AbstractSwerveDrive
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule frontLeft, SwerveModule backLeft, SwerveModule backRight, SwerveModule frontRight, Double trackWidth, Double wheelBase, AngleSensor externalHeadingSensor)
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule frontLeft, SwerveModule backLeft, SwerveModule backRight, SwerveModule frontRight, Double trackWidth, Double wheelBase)
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule frontLeft, SwerveModule backLeft, SwerveModule backRight, SwerveModule frontRight, Double trackWidth)
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule left, SwerveModule right, Double trackWidth, AngleSensor externalHeadingSensor)
public AbstractSwerveDrive AbstractSwerveDrive(SwerveModule left, SwerveModule right, Double trackWidth)
public AbstractSwerveDrive AbstractSwerveDrive(List<SwerveModule> modules, List<Vector2d> modulePositions, AngleSensor externalHeadingSensor)
public AbstractSwerveDrive AbstractSwerveDrive(List<SwerveModule> modules, List<Vector2d> modulePositions)
Parameters
modules
the modules of the swerve drive, starting with the front left and moving counter-clockwise.
modulePositions
the positions of all the modules relative to the center of rotation of the robot