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<h2 title="Class SwerveDriveJson" class="title">Class SwerveDriveJson</h2>
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<pre>public class <span class="typeNameLabel">SwerveDriveJson</span>
extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
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<div class="block"><a href="../../SwerveDrive.html" title="class in swervelib"><code>SwerveDrive</code></a> JSON parsed class. Used to access parsed data from the swervedrive.json file.</div>
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<td class="colFirst"><code><a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#imu">imu</a></span></code></th>
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<div class="block">Robot IMU used to determine heading of the robot.</div>
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<td class="colFirst"><code>boolean</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#invertedIMU">invertedIMU</a></span></code></th>
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<div class="block">Invert the IMU of the robot.</div>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxSpeed">maxSpeed</a></span></code></th>
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<div class="block">Maximum robot speed in feet per second.</div>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#modules">modules</a></span></code></th>
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<div class="block">Module JSONs in order clockwise order starting from front left.</div>
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<td class="colFirst"><code>double</code></td>
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimalVoltage">optimalVoltage</a></span></code></th>
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<div class="block">Optimal voltage to compensate to and base feedforward calculations off of.</div>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveDriveJson</a></span>()</code></th>
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<pre>public&nbsp;double maxSpeed</pre>
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<pre>public&nbsp;double optimalVoltage</pre>
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<pre>public&nbsp;<a href="DeviceJson.html" title="class in swervelib.parser.json">DeviceJson</a> imu</pre>
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<pre>public&nbsp;SwerveDriveJson()</pre>
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