png and b/classfilters_1_1KalmanFilter__coll__graph.png differ diff --git a/classfilters_1_1MultiSensorEKF.html b/classfilters_1_1MultiSensorEKF.html index d26f5fc2..7f998452 100644 --- a/classfilters_1_1MultiSensorEKF.html +++ b/classfilters_1_1MultiSensorEKF.html @@ -118,20 +118,20 @@
Collaboration graph
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[legend]
diff --git a/classfilters_1_1MultiSensorEKF__coll__graph.map b/classfilters_1_1MultiSensorEKF__coll__graph.map index a96c7da7..f630f1c4 100644 --- a/classfilters_1_1MultiSensorEKF__coll__graph.map +++ b/classfilters_1_1MultiSensorEKF__coll__graph.map @@ -1,16 +1,16 @@ - - - - - - - + + + + + + + - - - - - - + + + + + + diff --git a/classfilters_1_1MultiSensorEKF__coll__graph.png b/classfilters_1_1MultiSensorEKF__coll__graph.png index c31c92ca..ea5c16bc 100644 Binary files a/classfilters_1_1MultiSensorEKF__coll__graph.png and b/classfilters_1_1MultiSensorEKF__coll__graph.png differ diff --git a/classh264encoder_1_1EncoderImpl.html b/classh264encoder_1_1EncoderImpl.html index 853ec548..1503ecd5 100644 --- a/classh264encoder_1_1EncoderImpl.html +++ b/classh264encoder_1_1EncoderImpl.html @@ -108,11 +108,11 @@
Collaboration graph
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[legend]
diff --git a/classh264encoder_1_1EncoderImpl__coll__graph.map b/classh264encoder_1_1EncoderImpl__coll__graph.map index c571bd4e..27685d34 100644 --- a/classh264encoder_1_1EncoderImpl__coll__graph.map +++ b/classh264encoder_1_1EncoderImpl__coll__graph.map @@ -1,7 +1,7 @@ - - - + + + - + diff --git a/classh264encoder_1_1EncoderImpl__coll__graph.png b/classh264encoder_1_1EncoderImpl__coll__graph.png index b7184a0d..47a284c9 100644 Binary files a/classh264encoder_1_1EncoderImpl__coll__graph.png and b/classh264encoder_1_1EncoderImpl__coll__graph.png differ diff --git a/classkinematics_1_1ArmKinematics.html b/classkinematics_1_1ArmKinematics.html index 648623eb..b4f341b9 100644 --- a/classkinematics_1_1ArmKinematics.html +++ b/classkinematics_1_1ArmKinematics.html @@ -125,11 +125,11 @@
Collaboration graph
- + - + - + diff --git a/classkinematics_1_1ArmKinematics__coll__graph.map b/classkinematics_1_1ArmKinematics__coll__graph.map index 33d6acfc..03cad8f5 100644 --- a/classkinematics_1_1ArmKinematics__coll__graph.map +++ b/classkinematics_1_1ArmKinematics__coll__graph.map @@ -1,9 +1,9 @@ - + - + - + diff --git a/classkinematics_1_1ArmKinematics__coll__graph.png b/classkinematics_1_1ArmKinematics__coll__graph.png index e4144fb1..7bca94a9 100644 Binary files a/classkinematics_1_1ArmKinematics__coll__graph.png and b/classkinematics_1_1ArmKinematics__coll__graph.png differ diff --git a/classkinematics_1_1FabrikSolver2D.html b/classkinematics_1_1FabrikSolver2D.html index 31cd7b6d..ca7d34fa 100644 --- a/classkinematics_1_1FabrikSolver2D.html +++ b/classkinematics_1_1FabrikSolver2D.html @@ -122,9 +122,9 @@
Collaboration graph
- + - + diff --git a/classkinematics_1_1FabrikSolver2D__coll__graph.map b/classkinematics_1_1FabrikSolver2D__coll__graph.map index 73c58dcd..4cb22545 100644 --- a/classkinematics_1_1FabrikSolver2D__coll__graph.map +++ b/classkinematics_1_1FabrikSolver2D__coll__graph.map @@ -1,7 +1,7 @@ - + - + diff --git a/classkinematics_1_1FabrikSolver2D__coll__graph.png b/classkinematics_1_1FabrikSolver2D__coll__graph.png index f0a446aa..1578ab99 100644 Binary files a/classkinematics_1_1FabrikSolver2D__coll__graph.png and b/classkinematics_1_1FabrikSolver2D__coll__graph.png differ diff --git a/classrobot_1_1can__motor.html b/classrobot_1_1can__motor.html index 023ec746..811457b7 100644 --- a/classrobot_1_1can__motor.html +++ b/classrobot_1_1can__motor.html @@ -117,9 +117,9 @@
Collaboration graph
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Collaboration graph
- + - + diff --git a/classrobot_1_1sim__motor__coll__graph.map b/classrobot_1_1sim__motor__coll__graph.map index ecda0f5a..1f62aa7d 100644 --- a/classrobot_1_1sim__motor__coll__graph.map +++ b/classrobot_1_1sim__motor__coll__graph.map @@ -1,7 +1,7 @@ - + - + diff --git a/classrobot_1_1sim__motor__coll__graph.png b/classrobot_1_1sim__motor__coll__graph.png index c10d0f0f..059ba482 100644 Binary files a/classrobot_1_1sim__motor__coll__graph.png and b/classrobot_1_1sim__motor__coll__graph.png differ diff --git a/dir_158ca147e218bea511d3b70ff49380aa.html b/dir_158ca147e218bea511d3b70ff49380aa.html index 897b3169..050a0fff 100644 --- a/dir_158ca147e218bea511d3b70ff49380aa.html +++ b/dir_158ca147e218bea511d3b70ff49380aa.html @@ -104,8 +104,8 @@
src/gps
- - + + diff --git a/dir_158ca147e218bea511d3b70ff49380aa_dep.map b/dir_158ca147e218bea511d3b70ff49380aa_dep.map index 5f770f66..9e8cb838 100644 --- a/dir_158ca147e218bea511d3b70ff49380aa_dep.map +++ b/dir_158ca147e218bea511d3b70ff49380aa_dep.map @@ -1,6 +1,6 @@ - - + + diff --git a/dir_158ca147e218bea511d3b70ff49380aa_dep.png b/dir_158ca147e218bea511d3b70ff49380aa_dep.png index 67cb925b..722dbed2 100644 Binary files a/dir_158ca147e218bea511d3b70ff49380aa_dep.png and b/dir_158ca147e218bea511d3b70ff49380aa_dep.png differ diff --git a/dir_1e1245ae52d485cb7d8112a201289c20.html b/dir_1e1245ae52d485cb7d8112a201289c20.html index 0a8955ff..9c2b966d 100644 --- a/dir_1e1245ae52d485cb7d8112a201289c20.html +++ b/dir_1e1245ae52d485cb7d8112a201289c20.html @@ -104,7 +104,7 @@
src/world_interface
- + diff --git a/dir_1e1245ae52d485cb7d8112a201289c20_dep.map b/dir_1e1245ae52d485cb7d8112a201289c20_dep.map index 2a9e6b78..2130da90 100644 --- a/dir_1e1245ae52d485cb7d8112a201289c20_dep.map +++ b/dir_1e1245ae52d485cb7d8112a201289c20_dep.map @@ -1,5 +1,5 @@ - + diff --git a/dir_1e1245ae52d485cb7d8112a201289c20_dep.png b/dir_1e1245ae52d485cb7d8112a201289c20_dep.png index 0d3aaa26..1df93289 100644 Binary files a/dir_1e1245ae52d485cb7d8112a201289c20_dep.png and b/dir_1e1245ae52d485cb7d8112a201289c20_dep.png differ diff --git a/dir_fc4c7f03e1a69a98c370fae55a743828.html b/dir_fc4c7f03e1a69a98c370fae55a743828.html index 31702ffa..07def906 100644 --- a/dir_fc4c7f03e1a69a98c370fae55a743828.html +++ b/dir_fc4c7f03e1a69a98c370fae55a743828.html @@ -104,7 +104,7 @@
src/network
- + diff --git a/dir_fc4c7f03e1a69a98c370fae55a743828_dep.map b/dir_fc4c7f03e1a69a98c370fae55a743828_dep.map index f96c79fe..23fe9657 100644 --- a/dir_fc4c7f03e1a69a98c370fae55a743828_dep.map +++ b/dir_fc4c7f03e1a69a98c370fae55a743828_dep.map @@ -1,5 +1,5 @@ - + diff --git a/dir_fc4c7f03e1a69a98c370fae55a743828_dep.png b/dir_fc4c7f03e1a69a98c370fae55a743828_dep.png index c1d52814..d1515432 100644 Binary files a/dir_fc4c7f03e1a69a98c370fae55a743828_dep.png and b/dir_fc4c7f03e1a69a98c370fae55a743828_dep.png differ diff --git a/namespacerobot.html b/namespacerobot.html index 4b01b6e9..2d6b09b1 100644 --- a/namespacerobot.html +++ b/namespacerobot.html @@ -1059,10 +1059,10 @@

