WPILibC++
2020.3.2
SwerveModuleState.h
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <units/units.h>
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#include "frc/geometry/Rotation2d.h"
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namespace
frc
{
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struct
SwerveModuleState
{
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units::meters_per_second_t
speed
= 0_mps;
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Rotation2d
angle
;
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};
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}
// namespace frc
frc::SwerveModuleState::speed
units::meters_per_second_t speed
Speed of the wheel of the module.
Definition:
SwerveModuleState.h:22
frc::SwerveModuleState
Represents the state of one swerve module.
Definition:
SwerveModuleState.h:18
frc::Rotation2d
A rotation in a 2d coordinate frame represented a point on the unit circle (cosine and sine).
Definition:
Rotation2d.h:22
frc::SwerveModuleState::angle
Rotation2d angle
Angle of the module.
Definition:
SwerveModuleState.h:27
frc
A class that enforces constraints on the differential drive kinematics.
Definition:
SPIAccelerometerSim.h:16
wpilibc
src
main
native
include
frc
kinematics
SwerveModuleState.h
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