# Package frc.robot.subsystems.swervedrive.swerve

Class Summary
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
SwerveModule.SwerveModuleLocation: Swerve Module location on the robot.
SwerveModule.Verbosity: Verbosity levels for data publishing,
SwerveMotor.ModuleMotorType: Motor type for the swerve drive module