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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive.swerve.kinematics</a></div>
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<h2 title="Class SwerveModuleState2" class="title">Class SwerveModuleState2</h2>
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<li>java.lang.Object</li>
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<ul class="inheritance">
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<li>edu.wpi.first.math.kinematics.SwerveModuleState</li>
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<ul class="inheritance">
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<li>frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2</li>
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<pre>public class <span class="typeNameLabel">SwerveModuleState2</span>
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extends edu.wpi.first.math.kinematics.SwerveModuleState</pre>
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<td class="colFirst"><code>double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#angularVelocityRadPerSecond">angularVelocityRadPerSecond</a></span></code></th>
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<td class="colLast">
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<div class="block">Angular velocity in radians per second.</div>
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<h3>Fields inherited from class edu.wpi.first.math.kinematics.SwerveModuleState</h3>
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<code>angle, speedMetersPerSecond</code></li>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">SwerveModuleState2</a></span>()</code></th>
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<td class="colLast">
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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</td>
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<tr class="rowColor">
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">SwerveModuleState2</a></span>​(double speedMetersPerSecond,
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edu.wpi.first.math.geometry.Rotation2d angle)</code></th>
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<td class="colLast">
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<div class="block">Constructs a SwerveModuleState.</div>
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</td>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d,double)">SwerveModuleState2</a></span>​(double speedMetersPerSecond,
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edu.wpi.first.math.geometry.Rotation2d angle,
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double angularVelocityRadPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Constructs a SwerveModuleState.</div>
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</td>
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</tr>
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<tr class="rowColor">
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveModuleState)">SwerveModuleState2</a></span>​(edu.wpi.first.math.kinematics.SwerveModuleState self)</code></th>
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<td class="colLast">
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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</td>
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</tr>
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</li>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>static <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a></code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">optimize</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> desiredState,
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edu.wpi.first.math.geometry.Rotation2d currentAngle)</code></th>
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<td class="colLast">
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<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
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the wheel spins.</div>
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</td>
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</tr>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>static double</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#placeInAppropriate0To360Scope(double,double)">placeInAppropriate0To360Scope</a></span>​(double scopeReference,
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double newAngle)</code></th>
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<td class="colLast"> </td>
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<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveModuleState</h3>
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<code>compareTo, equals, hashCode, optimize, toString</code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
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<code>clone, finalize, getClass, notify, notifyAll, wait, wait, wait</code></li>
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<a id="angularVelocityRadPerSecond">
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<h4>angularVelocityRadPerSecond</h4>
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<pre>public double angularVelocityRadPerSecond</pre>
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<div class="block">Angular velocity in radians per second. Angular Velocity = omega.</div>
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</ul>
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<h4>SwerveModuleState2</h4>
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<pre>public SwerveModuleState2()</pre>
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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</li>
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<h4>SwerveModuleState2</h4>
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<pre>public SwerveModuleState2​(edu.wpi.first.math.kinematics.SwerveModuleState self)</pre>
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<div class="block">Constructs a SwerveModuleState with zeros for speed and angle.</div>
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</li>
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</ul>
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<a id="<init>(double,edu.wpi.first.math.geometry.Rotation2d)">
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<h4>SwerveModuleState2</h4>
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<pre>public SwerveModuleState2​(double speedMetersPerSecond,
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edu.wpi.first.math.geometry.Rotation2d angle)</pre>
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<div class="block">Constructs a SwerveModuleState.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
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<dd><code>angle</code> - The angle of the module.</dd>
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</dl>
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</li>
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</ul>
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<a id="<init>(double,edu.wpi.first.math.geometry.Rotation2d,double)">
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<h4>SwerveModuleState2</h4>
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<pre>public SwerveModuleState2​(double speedMetersPerSecond,
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edu.wpi.first.math.geometry.Rotation2d angle,
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double angularVelocityRadPerSecond)</pre>
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<div class="block">Constructs a SwerveModuleState.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>speedMetersPerSecond</code> - The speed of the wheel of the module.</dd>
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<dd><code>angle</code> - The angle of the module.</dd>
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<dd><code>angularVelocityRadPerSecond</code> - The angular velocity of the module.</dd>
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</dl>
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</li>
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<a id="optimize(frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2,edu.wpi.first.math.geometry.Rotation2d)">
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<h4>optimize</h4>
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<pre class="methodSignature">public static <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> optimize​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive.swerve.kinematics">SwerveModuleState2</a> desiredState,
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edu.wpi.first.math.geometry.Rotation2d currentAngle)</pre>
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<div class="block">Minimize the change in heading the desired swerve module state would require by potentially reversing the direction
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the wheel spins. Customized from WPILib's version to include placing in appropriate scope for CTRE and REV onboard
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control as both controllers as of writing don't have support for continuous input.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>desiredState</code> - The desired state.</dd>
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<dd><code>currentAngle</code> - The current module angle.</dd>
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</dl>
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<h4>placeInAppropriate0To360Scope</h4>
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<pre class="methodSignature">public static double placeInAppropriate0To360Scope​(double scopeReference,
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double newAngle)</pre>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>scopeReference</code> - Current Angle</dd>
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<dd><code>newAngle</code> - Target Angle</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>Closest angle within scope</dd>
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</dl>
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