# Swerve Drive - Class For Your Swerve Drive

SwerveDrive(List<T> swerveModules);

This class represents a swerve drive. It is designed to be inherited from; it will technically work when not inherited from, but it is not recommended.

You might want a few methods:

• Reset gyro, both from controller and potentially vision
• Reset module positions (absolute encoders are amazing)
• Acceleration limiting (while walls are fun to hit, it is not recommended. May come soon to quail)

Typical Usage:

• Create a list of swerve modules that inherit from (differentialSwerveModuleBase or swerveModuleBase)
• Create a swerveDrive object with the list of the swerve modules
• every time you want to move, call move() with your desired movement vector and rotation speed
• Get the module vectors from the swerve module sensors and pass them into swerveOdometry or just use TwoWheelLocalizer if you like deadwheels

If for some reason you don't want to use move(), you can use calculateMoveAngles (see javadoc) and then normalize those vectors and pass them into the modules.