Add kinematics suite (#1787)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>

wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <units/units.h>
+
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+/**
+ * Represents the state of one swerve module.
+ */
+struct SwerveModuleState {
+  /**
+   * Speed of the wheel of the module.
+   */
+  units::meters_per_second_t speed = 0_mps;
+
+  /**
+   * Angle of the module.
+   */
+  Rotation2d angle;
+};
+}  // namespace frc