## Uses of Class
frc.robot.subsystems.swervedrive.swerve.SwerveModule

- Packages that use SwerveModule
  Package | Description
  --- | ---
  frc.robot.subsystems.swervedrive.swerve |

- - ### Uses of SwerveModule in frc.robot.subsystems.swervedrive.swerve

    Fields in frc.robot.subsystems.swervedrive.swerve declared as SwerveModule
    Modifier and Type | Field | Description
    --- | --- | ---
    `SwerveModule<?,​?,​?>` | SwerveDrive.`m_backLeft` | Back left swerve drive
    `SwerveModule<?,​?,​?>` | SwerveDrive.`m_backRight` | Back right swerve drive
    `SwerveModule<?,​?,​?>` | SwerveDrive.`m_frontLeft` | Front left swerve drive
    `SwerveModule<?,​?,​?>` | SwerveDrive.`m_frontRight` | Front right swerve drive

    Methods in frc.robot.subsystems.swervedrive.swerve that return SwerveModule
    Modifier and Type | Method | Description
    --- | --- | ---
    `SwerveModule<DriveMotorType,​SteeringMotorType,​AbsoluteEncoder>` | SwerveDrive.SwerveModuleConfig.`createModule​(double driveGearRatio, double steerGearRatio, double wheelDiameterMeters, double wheelBaseMeters, double driveTrainWidthMeters, double steeringMotorFreeSpeedRPM, double maxSpeedMPS, double maxDriveAcceleration, boolean steeringInverted, boolean drivingInverted)` | Create the swerve module from the configuration.
    `private static SwerveModule<?,​?,​?>` | SwerveParser.`createModule​(com.fasterxml.jackson.databind.JsonNode mainJson, java.io.File moduleFile, SwerveModule.SwerveModuleLocation moduleLocation)` | Create SwerveModule from JSON configuration file.
    `static SwerveModule<?,​?,​?>[]` | SwerveDrive.`createModules​(double driveGearRatio, double steerGearRatio, double wheelDiameterMeters, double wheelBaseMeters, double driveTrainWidthMeters, double steeringMotorFreeSpeedRPM, double maxSpeedMPS, double maxDriveAcceleration, boolean steeringMotorInverted, boolean drivingMotorInverted, SwerveDrive.SwerveModuleConfig<?,​?,​?>[] configs)` | Create swerve drive modules

    Constructors in frc.robot.subsystems.swervedrive.swerve with parameters of type SwerveModule
    Constructor | Description
    --- | ---
    `SwerveDrive​(SwerveModule<?,​?,​?> frontLeft, SwerveModule<?,​?,​?> frontRight, SwerveModule<?,​?,​?> backLeft, SwerveModule<?,​?,​?> backRight, com.ctre.phoenix.sensors.WPI_Pigeon2 pigeon, double driverMaxSpeedMetersPerSecond, double driverMaxAngularVelocityRadiansPerSecond, double driverMaxDriveAccelerationMetersPerSecond, double driverMaxAngularAccelerationRadiansPerSecond, double physicalMaxSpeedMPS, boolean gyroInverted, edu.wpi.first.math.geometry.Pose2d start)` | Constructor for Swerve Drive assuming modules have been created and configured with PIDF and conversions.