frc::SwerveModuleState Struct Reference

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

#include <frc/kinematics/SwerveModuleState.h>

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

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

Public Attributes
units::meters_per_second_t	speed = 0_mps
	Speed of the wheel of the module.
Rotation2d	angle
	Angle of the module.

Detailed Description

Represents the state of one swerve module.

Member Function Documentation

CosineScale()

void frc::SwerveModuleState::CosineScale ( const Rotation2d & currentAngle )

inlineconstexpr

Scales speed 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 frc::SwerveModuleState::operator== ( const SwerveModuleState & other ) const

inlineconstexpr

Checks equality between this SwerveModuleState and another object.

Parameters

other

The other object.

Returns

Whether the two objects are equal.

Optimize() [1/2]

void frc::SwerveModuleState::Optimize ( const Rotation2d & currentAngle )

inlineconstexpr

Minimize the change in the heading this 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

currentAngle

The current module angle.

Optimize() [2/2]

static constexpr SwerveModuleState frc::SwerveModuleState::Optimize ( const SwerveModuleState & desiredState, const Rotation2d & currentAngle )

inlinestaticconstexpr

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.

Member Data Documentation

angle

Rotation2d frc::SwerveModuleState::angle

Angle of the module.

speed

units::meters_per_second_t frc::SwerveModuleState::speed = 0_mps

Speed of the wheel of the module.

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

• frc/kinematics/SwerveModuleState.h