Package com.lightningrobotics.common.geometry.kinematics.swerve

Class SwerveModuleState

java.lang.Object

com.lightningrobotics.common.geometry.kinematics.swerve.SwerveModuleState

All Implemented Interfaces:

java.lang.Comparable<SwerveModuleState>

public class SwerveModuleState
extends java.lang.Object
implements java.lang.Comparable<SwerveModuleState>

Field Summary

Fields

Modifier and Type	Field	Description
edu.wpi.first.math.geometry.Rotation2d	angle
double	velocity

Constructor Summary

Constructors

Constructor	Description
SwerveModuleState(double velocity, edu.wpi.first.math.geometry.Rotation2d angle)

Method Summary

Modifier and Type	Method	Description
int	compareTo(SwerveModuleState o)
static SwerveModuleState	optimize(SwerveModuleState target, edu.wpi.first.math.geometry.Rotation2d currentRotation)
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

velocity

public double velocity

angle

public edu.wpi.first.math.geometry.Rotation2d angle

Constructor Detail

SwerveModuleState

public SwerveModuleState(double velocity,
                         edu.wpi.first.math.geometry.Rotation2d angle)

Method Detail

optimize

public static SwerveModuleState optimize(SwerveModuleState target,
                                         edu.wpi.first.math.geometry.Rotation2d currentRotation)

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

compareTo

public int compareTo(SwerveModuleState o)

Specified by:

compareTo in interface java.lang.Comparable<SwerveModuleState>