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## D

desaturateWheelSpeeds(SwerveModuleState2[], double) - Static method in class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2
  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.swervedrive.swerve.kinematics.SwerveDriveKinematics2
  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.
disable() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Disable the motor controller.
Distance - frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor.CTRE_slotIdx
drive - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig
drive(double, double, double, boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Drive swerve based off controller input.
DRIVE - frc.robot.subsystems.swervedrive.swerve.SwerveMotor.ModuleMotorType
driveFeedforward - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Drive feedforward for PID when driving by velocity.
driveMotor - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Motor Controllers for drive motor of the swerve module.
drivePower - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Power to drive motor from -1 to 1.
driveTrainWidth - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  The Distance between centers of right and left wheels in meters.

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