Updated swervelib

swervelib/math/SwerveModuleState2.java

@@ -0,0 +1,41 @@
+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;
+  }
+}