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

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

Public Member Functions
	SwerveModuleState ()
	SwerveModuleState (double speedMetersPerSecond, Rotation2d angle)
	SwerveModuleState (Measure< Velocity< Distance > > speed, Rotation2d angle)
int	compareTo (SwerveModuleState other)

Static Public Member Functions
static SwerveModuleState	optimize (SwerveModuleState desiredState, Rotation2d currentAngle)

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

Static Public Attributes
static final SwerveModuleStateProto	proto = new SwerveModuleStateProto()
static final SwerveModuleStateStruct	struct = new SwerveModuleStateStruct()

Detailed Description

Represents the state of one swerve module.

Constructor & Destructor Documentation

SwerveModuleState() [1/3]

edu.wpi.first.math.kinematics.SwerveModuleState.SwerveModuleState

(

)

Constructs a SwerveModuleState with zeros for speed and angle.

SwerveModuleState() [2/3]

edu.wpi.first.math.kinematics.SwerveModuleState.SwerveModuleState	(	double	speedMetersPerSecond,
		Rotation2d	angle )

Constructs a SwerveModuleState.

Parameters

speedMetersPerSecond	The speed of the wheel of the module.
angle	The angle of the module.

SwerveModuleState() [3/3]

edu.wpi.first.math.kinematics.SwerveModuleState.SwerveModuleState	(	Measure< Velocity< Distance > >	speed,
		Rotation2d	angle )

Constructs a SwerveModuleState.

Parameters

speed	The speed of the wheel of the module.
angle	The angle of the module.

Member Function Documentation

compareTo()

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

(

SwerveModuleState

other

)

Compares two swerve module states. One swerve module is "greater" than the other if its speed 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.

optimize()

static SwerveModuleState edu.wpi.first.math.kinematics.SwerveModuleState.optimize ( SwerveModuleState desiredState, Rotation2d currentAngle )

static

Minimize the change in heading the desired swerve module state would require by potentially reversing the direction the wheel spins. If this is used with the PIDController class's continuous input functionality, the furthest a wheel will ever rotate is 90 degrees.

Parameters

desiredState	The desired state.
currentAngle	The current module angle.

Returns

Optimized swerve module state.

Member Data Documentation

angle

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

Angle of the module.

proto

final SwerveModuleStateProto edu.wpi.first.math.kinematics.SwerveModuleState.proto = new SwerveModuleStateProto()

static

SwerveModuleState protobuf for serialization.

speedMetersPerSecond

double edu.wpi.first.math.kinematics.SwerveModuleState.speedMetersPerSecond

Speed of the wheel of the module.

struct

final SwerveModuleStateStruct edu.wpi.first.math.kinematics.SwerveModuleState.struct = new SwerveModuleStateStruct()

static

SwerveModuleState struct for serialization.

---

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

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