Uses of Class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2

Packages that use SwerveModuleState2
Package Description

frc.robot.subsystems.swervedrive.swerve

frc.robot.subsystems.swervedrive.swerve.kinematics

Uses of SwerveModuleState2 in frc.robot.subsystems.swervedrive.swerve

Methods in frc.robot.subsystems.swervedrive.swerve that return SwerveModuleState2
Modifier and Type	Method	Description
`SwerveModuleState2`	SwerveModule.`getState()`	Get the module state.
`SwerveModuleState2[]`	SwerveDrive.`getStates()`	Get current swerve module states in order.

Methods in frc.robot.subsystems.swervedrive.swerve with parameters of type SwerveModuleState2
Modifier and Type	Method	Description
`void`	SwerveDrive.`setModuleStates(SwerveModuleState2[] states)`	Set the swerve module states given an array of states.
`void`	SwerveModule.`setState(SwerveModuleState2 state)`	Set the module speed and angle based off the module state.

Uses of SwerveModuleState2 in frc.robot.subsystems.swervedrive.swerve.kinematics

Fields in frc.robot.subsystems.swervedrive.swerve.kinematics declared as SwerveModuleState2
Modifier and Type	Field	Description
`private SwerveModuleState2[]`	SwerveDriveKinematics2.`m_moduleStates`

Methods in frc.robot.subsystems.swervedrive.swerve.kinematics that return SwerveModuleState2
Modifier and Type	Method	Description
`static SwerveModuleState2`	SwerveModuleState2.`optimize(SwerveModuleState2 desiredState, edu.wpi.first.math.geometry.Rotation2d currentAngle)`	Minimize the change in heading the desired swerve module state would require by potentially reversing the direction the wheel spins.
`SwerveModuleState2[]`	SwerveDriveKinematics2.`toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)`	Performs inverse kinematics.
`SwerveModuleState2[]`	SwerveDriveKinematics2.`toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds, edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)`	Performs inverse kinematics to return the module states from a desired chassis velocity.

Methods in frc.robot.subsystems.swervedrive.swerve.kinematics with parameters of type SwerveModuleState2
Modifier and Type	Method	Description
`static void`	SwerveDriveKinematics2.`desaturateWheelSpeeds(SwerveModuleState2[] moduleStates, double attainableMaxSpeedMetersPerSecond)`	Renormalizes the wheel speeds if any individual speed is above the specified maximum.
`static void`	SwerveDriveKinematics2.`desaturateWheelSpeeds(SwerveModuleState2[] moduleStates, edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed, double attainableMaxModuleSpeedMetersPerSecond, double attainableMaxTranslationalSpeedMetersPerSecond, double attainableMaxRotationalVelocityRadiansPerSecond)`	Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of joystick saturation at edges of joystick.
`static SwerveModuleState2`	SwerveModuleState2.`optimize(SwerveModuleState2 desiredState, edu.wpi.first.math.geometry.Rotation2d currentAngle)`	Minimize the change in heading the desired swerve module state would require by potentially reversing the direction the wheel spins.
`edu.wpi.first.math.kinematics.ChassisSpeeds`	SwerveDriveKinematics2.`toChassisSpeeds(SwerveModuleState2... wheelStates)`	Performs forward kinematics to return the resulting chassis state from the given module states.