wpi::math::SwerveModuleVelocity Struct Reference

Represents the velocity of one swerve module. More...

#include <wpi/math/kinematics/SwerveModuleVelocity.hpp>

Public Member Functions
constexpr bool	operator== (const SwerveModuleVelocity &other) const
	Checks equality between this SwerveModuleVelocity and another object.
constexpr void	Optimize (const Rotation2d &currentAngle)
	Minimize the change in the heading this swerve module velocity would require by potentially reversing the direction the wheel spins.
constexpr void	CosineScale (const Rotation2d &currentAngle)
	Scales velocity by cosine of angle error.

Static Public Member Functions
static constexpr SwerveModuleVelocity	Optimize (const SwerveModuleVelocity &desiredVelocity, const Rotation2d &currentAngle)
	Minimize the change in heading the desired swerve module velocity would require by potentially reversing the direction the wheel spins.

Public Attributes
wpi::units::meters_per_second_t	velocity = 0_mps
	Velocity of the wheel of the module.
Rotation2d	angle
	Angle of the module.

Detailed Description

Represents the velocity of one swerve module.

Member Function Documentation

CosineScale()

void wpi::math::SwerveModuleVelocity::CosineScale ( const Rotation2d & currentAngle )

inlineconstexpr

Scales velocity by cosine of angle error.

This scales down movement perpendicular to the desired direction of travel that can occur when modules change directions. This results in smoother driving.

Parameters

currentAngle

The current module angle.

operator==()

bool wpi::math::SwerveModuleVelocity::operator== ( const SwerveModuleVelocity & other ) const

inlineconstexpr

Checks equality between this SwerveModuleVelocity and another object.

Parameters

other

The other object.

Returns

Whether the two objects are equal.

Optimize() [1/2]

void wpi::math::SwerveModuleVelocity::Optimize ( const Rotation2d & currentAngle )

inlineconstexpr

Minimize the change in the heading this swerve module velocity 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

currentAngle

The current module angle.

Optimize() [2/2]

constexpr SwerveModuleVelocity wpi::math::SwerveModuleVelocity::Optimize ( const SwerveModuleVelocity & desiredVelocity, const Rotation2d & currentAngle )

inlinestaticconstexpr

Minimize the change in heading the desired swerve module velocity 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

desiredVelocity	The desired velocity.
currentAngle	The current module angle.

Member Data Documentation

angle

Rotation2d wpi::math::SwerveModuleVelocity::angle

Angle of the module.

velocity

wpi::units::meters_per_second_t wpi::math::SwerveModuleVelocity::velocity = 0_mps

Velocity of the wheel of the module.

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The documentation for this struct was generated from the following file:

• wpi/math/kinematics/SwerveModuleVelocity.hpp