Package edu.wpi.first.math.kinematics

Class SwerveModulePosition

java.lang.Object

edu.wpi.first.math.kinematics.SwerveModulePosition

All Implemented Interfaces:

Comparable<SwerveModulePosition>

public class SwerveModulePosition
extends Object
implements Comparable<SwerveModulePosition>

Represents the state of one swerve module.

Field Summary

Fields

Modifier and Type	Field	Description
Rotation2d	angle	Angle of the module.
double	distanceMeters	Distance measured by the wheel of the module.

Constructor Summary

Constructors

Constructor	Description
SwerveModulePosition()	Constructs a SwerveModulePosition with zeros for speed and angle.
SwerveModulePosition(double distanceMeters, Rotation2d angle)	Constructs a SwerveModulePosition.

Method Summary

Modifier and Type	Method	Description
int	compareTo(SwerveModulePosition other)	Compares two swerve module positions.
boolean	equals(Object obj)
int	hashCode()
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

distanceMeters

public double distanceMeters

Distance measured by the wheel of the module.

angle

public Rotation2d angle

Angle of the module.

Constructor Details

SwerveModulePosition

public SwerveModulePosition()

Constructs a SwerveModulePosition with zeros for speed and angle.

SwerveModulePosition

public SwerveModulePosition(double distanceMeters, Rotation2d angle)

Constructs a SwerveModulePosition.

Parameters:

distanceMeters - The distance measured by 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(SwerveModulePosition other)

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

Specified by:

compareTo in interface Comparable<SwerveModulePosition>

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