= frozen::make_unordered_map<motorid_t, pidcoef_t>(
{{motorid_t::shoulder, {70, 0, 0}},
{motorid_t::elbow, {15, 7, -2}},
-
{motorid_t::frontLeftSwerve, {2, 0, -1}},
-
{motorid_t::frontRightSwerve, {3, 0, -1}},
+
{motorid_t::frontLeftSwerve, {2, 0, 0}},
+
{motorid_t::frontRightSwerve, {2, 0, 0}},
{motorid_t::rearLeftSwerve, {0, 0, 0}},
-
{motorid_t::rearRightSwerve, {2, 0, -1}}})
+
{motorid_t::rearRightSwerve, {2, 0, 0}}})

A mapping of PID controlled motors to their pid coefficients.

diff --git a/real__world__constants_8h_source.html b/real__world__constants_8h_source.html index 4189b0e1..18ffa197 100644 --- a/real__world__constants_8h_source.html +++ b/real__world__constants_8h_source.html @@ -202,10 +202,10 @@
115constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
116 {{motorid_t::shoulder, {70, 0, 0}},
117 {motorid_t::elbow, {15, 7, -2}},
-
118 {motorid_t::frontLeftSwerve, {2, 0, -1}},
-
119 {motorid_t::frontRightSwerve, {3, 0, -1}},
+
118 {motorid_t::frontLeftSwerve, {2, 0, 0}},
+
119 {motorid_t::frontRightSwerve, {2, 0, 0}},
120 {motorid_t::rearLeftSwerve, {0, 0, 0}},
-
121 {motorid_t::rearRightSwerve, {2, 0, -1}}});
+
121 {motorid_t::rearRightSwerve, {2, 0, 0}}});
122
127constexpr auto positive_pwm_scales =
128 frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.75},