> For the complete documentation index, see [llms.txt](https://yams.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yams.yassrobotics.com/api-reference/java-reference/swerve/swerve-module.md).

# SwerveModule

**Package:** `yams.mechanisms.swerve`

Represents one swerve module: a drive motor and an azimuth (steering) motor. `SwerveDrive` manages an array of these internally. You generally do not construct `SwerveModule` directly.

## Constructor

```java
SwerveModule(SwerveModuleConfig config)
```

| Parameter | Type                 | Description                                                                |
| --------- | -------------------- | -------------------------------------------------------------------------- |
| `config`  | `SwerveModuleConfig` | Module-level configuration including motors, encoder offset, and location. |

***

## State

| Method                         | Returns                | Description                                                                              |
| ------------------------------ | ---------------------- | ---------------------------------------------------------------------------------------- |
| `getState()`                   | `SwerveModuleState`    | Current drive velocity and azimuth angle.                                                |
| `getPosition()`                | `SwerveModulePosition` | Integrated drive distance and azimuth angle.                                             |
| `getName()`                    | `String`               | Module name as set in config.                                                            |
| `getConfig()`                  | `SwerveModuleConfig`   | The configuration this module was constructed with.                                      |
| `getRawAbsoluteEncoderAngle()` | `Angle`                | Absolute encoder angle with no offset applied: the raw reading captured at construction. |

***

## Control

| Method                                                                  | Returns | Description                                                                                                                                                                                                            |
| ----------------------------------------------------------------------- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `setSwerveModuleState(SwerveModuleState state)`                         | `void`  | Commands a drive speed and azimuth angle.                                                                                                                                                                              |
| `setSwerveModuleState(SwerveModuleState state, Force feedforwardForce)` | `void`  | Same, plus a drive-wheel feedforward `Force` applied on top (e.g. from a PathPlanner set-point generator), converted via the drive motor's `SmartMotorControllerConfig.convertToVoltage(...)`/`convertToCurrent(...)`. |
| `seedAzimuthEncoder()`                                                  | `void`  | Reads the absolute encoder and seeds the relative encoder to match. Call on robot enable.                                                                                                                              |

***

## Lifecycle

| Method              | Returns | Description                                                   |
| ------------------- | ------- | ------------------------------------------------------------- |
| `updateTelemetry()` | `void`  | Publishes module state and encoder readings to NetworkTables. |
| `simIterate()`      | `void`  | Advances module simulation by one loop iteration.             |

***

## Telemetry & DataLog

`setupTelemetry(String mechName)` wires up this module's telemetry under `Mechanisms/<mechName>/modules/<moduleName>`; `SwerveDrive` calls it automatically for every module during its own construction, so you don't normally call it yourself. `updateTelemetry()` then publishes this module's `SwerveModuleState` and absolute encoder angle to NetworkTables at the verbosity from `SwerveModuleConfig.getTelemetryVerbosity()`, or from an explicit `SwerveModuleTelemetryConfig` passed via `SwerveModuleConfig.withTelemetry(name, SwerveModuleTelemetryConfig)`; see [SwerveModuleConfig](/api-reference/java-reference/swerve/swerve-module-config.md#datalog-telemetry) for how to additionally record fields to a WPILib DataLog. For field-level control (or a DataLog name) on the drive/azimuth motors themselves, configure each motor's own `SmartMotorControllerConfig.withTelemetry(name, SmartMotorControllerTelemetryConfig)`.

{% hint style="warning" %}
`SwerveModuleConfig` has no `withDataLogName(String)` method: `setupTelemetry(...)` only consults the `SwerveModuleTelemetryConfig`'s own, separate DataLog name. Use `SwerveModuleConfig.withTelemetry(name, new SwerveModuleTelemetryConfig().withDataLogName(...))` instead; see [SwerveModuleConfig](/api-reference/java-reference/swerve/swerve-module-config.md#datalog-telemetry).
{% endhint %}

***

## See Also

* [SwerveModuleConfig](/api-reference/java-reference/swerve/swerve-module-config.md)
* [C++ SwerveModule](/api-reference/c++-reference/swerve/swerve-module.md)