edu.wpi.first.math.kinematics.SwerveModulePosition Class Reference

Inheritance diagram for edu.wpi.first.math.kinematics.SwerveModulePosition:

Public Member Functions
	SwerveModulePosition ()
	SwerveModulePosition (double distanceMeters, Rotation2d angle)
	SwerveModulePosition (Measure< Distance > distance, Rotation2d angle)
int	compareTo (SwerveModulePosition other)
SwerveModulePosition	copy ()
Public Member Functions inherited from edu.wpi.first.math.interpolation.Interpolatable< T >
T	interpolate (T endValue, double t)

Public Attributes
double	distanceMeters
Rotation2d	angle = Rotation2d.fromDegrees(0)

Static Public Attributes
static final SwerveModulePositionProto	proto = new SwerveModulePositionProto()
static final SwerveModulePositionStruct	struct = new SwerveModulePositionStruct()

Detailed Description

Represents the state of one swerve module.

Constructor & Destructor Documentation

SwerveModulePosition() [1/3]

edu.wpi.first.math.kinematics.SwerveModulePosition.SwerveModulePosition

(

)

Constructs a SwerveModulePosition with zeros for distance and angle.

SwerveModulePosition() [2/3]

edu.wpi.first.math.kinematics.SwerveModulePosition.SwerveModulePosition	(	double	distanceMeters,
		Rotation2d	angle )

Constructs a SwerveModulePosition.

Parameters

distanceMeters	The distance measured by the wheel of the module.
angle	The angle of the module.

SwerveModulePosition() [3/3]

edu.wpi.first.math.kinematics.SwerveModulePosition.SwerveModulePosition	(	Measure< Distance >	distance,
		Rotation2d	angle )

Constructs a SwerveModulePosition.

Parameters

distance	The distance measured by the wheel of the module.
angle	The angle of the module.

Member Function Documentation

compareTo()

int edu.wpi.first.math.kinematics.SwerveModulePosition.compareTo

(

SwerveModulePosition

other

)

Compares two swerve module positions. One swerve module is "greater" than the other if its distance is higher than the other.

Parameters

other

The other swerve module.

Returns

1 if this is greater, 0 if both are equal, -1 if other is greater.

copy()

SwerveModulePosition edu.wpi.first.math.kinematics.SwerveModulePosition.copy

(

)

Returns a copy of this swerve module position.

Returns

A copy.

Member Data Documentation

angle

Rotation2d edu.wpi.first.math.kinematics.SwerveModulePosition.angle = Rotation2d.fromDegrees(0)

Angle of the module.

distanceMeters

double edu.wpi.first.math.kinematics.SwerveModulePosition.distanceMeters

Distance measured by the wheel of the module.

proto

final SwerveModulePositionProto edu.wpi.first.math.kinematics.SwerveModulePosition.proto = new SwerveModulePositionProto()

static

SwerveModulePosition protobuf for serialization.

struct

final SwerveModulePositionStruct edu.wpi.first.math.kinematics.SwerveModulePosition.struct = new SwerveModulePositionStruct()

static

SwerveModulePosition struct for serialization.

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The documentation for this class was generated from the following file:

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/math/kinematics/SwerveModulePosition.java