Malefix/xyz.malefic.frc.extension/swerveModule

swerveModule

fun swerveModule(driveId: Int, steerId: Int, encoderId: Int, offset: Rotation2d = Rotation2d(), block: SwerveModule.Config.() -> Unit = {}): SwerveModule

Creates a swerve module with DSL configuration.

Usage Example:

val module = swerveModule(
    driveId = 1,
    steerId = 2,
    encoderId = 3,
    offset = Rotation2d.fromDegrees(45.0)
) {
    driveGearRatio = 6.75
    steerGearRatio = 150.0 / 7.0
    wheelDiameterMeters = 0.1016
    driveKP = 0.1
    steerKP = 100.0
}