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<h2 title="Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2" class="title">Uses of Class<br>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2</h2>
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<caption><span>Packages that use <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Package</th>
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<th class="colLast" scope="col">Description</th>
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<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve">frc.robot.subsystems.swervedrive.swerve</a></th>
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<th class="colFirst" scope="row"><a href="#frc.robot.subsystems.swervedrive.swerve.kinematics">frc.robot.subsystems.swervedrive.swerve.kinematics</a></th>
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<td class="colLast"> </td>
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</a>
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<h3>Uses of <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a></h3>
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<table class="useSummary">
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<caption><span>Methods in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> that return <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../../SwerveModule.html#getState()">getState</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get the module state.</div>
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</td>
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<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../../SwerveDrive.html#getStates()">getStates</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Get current swerve module states in order.</div>
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</td>
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</tr>
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</tbody>
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</table>
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<table class="useSummary">
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<caption><span>Methods in <a href="../../package-summary.html">frc.robot.subsystems.swervedrive.swerve</a> with parameters of type <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<td class="colFirst"><code>void</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDrive.</span><code><span class="memberNameLink"><a href="../../SwerveDrive.html#setModuleStates(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D)">setModuleStates</a></span>​(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] states)</code></th>
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<td class="colLast">
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<div class="block">Set the swerve module states given an array of states.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>void</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModule.</span><code><span class="memberNameLink"><a href="../../SwerveModule.html#setState(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2)">setState</a></span>​(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> state)</code></th>
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<td class="colLast">
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<div class="block">Set the module speed and angle based off the module state.</div>
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</td>
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</tr>
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</tbody>
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</table>
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</section>
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<section role="region"><a id="frc.robot.subsystems.swervedrive.swerve.kinematics">
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<!-- -->
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</a>
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<h3>Uses of <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></h3>
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<table class="useSummary">
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<caption><span>Fields in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> declared as <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tbody>
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<tr class="altColor">
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<td class="colFirst"><code>private <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#m_moduleStates">m_moduleStates</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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</tbody>
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</table>
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<table class="useSummary">
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<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> that return <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tbody>
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<tr class="altColor">
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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>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModuleState2.</span><code><span class="memberNameLink"><a href="../SwerveModuleState2.html#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,
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edu.wpi.first.math.geometry.Rotation2d currentAngle)</code></th>
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<td class="colLast">
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<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
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the wheel spins.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></th>
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<td class="colLast">
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<div class="block">Performs inverse kinematics.</div>
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</td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code><a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
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edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></th>
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<td class="colLast">
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<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
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</td>
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</tr>
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</tbody>
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</table>
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<table class="useSummary">
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<caption><span>Methods in <a href="../package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a> with parameters of type <a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tbody>
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<tr class="altColor">
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<td class="colFirst"><code>static void</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>​(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] moduleStates,
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double attainableMaxSpeedMetersPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>static void</code></td>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>​(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>[] moduleStates,
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edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
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double attainableMaxModuleSpeedMetersPerSecond,
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double attainableMaxTranslationalSpeedMetersPerSecond,
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double attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
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joystick saturation at edges of joystick.</div>
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</td>
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</tr>
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<tr class="altColor">
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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>
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveModuleState2.</span><code><span class="memberNameLink"><a href="../SwerveModuleState2.html#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,
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edu.wpi.first.math.geometry.Rotation2d currentAngle)</code></th>
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<td class="colLast">
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<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
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the wheel spins.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||
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<th class="colSecond" scope="row"><span class="typeNameLabel">SwerveDriveKinematics2.</span><code><span class="memberNameLink"><a href="../SwerveDriveKinematics2.html#toChassisSpeeds(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2...)">toChassisSpeeds</a></span>​(<a href="../SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a>... wheelStates)</code></th>
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<td class="colLast">
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
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||
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</td>
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||
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</tr>
|
||
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