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

Packages that use SwerveModule
frc.robot.subsystems.swervedrive.swerve

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

Fields in frc.robot.subsystems.swervedrive.swerve declared as SwerveModule
`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

`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

`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.