Updated swerve module optimizations and moved math to SwerveMath.

swervelib/parser/SwerveControllerConfiguration.java

@@ -11,11 +11,11 @@ public class SwerveControllerConfiguration
   /**
    * Maximum robot speed in meters per second.
    */
-  public final double     maxSpeed;
+  public       double     maxSpeed;
   /**
    * Maximum angular velocity in rad/s
    */
-  public final double     maxAngularVelocity;
+  public       double     maxAngularVelocity;
   /**
    * PIDF for the heading of the robot.
    */

swervelib/parser/SwerveModuleConfiguration.java

@@ -4,7 +4,6 @@ import static swervelib.math.SwerveMath.calculateAngleKV;
 import static swervelib.math.SwerveMath.calculateDegreesPerSteeringRotation;
 import static swervelib.math.SwerveMath.calculateMaxAcceleration;
 import static swervelib.math.SwerveMath.calculateMetersPerRotation;
-
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.geometry.Translation2d;
 import swervelib.encoders.SwerveAbsoluteEncoder;
@@ -35,7 +34,7 @@ public class SwerveModuleConfiguration
   /**
    * Maximum robot speed in meters per second.
    */
-  public final double                              maxSpeed;
+  public       double                              maxSpeed;
   /**
    * PIDF configuration options for the angle motor closed-loop PID controller.
    */
@@ -116,11 +115,11 @@ public class SwerveModuleConfiguration
     this.anglePIDF = anglePIDF;
     this.velocityPIDF = velocityPIDF;
     this.maxSpeed = maxSpeed;
-    this.angleKV =
-        calculateAngleKV(
-            physicalCharacteristics.optimalVoltage,
-            angleMotorFreeSpeedRPM,
-            physicalCharacteristics.angleGearRatio);
+    this.angleKV = physicalCharacteristics.angleMotorKV == 0 ?
+                   calculateAngleKV(
+                       physicalCharacteristics.optimalVoltage,
+                       angleMotorFreeSpeedRPM,
+                       physicalCharacteristics.angleGearRatio) : physicalCharacteristics.angleMotorKV;
     this.physicalCharacteristics = physicalCharacteristics;
     this.angleMotorEncoderPulsePerRevolution = angleMotorEncoderPulsePerRevolution;
   }

swervelib/parser/SwerveModulePhysicalCharacteristics.java

@@ -46,6 +46,12 @@ public class SwerveModulePhysicalCharacteristics
    * Free speed rotations per minute of the motor, as described by the vendor.
    */
   public final double angleMotorFreeSpeedRPM;
+  /**
+   * Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
+   * your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
+   * calculated kV will be used.
+   */
+  public final double angleMotorKV;
 
   /**
    * Construct the swerve module physical characteristics.
@@ -78,7 +84,8 @@ public class SwerveModulePhysicalCharacteristics
       double driveMotorRampRate,
       double angleMotorRampRate,
       int driveEncoderPulsePerRotation,
-      int angleEncoderPulsePerRotation)
+      int angleEncoderPulsePerRotation,
+      double angleMotorKV)
   {
     this.wheelGripCoefficientOfFriction = wheelGripCoefficientOfFriction;
     this.optimalVoltage = optimalVoltage;
@@ -94,6 +101,7 @@ public class SwerveModulePhysicalCharacteristics
     this.angleMotorCurrentLimit = angleMotorCurrentLimit;
     this.driveMotorRampRate = driveMotorRampRate;
     this.angleMotorRampRate = angleMotorRampRate;
+    this.angleMotorKV = angleMotorKV;
   }
 
   /**
@@ -134,6 +142,6 @@ public class SwerveModulePhysicalCharacteristics
         driveMotorRampRate,
         angleMotorRampRate,
         driveEncoderPulsePerRotation,
-        angleEncoderPulsePerRotation);
+        angleEncoderPulsePerRotation, 0);
   }
 }

swervelib/parser/json/PhysicalPropertiesJson.java

@@ -37,6 +37,12 @@ public class PhysicalPropertiesJson
    * Angle motor free speed rotations per minute.
    */
   public double            angleMotorFreeSpeedRPM;
+  /**
+   * Angle motor kV used for second order kinematics to tune the feedforward, this variable should be adjusted so that
+   * your drive train does not drift towards the direction you are rotating while you translate. When set to 0 the
+   * calculated kV will be used.
+   */
+  public double            angleMotorsKV                  = 0;
 
   /**
    * Create the physical characteristics based off the parsed data.
@@ -58,7 +64,8 @@ public class PhysicalPropertiesJson
         rampRate.drive,
         rampRate.angle,
         encoderPulsePerRotation.drive,
-        encoderPulsePerRotation.angle);
+        encoderPulsePerRotation.angle,
+        angleMotorsKV);
   }
 }