Added composite conversion factors.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>

src/main/deploy/swerve/neo/modules/physicalproperties.json

@@ -1,7 +1,11 @@
 {
-  "conversionFactor": {
-    "drive": 0.047286787200699704,
-    "angle": 28.125
+  "conversionFactors": {
+    "drive": {
+      "factor": 0.047286787200699704
+    },
+    "angle": {
+      "factor": 28.125
+    }
   },
   "currentLimit": {
     "drive": 40,

src/main/java/swervelib/parser/json/ModuleJson.java

@@ -9,6 +9,7 @@
 import swervelib.parser.SwerveModuleConfiguration;
 import swervelib.parser.SwerveModulePhysicalCharacteristics;
 import swervelib.parser.json.modules.BoolMotorJson;
+import swervelib.parser.json.modules.ConversionFactorsJson;
 import swervelib.parser.json.modules.LocationJson;
 
 /**
@@ -20,43 +21,47 @@ public class ModuleJson
   /**
    * Drive motor device configuration.
    */
-  public DeviceJson        drive;
+  public DeviceJson            drive;
   /**
    * Angle motor device configuration.
    */
-  public DeviceJson        angle;
+  public DeviceJson            angle;
   /**
    * Conversion factor for the module, if different from the one in swervedrive.json
    * <p>
    * Conversion factor applied to the motor controllers PID loops. Can be calculated with
    * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
    * {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
    */
-  public MotorConfigDouble conversionFactor        = new MotorConfigDouble(0, 0);
+  public MotorConfigDouble     conversionFactor        = new MotorConfigDouble(0, 0);
+  /**
+   * Conversion Factors composition. Auto-calculates the conversion factors.
+   */
+  public ConversionFactorsJson conversionFactors       = new ConversionFactorsJson();
   /**
    * Absolute encoder device configuration.
    */
-  public DeviceJson        encoder;
+  public DeviceJson            encoder;
   /**
    * Defines which motors are inverted.
    */
-  public BoolMotorJson     inverted;
+  public BoolMotorJson         inverted;
   /**
    * Absolute encoder offset from 0 in degrees.
    */
-  public double            absoluteEncoderOffset;
+  public double                absoluteEncoderOffset;
   /**
    * Absolute encoder inversion state.
    */
-  public boolean           absoluteEncoderInverted = false;
+  public boolean               absoluteEncoderInverted = false;
   /**
    * The location of the swerve module from the center of the robot in inches.
    */
-  public LocationJson      location;
+  public LocationJson          location;
   /**
    * Should do cosine compensation when not pointing correct direction;.
    */
-  public boolean           useCosineCompensator    = true;
+  public boolean               useCosineCompensator    = true;
 
   /**
    * Create the swerve module configuration based off of parsed data.
@@ -85,6 +90,27 @@ public SwerveModuleConfiguration createModuleConfiguration(
       }
     }
 
+    // Setup deprecation notice.
+//    if (this.conversionFactor.drive != 0 && this.conversionFactor.angle != 0)
+//    {
+//      new Alert("Configuration",
+//                "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
+//                "} \nis deprecated, please use\n" +
+//                "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
+//                conversionFactor.angle + "} }",
+//                AlertType.WARNING).set(true);
+//    }
+
+    // Override with composite conversion factor.
+    if (!conversionFactors.isAngleEmpty())
+    {
+      conversionFactor.angle = conversionFactors.angle.calculate();
+    }
+    if (!conversionFactors.isDriveEmpty())
+    {
+      conversionFactor.drive = conversionFactors.drive.calculate();
+    }
+
     // Set the conversion factors to null if they are both 0.
     if (this.conversionFactor != null)
     {

src/main/java/swervelib/parser/json/PhysicalPropertiesJson.java

@@ -1,6 +1,9 @@
 package swervelib.parser.json;
 
 import swervelib.parser.SwerveModulePhysicalCharacteristics;
+import swervelib.parser.json.modules.ConversionFactorsJson;
+import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
 
 /**
  * {@link swervelib.parser.SwerveModulePhysicalCharacteristics} parsed data. Used to configure the SwerveModule.
@@ -14,23 +17,27 @@ public class PhysicalPropertiesJson
    * {@link swervelib.math.SwerveMath#calculateDegreesPerSteeringRotation(double, double)} for angle motors or
    * {@link swervelib.math.SwerveMath#calculateMetersPerRotation(double, double, double)} for drive motors.
    */
-  public MotorConfigDouble conversionFactor               = new MotorConfigDouble(0, 0);
+  public MotorConfigDouble     conversionFactor               = new MotorConfigDouble(0, 0);
+  /**
+   * Conversion Factors composition. Auto-calculates the conversion factors.
+   */
+  public ConversionFactorsJson conversionFactors              = new ConversionFactorsJson();
   /**
    * The current limit in AMPs to apply to the motors.
    */
-  public MotorConfigInt    currentLimit                   = new MotorConfigInt(40, 20);
+  public MotorConfigInt        currentLimit                   = new MotorConfigInt(40, 20);
   /**
    * The minimum number of seconds to take for the motor to go from 0 to full throttle.
    */
-  public MotorConfigDouble rampRate                       = new MotorConfigDouble(0.25, 0.25);
+  public MotorConfigDouble     rampRate                       = new MotorConfigDouble(0.25, 0.25);
   /**
    * The grip tape coefficient of friction on carpet. Used to calculate the practical maximum acceleration.
    */
-  public double            wheelGripCoefficientOfFriction = 1.19;
+  public double                wheelGripCoefficientOfFriction = 1.19;
   /**
    * The voltage to use for the smart motor voltage compensation, default is 12.
    */
-  public double            optimalVoltage                 = 12;
+  public double                optimalVoltage                 = 12;
 
