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## D

d - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig
  Derivative Gain for PID.
desaturateWheelSpeeds(SwerveModuleState2[], double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveKinematics2
  Renormalizes the wheel speeds if any individual speed is above the specified maximum.
desaturateWheelSpeeds(SwerveModuleState2[], ChassisSpeeds, double, double, double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveKinematics2
  Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of joystick saturation at edges of joystick.
DeviceJson - Class in frc.robot.subsystems.swervedrive2.swervelib.parser.json
  Device JSON parsed class.
DeviceJson() - Constructor for class frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson
drive - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.ModuleJson
  Drive motor device configuration.
drive - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.modules.BoolMotorJson
  Drive motor inversion state.
drive - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.MotorConfigDouble
  Drive motor.
drive - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.MotorConfigInt
  Drive motor.
drive - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.PIDFPropertiesJson
  The PIDF with Integral Zone used for the drive motor.
drive(Translation2d, double, boolean, boolean) - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  The primary method for controlling the drivebase.
driveEncoderPulsePerRotation - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics
  Drive motor encoder pulse per rotation.
driveGearRatio - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics
  Drive gear ratio.
driveMotor - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration
  The drive motor and angle motor of this swerve module.
driveMotor - Variable in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
  Swerve Motors.
driveMotorCurrentLimit - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics
  Current limits for the Swerve Module.
driveMotorInverted - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration
  State of inversion of the drive motor.
driveMotorRampRate - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModulePhysicalCharacteristics
  The time it takes for the motor to go from 0 to full throttle in seconds.
dt - Variable in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
  Current state.

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