:py:mod:`phoenix6.swerve.utility.wheel_force_calculator`
========================================================

.. py:module:: phoenix6.swerve.utility.wheel_force_calculator

Module Contents
---------------


.. py:class:: WheelForceCalculator(module_locations: list[phoenix6.swerve.utility.geometry.Translation2d], mass_kg: float, moi_kg_m_sq: float)


   Calculates wheel force feedforwards for a SwerveDrivetrain.
   Wheel force feedforwards can be used to improve accuracy of path
   following in regions of acceleration.

   Many path planning libraries (such as PathPlanner and Choreo) already
   provide per-module force feedforwards, which should be preferred over
   this class.

   Constructs a new wheel force feedforward calculator for the given
   drivetrain characteristics.

   :param module_locations: The drivetrain swerve module locations
   :type module_locations: list[Translation2d]
   :param mass_kg: The mass of the robot in kg
   :type mass_kg: float
   :param moi_kg_m_sq: The moment of inertia of the robot in kg m^2
   :type moi_kg_m_sq: float

   .. py:class:: Feedforwards(num_modules: int)


      Wheel force feedforwards to apply to a swerve drivetrain.

      Constructs a new set of wheel force feedforwards.

      :param num_modules: The number of swerve modules
      :type num_modules: int

      .. py:attribute:: x_newtons

         The X component of the forces in Newtons.


      .. py:attribute:: y_newtons

         The Y component of the forces in Newtons.



   .. py:method:: calculate(acceleration: phoenix6.swerve.utility.kinematics.ChassisAccelerations, center_of_rotation: phoenix6.swerve.utility.geometry.Translation2d = Translation2d()) -> Feedforwards

      Calculates wheel force feedforwards for the desired robot acceleration.
      This can be used with either robot-centric or field-centric accelerations;
      the returned force feedforwards will match in being robot-/field-centric.

      :param acceleration: Acceleration of the robot
      :type acceleration: ChassisAccelerations
      :param center_of_rotation: Center of rotation
      :type center_of_rotation: Translation2d
      :returns: Wheel force feedforwards to apply
      :rtype: Feedforwards


   .. py:method:: calculate_from_velocities(dt: float, prev: phoenix6.swerve.utility.kinematics.ChassisVelocities, current: phoenix6.swerve.utility.kinematics.ChassisVelocities, center_of_rotation: phoenix6.swerve.utility.geometry.Translation2d = Translation2d()) -> Feedforwards

      Calculates wheel force feedforwards for the desired change in velocity.
      This can be used with either robot-centric or field-centric velocities; the
      returned force feedforwards will match in being robot-/field-centric.

      :param dt: The change in time between the path setpoints
      :type dt: float
      :param prev: The previous ChassisVelocities setpoint of the path
      :type prev: ChassisVelocities
      :param current: The new ChassisVelocities setpoint of the path
      :type current: ChassisVelocities
      :param center_of_rotation: Center of rotation
      :type center_of_rotation: Translation2d
      :returns: Wheel force feedforwards to apply
      :rtype: Feedforwards