SwerveModuleState2

java.lang.Object

edu.wpi.first.math.kinematics.SwerveModuleState

swervelib.math.SwerveModuleState2

All Implemented Interfaces:: Comparable<edu.wpi.first.math.kinematics.SwerveModuleState>

public class SwerveModuleState2 extends edu.wpi.first.math.kinematics.SwerveModuleState

Second order kinematics swerve module state.

Field Summary

Fields

Modifier and Type

Field

Description

edu.wpi.first.math.geometry.Rotation2d

angle

Swerve module angle as a Rotation2d.

double

omegaRadPerSecond

Rad per sec

double

speedMetersPerSecond

Swerve module speed in meters per second.
Constructor Summary

Constructors

Constructor

Description

SwerveModuleState2()

Constructs a SwerveModuleState with zeros for speed and angle.

SwerveModuleState2(double speedMetersPerSecond, edu.wpi.first.math.geometry.Rotation2d angle, double omegaRadPerSecond)

Constructs a SwerveModuleState.
Method Summary

Methods inherited from class edu.wpi.first.math.kinematics.SwerveModuleState
compareTo, equals, hashCode, optimize, toString

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

Field Details
- speedMetersPerSecond
  
  public double speedMetersPerSecond
  
  Swerve module speed in meters per second.
- omegaRadPerSecond
  
  public double omegaRadPerSecond
  
  Rad per sec
- angle
  
  public edu.wpi.first.math.geometry.Rotation2d angle
  
  Swerve module angle as a Rotation2d.
Constructor Details
- SwerveModuleState2
  
  public SwerveModuleState2()
  
  Constructs a SwerveModuleState with zeros for speed and angle.
- SwerveModuleState2
  
  public SwerveModuleState2(double speedMetersPerSecond, edu.wpi.first.math.geometry.Rotation2d angle, double omegaRadPerSecond)
  
  Constructs a SwerveModuleState.
  
  Parameters:
  
  speedMetersPerSecond - The speed of the wheel of the module.
  
  angle - The angle of the module.
  
  omegaRadPerSecond - The angular velocity of the module.