java.lang.Object
- frc.robot.subsystems.swervedrive2.swervelib.SwerveModule

```
public class SwerveModule
extends Object
```
The Swerve Module class which represents and controls Swerve Modules for the swerve drive.

Field Summary

Fields
Modifier and Type	Field	Description
`private SwerveAbsoluteEncoder`	`absoluteEncoder`	Absolute encoder for swerve drive.
`double`	`angle`	Current state.
`private SwerveMotor`	`angleMotor`	Swerve Motors.
`private double`	`angleOffset`	Angle offset from the absolute encoder.
`SwerveModuleConfiguration`	`configuration`	Swerve module configuration options.
`private SwerveMotor`	`driveMotor`	Swerve Motors.
`double`	`dt`	Current state.
`double`	`fakePos`	Current state.
`edu.wpi.first.math.controller.SimpleMotorFeedforward`	`feedforward`	Feedforward for drive motor during closed loop control.
`double`	`lastAngle`	Last angle set for the swerve module.
`double`	`lastTime`	Current state.
`int`	`moduleNumber`	Module number for kinematics, usually 0 to 3.
`double`	`omega`	Current state.
`double`	`speed`	Current state.
`private edu.wpi.first.wpilibj.Timer`	`time`	Timer for simulation.

Constructor Summary

Constructors
Constructor	Description
`SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfiguration)`	Construct the swerve module and initialize the swerve module motors and absolute encoder.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`double`	`getCANCoder()`	Get the CANCoder absolute position.
`edu.wpi.first.math.kinematics.SwerveModulePosition`	`getPosition()`
`double`	`getRelativeEncoder()`	Get the relative encoder angle in degrees.
`SwerveModuleState2`	`getState()`	Get the Swerve Module state.
`void`	`setAngle(double angle)`	Set the angle for the module.
`void`	`setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop)`	Set the desired state of the swerve module.
`void`	`setMotorBrake(boolean brake)`	Set the brake mode.
`void`	`synchronizeEncoders()`	Synchronize the integrated angle encoder with the absolute encoder.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - configuration
```
public final SwerveModuleConfiguration configuration
```
    Swerve module configuration options.
  - angleOffset
```
private final double angleOffset
```
    Angle offset from the absolute encoder.
  - angleMotor
```
private final SwerveMotor angleMotor
```
    Swerve Motors.
  - driveMotor
```
private final SwerveMotor driveMotor
```
    Swerve Motors.
  - absoluteEncoder
```
private final SwerveAbsoluteEncoder absoluteEncoder
```
    Absolute encoder for swerve drive.
  - moduleNumber
```
public int moduleNumber
```
    Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
  - feedforward
```
public edu.wpi.first.math.controller.SimpleMotorFeedforward feedforward
```
    Feedforward for drive motor during closed loop control.
  - lastAngle
```
public double lastAngle
```
    Last angle set for the swerve module.
  - angle
```
public double angle
```
    Current state.
  - omega
```
public double omega
```
    Current state.
  - speed
```
public double speed
```
    Current state.
  - fakePos
```
public double fakePos
```
    Current state.
  - lastTime
```
public double lastTime
```
    Current state.
  - dt
```
public double dt
```
    Current state.
  - time
```
private edu.wpi.first.wpilibj.Timer time
```
    Timer for simulation.
- Constructor Detail
  - SwerveModule
```
public SwerveModule(int moduleNumber,
                    SwerveModuleConfiguration moduleConfiguration)
```
    Construct the swerve module and initialize the swerve module motors and absolute encoder.
    
    Parameters:
    
    moduleNumber - Module number for kinematics.
    
    moduleConfiguration - Module constants containing CAN ID's and offsets.
- Method Detail
  - synchronizeEncoders
```
public void synchronizeEncoders()
```
    Synchronize the integrated angle encoder with the absolute encoder.
  - setDesiredState
```
public void setDesiredState(SwerveModuleState2 desiredState,
                            boolean isOpenLoop)
```
    Set the desired state of the swerve module.
    
    Parameters:
    
    desiredState - Desired swerve module state.
    
    isOpenLoop - Whether to use open loop (direct percent) or direct velocity control.
  - setAngle
```
public void setAngle(double angle)
```
    Set the angle for the module.
    
    Parameters:
    
    angle - Angle in degrees.
  - getState
```
public SwerveModuleState2 getState()
```
    Get the Swerve Module state.
    
    Returns:
    
    Current SwerveModule state.
  - getPosition
```
public edu.wpi.first.math.kinematics.SwerveModulePosition getPosition()
```
  - getCANCoder
```
public double getCANCoder()
```
    Get the CANCoder absolute position.
    
    Returns:
    
    Absolute encoder angle in degrees.
  - getRelativeEncoder
```
public double getRelativeEncoder()
```
    Get the relative encoder angle in degrees.
    
    Returns:
    
    Angle in degrees.
  - setMotorBrake
```
public void setMotorBrake(boolean brake)
```
    Set the brake mode.
    
    Parameters:
    
    brake - Set the brake mode.

Class SwerveModule

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

configuration

angleOffset

angleMotor

driveMotor

absoluteEncoder

moduleNumber

feedforward

lastAngle

angle

omega

speed

fakePos

lastTime

dt

time

Constructor Detail

SwerveModule

Method Detail

synchronizeEncoders

setDesiredState

setAngle

getState

getPosition

getCANCoder

getRelativeEncoder

setMotorBrake