YAGSL/swervelib/math/SwerveModuleState2.java

package frc.robot.subsystems.swervedrive2.swervelib.math;

import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;

/**
 * Second order kinematics swerve module state.
 */
public class SwerveModuleState2 extends SwerveModuleState
{

  public double speedMetersPerSecond;

  /**
   * Rad per sec
   */
  public double omegaRadPerSecond = 0;

  public Rotation2d angle = Rotation2d.fromDegrees(0);

  /**
   * Constructs a SwerveModuleState with zeros for speed and angle.
   */
  public SwerveModuleState2()
  {
  }

  /**
   * Constructs a SwerveModuleState.
   *
   * @param speedMetersPerSecond The speed of the wheel of the module.
   * @param angle                The angle of the module.
   * @param omegaRadPerSecond    The angular velocity of the module.
   */
  public SwerveModuleState2(double speedMetersPerSecond, Rotation2d angle, double omegaRadPerSecond)
  {
    this.speedMetersPerSecond = speedMetersPerSecond;
    this.angle = angle;
    this.omegaRadPerSecond = omegaRadPerSecond;
  }
}