TrapezoidalControllerConfiguration (SwerveLibrary 0.1.0 API)

java.lang.Object
- frc.team88.swerve.configuration.subconfig.TrapezoidalControllerConfiguration

All Implemented Interfaces:

NetworkTablePopulator
```
public class TrapezoidalControllerConfiguration
extends java.lang.Object
implements NetworkTablePopulator
```
Captures all of the configuration information about a SwerveModule's azimuth controller.

Constructor Summary

Constructors
Constructor Description

TrapezoidalControllerConfiguration(com.electronwill.nightconfig.core.Config config)
Constructs from a raw configuration.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`double`	`getMaxAcceleration()`	Gets the max acceleration.
`double`	`getMaxSpeed()`	Gets the max speed.
`PIDConfiguration`	`getPIDConfig()`	Gets the PID configuration.
`void`	`populateNetworkTable(edu.wpi.first.networktables.NetworkTable table)`	Populates the given network table with data from this class.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - TrapezoidalControllerConfiguration
```
public TrapezoidalControllerConfiguration(com.electronwill.nightconfig.core.Config config)
```
    Constructs from a raw configuration.
    
    Parameters:
    
    config - The raw configuration.
    
    Throws:
    
    SwerveConfigException - If the user provided config is incorrect.
- Method Detail
  - getPIDConfig
```
public PIDConfiguration getPIDConfig()
```
    Gets the PID configuration.
    
    Returns:
    
    The PID configuration for the azimuth controller.
  - getMaxSpeed
```
public double getMaxSpeed()
```
    Gets the max speed.
    
    Returns:
    
    The max speed for the trapezoidal controller.
  - getMaxAcceleration
```
public double getMaxAcceleration()
```
    Gets the max acceleration.
    
    Returns:
    
    The max acceleration for the trapezoidal controller.
  - populateNetworkTable
```
public void populateNetworkTable(edu.wpi.first.networktables.NetworkTable table)
```
    Description copied from interface: NetworkTablePopulator
    
    Populates the given network table with data from this class. May also read in values.
    
    Specified by:
    
    populateNetworkTable in interface NetworkTablePopulator
    
    Parameters:
    
    table - The table to populate, and possibly read from.