Swerve drive and module classes complete

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();
     }
 }