Added configurable angle motor kV to JSON files.

Signed-off-by: thenetworkgrinch <[email protected]>
GeraldTM · Mar 27, 2023 · ff4ab2b · ff4ab2b
1 parent 9ab4ea6
commit ff4ab2b
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Showing 4 changed files with 29 additions and 8 deletions.
diff --git a/docs/index.html b/docs/index.html
@@ -159,6 +159,12 @@ <h1 class="d-inline display-6">Module Properties</h1>
               <label class="form-label" for="rampRate_angle-input">Ramp Rate Angle</label>
             </div>
             <hr/>
+            <div class="form-floating mb-3">
+              <input class="form-control" id="angleMotorsKV-input" name="angleMotorsKV"
+                     placeholder="0" type="number" value="0">
+              <label class="form-label" for="angleMotorsKV-input">Angle Motor kV</label>
+            </div>
+            <hr/>
             <div class="form-floating mb-3">
               <input class="form-control" id="encoderPulsePerRotation_drive-input"
                      name="encoderPulsePerRotation_drive" placeholder="1" type="number"

diff --git a/src/main/java/swervelib/parser/SwerveModuleConfiguration.java b/src/main/java/swervelib/parser/SwerveModuleConfiguration.java
@@ -116,11 +116,11 @@ public SwerveModuleConfiguration(
     this.anglePIDF = anglePIDF;
     this.velocityPIDF = velocityPIDF;
     this.maxSpeed = maxSpeed;
-    this.angleKV =
-        calculateAngleKV(
-            physicalCharacteristics.optimalVoltage,
-            angleMotorFreeSpeedRPM,
-            physicalCharacteristics.angleGearRatio);
+    this.angleKV = physicalCharacteristics.angleMotorKV == 0 ?
+                   calculateAngleKV(
+                       physicalCharacteristics.optimalVoltage,
+                       angleMotorFreeSpeedRPM,
+                       physicalCharacteristics.angleGearRatio) : physicalCharacteristics.angleMotorKV;
     this.physicalCharacteristics = physicalCharacteristics;
     this.angleMotorEncoderPulsePerRevolution = angleMotorEncoderPulsePerRevolution;
   }

diff --git a/src/main/java/swervelib/parser/SwerveModulePhysicalCharacteristics.java b/src/main/java/swervelib/parser/SwerveModulePhysicalCharacteristics.java
@@ -46,6 +46,12 @@ public class SwerveModulePhysicalCharacteristics
    * Free speed rotations per minute of the motor, as described by the vendor.
    */
   public final double angleMotorFreeSpeedRPM;
+  /**
+   * Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
+   * your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
+   * calculated kV will be used.
+   */
+  public final double angleMotorKV;
 
   /**
    * Construct the swerve module physical characteristics.
@@ -78,7 +84,8 @@ public SwerveModulePhysicalCharacteristics(
       double driveMotorRampRate,
       double angleMotorRampRate,
       int driveEncoderPulsePerRotation,
-      int angleEncoderPulsePerRotation)
+      int angleEncoderPulsePerRotation,
+      double angleMotorKV)
   {
     this.wheelGripCoefficientOfFriction = wheelGripCoefficientOfFriction;
     this.optimalVoltage = optimalVoltage;
@@ -94,6 +101,7 @@ public SwerveModulePhysicalCharacteristics(
     this.angleMotorCurrentLimit = angleMotorCurrentLimit;
     this.driveMotorRampRate = driveMotorRampRate;
     this.angleMotorRampRate = angleMotorRampRate;
+    this.angleMotorKV = angleMotorKV;
   }
 
   /**
@@ -134,6 +142,6 @@ public SwerveModulePhysicalCharacteristics(
         driveMotorRampRate,
         angleMotorRampRate,
         driveEncoderPulsePerRotation,
-        angleEncoderPulsePerRotation);
+        angleEncoderPulsePerRotation, 0);
   }
 }
diff --git a/src/main/java/swervelib/parser/json/PhysicalPropertiesJson.java b/src/main/java/swervelib/parser/json/PhysicalPropertiesJson.java
@@ -37,6 +37,12 @@ public class PhysicalPropertiesJson
    * Angle motor free speed rotations per minute.
    */
   public double            angleMotorFreeSpeedRPM;
+  /**
+   * Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
+   * your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
+   * calculated kV will be used.
+   */
+  public double            angleMotorsKV                  = 0;
 
   /**
    * Create the physical characteristics based off the parsed data.
@@ -58,7 +64,8 @@ public SwerveModulePhysicalCharacteristics createPhysicalProperties(double optim
         rampRate.drive,
         rampRate.angle,
         encoderPulsePerRotation.drive,
-        encoderPulsePerRotation.angle);
+        encoderPulsePerRotation.angle,
+        angleMotorsKV);
   }
 }