CTRE Phoenix 6 C++ 24.50.0-alpha-2
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Sets the swerve drive modules to point to a specified direction. More...
#include <ctre/phoenix6/swerve/SwerveRequest.hpp>
Public Member Functions | |
ctre::phoenix::StatusCode | Apply (SwerveRequest::ControlParameters const ¶meters, std::vector< std::unique_ptr< impl::SwerveModuleImpl > > const &modulesToApply) override |
Applies this swerve request to the given modules. More... | |
PointWheelsAt & | WithModuleDirection (Rotation2d moduleDirection) |
Sets the direction to point the modules toward. More... | |
PointWheelsAt & | WithDriveRequestType (impl::SwerveModuleImpl::DriveRequestType driveRequestType) |
Sets the type of control request to use for the drive motor. More... | |
PointWheelsAt & | WithSteerRequestType (impl::SwerveModuleImpl::SteerRequestType steerRequestType) |
Sets the type of control request to use for the steer motor. More... | |
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virtual | ~SwerveRequest ()=default |
virtual ctre::phoenix::StatusCode | Apply (ControlParameters const ¶meters, std::vector< std::unique_ptr< impl::SwerveModuleImpl > > const &modulesToApply)=0 |
Applies this swerve request to the given modules. More... | |
Public Attributes | |
Rotation2d | ModuleDirection {} |
The direction to point the modules toward. More... | |
impl::SwerveModuleImpl::DriveRequestType | DriveRequestType = impl::SwerveModuleImpl::DriveRequestType::OpenLoopVoltage |
The type of control request to use for the drive motor. More... | |
impl::SwerveModuleImpl::SteerRequestType | SteerRequestType = impl::SwerveModuleImpl::SteerRequestType::MotionMagicExpo |
The type of control request to use for the steer motor. More... | |
Additional Inherited Members | |
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using | ControlParameters = impl::SwerveDrivetrainImpl::ControlParameters |
Sets the swerve drive modules to point to a specified direction.
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inlineoverridevirtual |
Applies this swerve request to the given modules.
This is typically called by the SwerveDrivetrain.
parameters | Parameters the control request needs to calculate the module state |
modulesToApply | Modules to which the control request is applied |
Implements ctre::phoenix6::swerve::requests::SwerveRequest.
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inline |
Sets the type of control request to use for the drive motor.
driveRequestType | The type of control request to use for the drive motor |
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inline |
Sets the direction to point the modules toward.
This direction is still optimized to what the module was previously at.
moduleDirection | Direction to point the modules toward |
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inline |
Sets the type of control request to use for the steer motor.
steerRequestType | The type of control request to use for the steer motor |
impl::SwerveModuleImpl::DriveRequestType ctre::phoenix6::swerve::requests::PointWheelsAt::DriveRequestType = impl::SwerveModuleImpl::DriveRequestType::OpenLoopVoltage |
The type of control request to use for the drive motor.
Rotation2d ctre::phoenix6::swerve::requests::PointWheelsAt::ModuleDirection {} |
The direction to point the modules toward.
This direction will still be optimized to what the module was previously at.
impl::SwerveModuleImpl::SteerRequestType ctre::phoenix6::swerve::requests::PointWheelsAt::SteerRequestType = impl::SwerveModuleImpl::SteerRequestType::MotionMagicExpo |
The type of control request to use for the steer motor.