Package swervelib.math

Class 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
    double
    omegaRadPerSecond
    Rad per sec

    Fields inherited from class edu.wpi.first.math.kinematics.SwerveModuleState

    angle, speedMetersPerSecond

  • 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.
    SwerveModuleState2(edu.wpi.first.math.kinematics.SwerveModuleState state, double omegaRadPerSecond)
    Create a SwerveModuleState2 based on the SwerveModuleState with the radians per second defined.

  • Method Summary

    Modifier and Type
    Method
    Description
    static SwerveModuleState2
    optimize(SwerveModuleState2 desiredState, edu.wpi.first.math.geometry.Rotation2d currentAngle, SwerveModuleState2 lastState, double moduleSteerFeedForwardClosedLoop)
    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.SwerveModuleState
    toSwerveModuleState()
    Convert to a SwerveModuleState.

    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

    • omegaRadPerSecond

      public double omegaRadPerSecond
      Rad per sec

  • 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.

    • SwerveModuleState2

      public SwerveModuleState2(edu.wpi.first.math.kinematics.SwerveModuleState state, double omegaRadPerSecond)
      Create a SwerveModuleState2 based on the SwerveModuleState with the radians per second defined.
      Parameters:
      state - First order kinematic module state.
      omegaRadPerSecond - Module wheel angular rotation in radians per second.

  • Method Details

    • optimize

      public static SwerveModuleState2 optimize(SwerveModuleState2 desiredState, edu.wpi.first.math.geometry.Rotation2d currentAngle, SwerveModuleState2 lastState, double moduleSteerFeedForwardClosedLoop)
      Minimize the change in heading the desired swerve module state would require by potentially reversing the direction the wheel spins. If this is used with the PIDController class's continuous input functionality, the furthest a wheel will ever rotate is 90 degrees.
      Parameters:
      desiredState - The desired state.
      currentAngle - The current module angle.
      lastState - The last state of the module.
      moduleSteerFeedForwardClosedLoop - The module feed forward closed loop for the angle motor.
      Returns:
      Optimized swerve module state.

    • toSwerveModuleState

      public edu.wpi.first.math.kinematics.SwerveModuleState toSwerveModuleState()
      Convert to a SwerveModuleState.
      Returns:
      SwerveModuleState with the same angle and speed.