# SwerveModuleBase - Represents a Swerve Module

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

Self explanatory

The base of everything quail (almost). Represents a swerve module (coaxial, or can be extended to non-coaxial).

This class is designed to be inherited from. You need to override the setAngle() and setRawSpeed() methods to set the module's angle and wheel velocity, respectively. You could also probably include a method to reset your module position (preferably using absolute encoders geared 1:1 with the module heading).