# Package frc.robot.subsystems.swervedrive.swerve

- Class Summary
  Class | Description
  --- | ---
  SwerveDrive | SwerveDrive base which is meant to be platform agnostic.
  SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder> | Helper class for easier swerve module creation
  SwerveEncoder<AbsoluteEncoderType> | Swerve Encoder class definition for common interfaces.
  SwerveModule<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoderType> | Swerve module for representing a single swerve module of the robot.
  SwerveMotor |
  SwerveParser | Swerve Drive JSON parser.

- Enum Summary
  Enum | Description
  --- | ---
  SwerveModule.SwerveModuleLocation | Swerve Module location on the robot.
  SwerveModule.Verbosity | Verbosity levels for data publishing,
  SwerveMotor.ModuleMotorType | Motor type for the swerve drive module