CTRE Phoenix 6 C++ 24.50.0-alpha-2
ctre::phoenix6::swerve::requests Namespace Reference

Classes

class  ApplyChassisSpeeds
 Accepts a generic ChassisSpeeds to apply to the drivetrain. More...
 
class  FieldCentric
 Drives the swerve drivetrain in a field-centric manner. More...
 
class  FieldCentricFacingAngle
 Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction. More...
 
class  Idle
 Does nothing to the swerve module state. More...
 
class  PointWheelsAt
 Sets the swerve drive modules to point to a specified direction. More...
 
class  RobotCentric
 Drives the swerve drivetrain in a robot-centric manner. More...
 
class  SwerveDriveBrake
 Sets the swerve drive module states to point inward on the robot in an "X" fashion, creating a natural brake which will oppose any motion. More...
 
class  SwerveRequest
 Container for all the Swerve Requests. More...
 
class  SysIdSwerveRotation
 SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain. More...
 
class  SysIdSwerveSteerGains
 SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain. More...
 
class  SysIdSwerveTranslation
 SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain. More...
 

Enumerations

enum class  ForwardReferenceValue { RedAlliance = 0 , OperatorPerspective = 1 }
 The reference for "forward" is sometimes different if you're talking about field relative. More...
 

Enumeration Type Documentation

◆ ForwardReferenceValue

The reference for "forward" is sometimes different if you're talking about field relative.

This addresses which forward to use.

Enumerator
RedAlliance 

This forward reference makes it so "forward" (positive X) is always towards the red alliance.

This is important in situations such as path following where positive X is always towards the red alliance wall, regardless of where the operator physically are located.

OperatorPerspective 

This forward references makes it so "forward" (positive X) is determined from the operator's perspective.

This is important for most teleop driven field-centric requests, where positive X really means to drive away from the operator.

Important: Users must specify the OperatorPerspective in the SwerveDrivetrain object