Updated swerve module optimizations and moved math to SwerveMath.

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);
   }
 }