#include <ctre/phoenix6/swerve/impl/SwerveDriveKinematics.hpp>
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units::meters_per_second_t | speed = 0_mps |
| Speed of the wheel of the module. More...
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Rotation2d | angle = 0_rad |
| Angle of the module. More...
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◆ operator!=()
bool ctre::phoenix6::swerve::impl::SwerveModuleState::operator!= |
( |
SwerveModuleState const & |
other | ) |
const |
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inline |
◆ operator==()
bool ctre::phoenix6::swerve::impl::SwerveModuleState::operator== |
( |
SwerveModuleState const & |
other | ) |
const |
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inline |
◆ Optimize()
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
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desiredState | The desired state. |
currentAngle | The current module angle. |
◆ angle
Rotation2d ctre::phoenix6::swerve::impl::SwerveModuleState::angle = 0_rad |
◆ speed
units::meters_per_second_t ctre::phoenix6::swerve::impl::SwerveModuleState::speed = 0_mps |
Speed of the wheel of the module.
The documentation for this struct was generated from the following file: