# Differential Swerve Module Base - Swerve Module, But Differential

differentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio);
differentialSwerveModuleBase(Vec2d position, double steeringRatio, double driveRatio, boolean optimized);

Support for integral swerve modules will come in version 3.0.0

Create a method to set the motor powers/module that takes in a Vec2d. This method should use calculateMotorSpeeds, some PID magic, normalizing powers to your maximum allowable motor power, and actually setting your motor powers.

It is highly recommended that you feed your motors and encoders into this class. Absolute encoders are great, but your motor's relative encoders can work if needed You will need your drive and steering ratios. Using a PID controller for getting the rotation speed is recommended. Getting the wheel speed is just Vec2d.getLength(). You should also probably do some form of "wheel flipping" to optimize turns, eg., instead of turning the module 180 degrees, just invert the drive speed (this is supported in the library).