SwerveDriveConfiguration

java.lang.Object
- frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration

```
public class SwerveDriveConfiguration
extends Object
```
Swerve drive configurations used during SwerveDrive construction.

Field Summary

Fields
Modifier and Type	Field	Description
`SwerveIMU`	`imu`	Swerve IMU
`boolean`	`invertedIMU`	Invert the imu measurements.
`double`	`maxSpeed`	Max speed in meters per second.
`int`	`moduleCount`	Number of modules on the robot.
`edu.wpi.first.math.geometry.Translation2d[]`	`moduleLocationsMeters`	Swerve Module locations.
`SwerveModule[]`	`modules`	Swerve Modules.

Constructor Summary

Constructors
Constructor	Description
`SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, double maxSpeed, boolean invertedIMU)`	Create swerve drive configuration.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`SwerveModule[]`	`createModules(SwerveModuleConfiguration[] swerves)`	Create modules based off of the SwerveModuleConfiguration.

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

- Field Detail
  - moduleLocationsMeters
```
public edu.wpi.first.math.geometry.Translation2d[] moduleLocationsMeters
```
    Swerve Module locations.
  - imu
```
public SwerveIMU imu
```
    Swerve IMU
  - invertedIMU
```
public boolean invertedIMU
```
    Invert the imu measurements.
  - maxSpeed
```
public double maxSpeed
```
    Max speed in meters per second.
  - moduleCount
```
public int moduleCount
```
    Number of modules on the robot.
  - modules
```
public SwerveModule[] modules
```
    Swerve Modules.
- Constructor Detail
  - SwerveDriveConfiguration
```
public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs,
                                SwerveIMU swerveIMU,
                                double maxSpeed,
                                boolean invertedIMU)
```
    Create swerve drive configuration.
    
    Parameters:
    
    moduleConfigs - Module configuration.
    
    swerveIMU - Swerve IMU.
    
    maxSpeed - Max speed of the robot in meters per second.
    
    invertedIMU - Invert the IMU.
- Method Detail
  - createModules
```
public SwerveModule[] createModules(SwerveModuleConfiguration[] swerves)
```
    Create modules based off of the SwerveModuleConfiguration.
    
    Parameters:
    
    swerves - Swerve constants.
    
    Returns:
    
    Swerve Modules.