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< div class = "subTitle" > < span class = "packageLabelInType" > Package< / span > < a href = "package-summary.html" > frc.robot.subsystems.swervedrive.swerve.kinematics< / a > < / div >
< h2 title = "Class SwerveModuleState2" class = "title" > Class SwerveModuleState2< / h2 >
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< li > java.lang.Object< / li >
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< li > edu.wpi.first.math.kinematics.SwerveModuleState< / li >
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< li > frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2< / li >
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< dd > < code > java.lang.Comparable< edu.wpi.first.math.kinematics.SwerveModuleState> < / code > < / dd >
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< pre > public class < span class = "typeNameLabel" > SwerveModuleState2< / span >
extends edu.wpi.first.math.kinematics.SwerveModuleState< / pre >
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< td class = "colFirst" > < code > double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#angularVelocityRadPerSecond" > angularVelocityRadPerSecond< / a > < / span > < / code > < / th >
< td class = "colLast" >
< div class = "block" > Angular velocity in radians per second.< / div >
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< h3 > Fields inherited from class edu.wpi.first.math.kinematics.SwerveModuleState< / h3 >
< code > angle, speedMetersPerSecond< / code > < / li >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E()" > SwerveModuleState2< / a > < / span > ()< / code > < / th >
< td class = "colLast" >
< div class = "block" > Constructs a SwerveModuleState with zeros for speed and angle.< / div >
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< / tr >
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< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)" > SwerveModuleState2< / a > < / span > ​ (double speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d angle)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Constructs a SwerveModuleState.< / div >
< / td >
< / tr >
< tr class = "altColor" >
< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)" > SwerveModuleState2< / a > < / span > ​ (double speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d angle,
double angularVelocityRadPerSecond)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Constructs a SwerveModuleState.< / div >
< / td >
< / tr >
< tr class = "rowColor" >
< th class = "colConstructorName" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState)" > SwerveModuleState2< / a > < / span > ​ (edu.wpi.first.math.kinematics.SwerveModuleState self)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Constructs a SwerveModuleState with zeros for speed and angle.< / div >
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< th class = "colFirst" scope = "col" > Modifier and Type< / th >
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< td class = "colFirst" > < code > static < a href = "SwerveModuleState2.html" title = "class in frc.robot.subsystems.swervedrive.swerve.kinematics" > SwerveModuleState2< / a > < / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)" > optimize< / a > < / span > ​ (< a href = "SwerveModuleState2.html" title = "class in frc.robot.subsystems.swervedrive.swerve.kinematics" > SwerveModuleState2< / a > desiredState,
edu.wpi.first.math.geometry.Rotation2d currentAngle)< / code > < / th >
< td class = "colLast" >
< div class = "block" > Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins.< / div >
< / td >
< / tr >
< tr id = "i1" class = "rowColor" >
< td class = "colFirst" > < code > static double< / code > < / td >
< th class = "colSecond" scope = "row" > < code > < span class = "memberNameLink" > < a href = "#placeInAppropriate0To360Scope(double,double)" > placeInAppropriate0To360Scope< / a > < / span > ​ (double scopeReference,
double newAngle)< / code > < / th >
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< h4 > angularVelocityRadPerSecond< / h4 >
< pre > public double angularVelocityRadPerSecond< / pre >
< div class = "block" > Angular velocity in radians per second. Angular Velocity = omega.< / div >
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< h4 > SwerveModuleState2< / h4 >
< pre > public SwerveModuleState2()< / pre >
< div class = "block" > Constructs a SwerveModuleState with zeros for speed and angle.< / div >
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< h4 > SwerveModuleState2< / h4 >
< pre > public SwerveModuleState2​ (edu.wpi.first.math.kinematics.SwerveModuleState self)< / pre >
< div class = "block" > Constructs a SwerveModuleState with zeros for speed and angle.< / div >
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< h4 > SwerveModuleState2< / h4 >
< pre > public SwerveModuleState2​ (double speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d angle)< / pre >
< div class = "block" > Constructs a SwerveModuleState.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > speedMetersPerSecond< / code > - The speed of the wheel of the module.< / dd >
< dd > < code > angle< / code > - The angle of the module.< / dd >
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< h4 > SwerveModuleState2< / h4 >
< pre > public SwerveModuleState2​ (double speedMetersPerSecond,
edu.wpi.first.math.geometry.Rotation2d angle,
double angularVelocityRadPerSecond)< / pre >
< div class = "block" > Constructs a SwerveModuleState.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > speedMetersPerSecond< / code > - The speed of the wheel of the module.< / dd >
< dd > < code > angle< / code > - The angle of the module.< / dd >
< dd > < code > angularVelocityRadPerSecond< / code > - The angular velocity of the module.< / dd >
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< h4 > optimize< / h4 >
< pre class = "methodSignature" > public static < a href = "SwerveModuleState2.html" title = "class in frc.robot.subsystems.swervedrive.swerve.kinematics" > SwerveModuleState2< / a > optimize​ (< a href = "SwerveModuleState2.html" title = "class in frc.robot.subsystems.swervedrive.swerve.kinematics" > SwerveModuleState2< / a > desiredState,
edu.wpi.first.math.geometry.Rotation2d currentAngle)< / pre >
< div class = "block" > Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
the wheel spins. Customized from WPILib's version to include placing in appropriate scope for CTRE and REV onboard
control as both controllers as of writing don't have support for continuous input.< / div >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > desiredState< / code > - The desired state.< / dd >
< dd > < code > currentAngle< / code > - The current module angle.< / dd >
< / dl >
< / li >
< / ul >
< a id = "placeInAppropriate0To360Scope(double,double)" >
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< h4 > placeInAppropriate0To360Scope< / h4 >
< pre class = "methodSignature" > public static double placeInAppropriate0To360Scope​ (double scopeReference,
double newAngle)< / pre >
< dl >
< dt > < span class = "paramLabel" > Parameters:< / span > < / dt >
< dd > < code > scopeReference< / code > - Current Angle< / dd >
< dd > < code > newAngle< / code > - Target Angle< / dd >
< dt > < span class = "returnLabel" > Returns:< / span > < / dt >
< dd > Closest angle within scope< / dd >
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