   /**
    * Create the physical characteristics based off the parsed data.
@@ -39,6 +46,28 @@ public class PhysicalPropertiesJson
    */
   public SwerveModulePhysicalCharacteristics createPhysicalProperties()
   {
+    // Setup deprecation notice.
+//    if (conversionFactor.drive != 0 && conversionFactor.angle != 0 && conversionFactors.isDriveEmpty() &&
+//        conversionFactors.isAngleEmpty())
+//    {
+//      new Alert("Configuration",
+//                "\n'conversionFactor': {'drive': " + conversionFactor.drive + ", 'angle': " + conversionFactor.angle +
+//                "} \nis deprecated, please use\n" +
+//                "'conversionFactors': {'drive': {'factor': " + conversionFactor.drive + "}, 'angle': {'factor': " +
+//                conversionFactor.angle + "} }",
+//                AlertType.ERROR_TRACE).set(true);
+//    }
+
+    if (!conversionFactors.isAngleEmpty())
+    {
+      conversionFactor.angle = conversionFactors.angle.calculate();
+    }
+
+    if (!conversionFactors.isDriveEmpty())
+    {
+      conversionFactor.drive = conversionFactors.drive.calculate();
+    }
+
     return new SwerveModulePhysicalCharacteristics(
         conversionFactor,
         wheelGripCoefficientOfFriction,

src/main/java/swervelib/parser/json/modules/AngleConversionFactorsJson.java

@@ -0,0 +1,41 @@
+package swervelib.parser.json.modules;
+
+import swervelib.math.SwerveMath;
+import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
+
+/**
+ * Angle motor conversion factors composite JSON parse class.
+ */
+public class AngleConversionFactorsJson
+{
+
+  /**
+   * Gear ratio for the angle/steering/azimuth motor on the Swerve Module. Motor rotations to 1 wheel rotation.
+   */
+  public double gearRatio = 0;
+  /**
+   * Calculated or given conversion factor.
+   */
+  public double factor    = 0;
+
+  /**
+   * Calculate the drive conversion factor.
+   *
+   * @return Drive conversion factor, if factor isn't set.
+   */
+  public double calculate()
+  {
+    if (factor != 0 && gearRatio != 0)
+    {
+      new Alert("Configuration",
+                "The given angle conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
+                AlertType.WARNING).set(true);
+    }
+    if (factor == 0)
+    {
+      factor = SwerveMath.calculateDegreesPerSteeringRotation(gearRatio);
+    }
+    return factor;
+  }
+}

src/main/java/swervelib/parser/json/modules/ConversionFactorsJson.java

@@ -0,0 +1,37 @@
+package swervelib.parser.json.modules;
+
+/**
+ * Conversion Factors parsed JSON class
+ */
+public class ConversionFactorsJson
+{
+
+  /**
+   * Drive motor conversion factors composition.
+   */
+  public DriveConversionFactorsJson drive = new DriveConversionFactorsJson();
+  /**
+   * Angle motor conversion factors composition.
+   */
+  public AngleConversionFactorsJson angle = new AngleConversionFactorsJson();
+
+  /**
+   * Check if the conversion factors are set for the drive motor.
+   *
+   * @return Empty
+   */
+  public boolean isDriveEmpty()
+  {
+    return drive.factor == 0 && drive.diameter == 0 && drive.gearRatio == 0;
+  }
+
+  /**
+   * Check if the conversion factors are set for the angle motor.
+   *
+   * @return Empty
+   */
+  public boolean isAngleEmpty()
+  {
+    return angle.factor == 0 && angle.gearRatio == 0;
+  }
+}

src/main/java/swervelib/parser/json/modules/DriveConversionFactorsJson.java

@@ -0,0 +1,46 @@
+package swervelib.parser.json.modules;
+
+import edu.wpi.first.math.util.Units;
+import swervelib.math.SwerveMath;
+import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
+
+/**
+ * Drive motor composite JSON parse class.
+ */
+public class DriveConversionFactorsJson
+{
+
+  /**
+   * Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
+   */
+  public double gearRatio = 0;
+  /**
+   * Diameter of the wheel in inches.
+   */
+  public double diameter  = 0;
+  /**
+   * Calculated conversion factor.
+   */
+  public double factor    = 0;
+
+  /**
+   * Calculate the drive conversion factor.
+   *
+   * @return Drive conversion factor, if factor isn't set.
+   */
+  public double calculate()
+  {
+    if (factor != 0 && (diameter != 0 || gearRatio != 0))
+    {
+      new Alert("Configuration",
+                "The given drive conversion factor takes precedence over the composite conversion factor, please remove 'factor' if you want to use the composite factor instead.",
+                AlertType.WARNING).set(true);
+    }
+    if (factor == 0)
+    {
+      factor = SwerveMath.calculateMetersPerRotation(Units.inchesToMeters(this.diameter), this.gearRatio);
+    }
+    return factor;
+  }
+}