SwerveModuleState

This class represents the state of a single swerve module, encapsulating its speed and direction (angle).

Methods

SwerveModuleState(double speed, Angle direction)

Constructs a new SwerveModuleState with the specified speed and direction.

• speed: The speed of the swerve module's drive wheel.
• direction: The Angle representing the direction the swerve module is facing.

speed()

Returns the speed of the swerve module.

direction()

Returns the Angle representing the direction of the swerve module.

add(SwerveModuleState state)

Returns a new SwerveModuleState by adding the speed and direction of the provided state to this module's state. The angles are added using Angle.add().