rmb::SwerveModulePower Struct Reference

#include <rmb/drive/SwerveModule.h>

Static Public Member Functions
static SwerveModulePower	Optimize (const SwerveModulePower &desiredPower, const frc::Rotation2d &currentAngle)

Public Attributes
double	power
frc::Rotation2d	angle

Detailed Description

Open loop state of a swerve module.

This is often useful for teleoperated driving since it tends to more natural for a human driver to controll the power of a motor in open loop operation rather than the velocity in a closed loop mode (closed loop operation is, of course, not possible for angle control).

Member Function Documentation

Optimize()

static SwerveModulePower rmb::SwerveModulePower::Optimize ( const SwerveModulePower & desiredPower, const frc::Rotation2d & currentAngle )

static

Minimize the change in heading the desired power would require by potentially reversing the direction the wheel spins so the furthest a wheel will ever rotate is 90 degrees.

Parameters

desiredPower	The desired power.
currentAngle	The current module angle.

Returns

Optomized module power.

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The documentation for this struct was generated from the following file:

• src/rmb/drive/SwerveModule.h