From c60c8019ffc86dd44a9188cd81bf2b4f9f1fcd46 Mon Sep 17 00:00:00 2001
From: Moonlit Productions <moonlit@munebase.dev>
Date: Tue, 21 Oct 2025 14:50:14 -0400
Subject: [PATCH] Swerve drive and module classes complete

---
 script.js | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/script.js b/script.js
index 574a548..f3d830e 100644
--- a/script.js
+++ b/script.js
@@ -27,7 +27,18 @@ class SwerveModule {
     calculateState(velocityX, velocityY, turnSpeed) {
         // Take the requested speed and turn rate of the robot and calculate
         // speed and angle of this module to achieve it
-        throw new Error("Not Yet Implemented");
+
+        // Calculate rotation contribution (perpendicular to position vector)
+        const rotX = -this.position.y * omega;
+        const rotY = this.position.x * omega;
+
+        // Combine translation and rotation
+        this.velocity.x = velocityX + rotX;
+        this.velocity.y = velocityY + rotY;
+
+        // Calculate speed and angle
+        this.speed = this.velocity.magnitude();
+        this.angle = this.velocity.angle();
     }
 }