Package edu.wpi.first.math.kinematics

Class SwerveModuleState

java.lang.Object

edu.wpi.first.math.kinematics.SwerveModuleState

All Implemented Interfaces:

ProtobufSerializable, StructSerializable, WPISerializable, Comparable<SwerveModuleState>

public class SwerveModuleState
extends Object
implements Comparable<SwerveModuleState>, ProtobufSerializable, StructSerializable

Represents the state of one swerve module.

Field Summary

Fields

Modifier and Type	Field	Description
Rotation2d	angle	Angle of the module.
static SwerveModuleStateProto	proto	SwerveModuleState protobuf for serialization.
double	speedMetersPerSecond	Speed of the wheel of the module.
static SwerveModuleStateStruct	struct	SwerveModuleState struct for serialization.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleState()	Constructs a SwerveModuleState with zeros for speed and angle.
SwerveModuleState(double speedMetersPerSecond, Rotation2d angle)	Constructs a SwerveModuleState.
SwerveModuleState(Measure<Velocity<Distance>> speed, Rotation2d angle)	Constructs a SwerveModuleState.

Method Summary

Modifier and Type	Method	Description
int	compareTo(SwerveModuleState other)	Compares two swerve module states.
boolean	equals(Object obj)
int	hashCode()
static SwerveModuleState	optimize(SwerveModuleState desiredState, Rotation2d currentAngle)	Minimize the change in heading the desired swerve module state would require by potentially reversing the direction the wheel spins.
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Field Details

speedMetersPerSecond

public double speedMetersPerSecond

Speed of the wheel of the module.

angle

public Rotation2d angle

Angle of the module.

proto

public static final SwerveModuleStateProto proto

SwerveModuleState protobuf for serialization.

struct

public static final SwerveModuleStateStruct struct

SwerveModuleState struct for serialization.

Constructor Details

SwerveModuleState

public SwerveModuleState()

Constructs a SwerveModuleState with zeros for speed and angle.

SwerveModuleState

public SwerveModuleState(double speedMetersPerSecond, Rotation2d angle)

Constructs a SwerveModuleState.

Parameters:

speedMetersPerSecond - The speed of the wheel of the module.

angle - The angle of the module.

SwerveModuleState

public SwerveModuleState(Measure<Velocity<Distance>> speed, Rotation2d angle)

Constructs a SwerveModuleState.

Parameters:

speed - The speed of the wheel of the module.

angle - The angle of the module.

Method Details

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object

compareTo

public int compareTo(SwerveModuleState other)

Compares two swerve module states. One swerve module is "greater" than the other if its speed is higher than the other.

Specified by:

compareTo in interface Comparable<SwerveModuleState>

Parameters:

other - The other swerve module.

Returns:

1 if this is greater, 0 if both are equal, -1 if other is greater.

toString

public String toString()

Overrides:

toString in class Object

optimize

public static SwerveModuleState optimize(SwerveModuleState desiredState, Rotation2d currentAngle)

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.

Returns:

Optimized swerve module state.