CTRE Phoenix 6 C++ 24.50.0-alpha-2
ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule Class Reference

#include <ctre/phoenix6/swerve/SimSwerveDrivetrain.hpp>

Public Member Functions

 SimSwerveModule (units::scalar_t driveGearing, units::kilogram_square_meter_t driveInertia, units::volt_t driveFrictionVoltage, bool driveMotorInverted, units::scalar_t steerGearing, units::kilogram_square_meter_t steerInertia, units::volt_t steerFrictionVoltage, bool steerMotorInverted)
 

Public Attributes

frc::sim::DCMotorSim DriveMotor
 Reference to motor simulation for drive motor. More...
 
frc::sim::DCMotorSim SteerMotor
 Reference to motor simulation for the steer motor. More...
 
units::scalar_t DriveGearing
 Reference to steer gearing for updating CANcoder. More...
 
units::scalar_t SteerGearing
 Reference to steer gearing for updating CANcoder. More...
 
units::volt_t DriveFrictionVoltage
 Voltage necessary for the drive motor to overcome friction. More...
 
units::volt_t SteerFrictionVoltage
 Voltage necessary for the steer motor to overcome friction. More...
 
bool DriveMotorInverted
 Whether the drive motor is inverted. More...
 
bool SteerMotorInverted
 Whether the steer motor is inverted. More...
 

Constructor & Destructor Documentation

◆ SimSwerveModule()

ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::SimSwerveModule ( units::scalar_t  driveGearing,
units::kilogram_square_meter_t  driveInertia,
units::volt_t  driveFrictionVoltage,
bool  driveMotorInverted,
units::scalar_t  steerGearing,
units::kilogram_square_meter_t  steerInertia,
units::volt_t  steerFrictionVoltage,
bool  steerMotorInverted 
)
inline

Member Data Documentation

◆ DriveFrictionVoltage

units::volt_t ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::DriveFrictionVoltage

Voltage necessary for the drive motor to overcome friction.

◆ DriveGearing

units::scalar_t ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::DriveGearing

Reference to steer gearing for updating CANcoder.

◆ DriveMotor

frc::sim::DCMotorSim ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::DriveMotor

Reference to motor simulation for drive motor.

◆ DriveMotorInverted

bool ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::DriveMotorInverted

Whether the drive motor is inverted.

◆ SteerFrictionVoltage

units::volt_t ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::SteerFrictionVoltage

Voltage necessary for the steer motor to overcome friction.

◆ SteerGearing

units::scalar_t ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::SteerGearing

Reference to steer gearing for updating CANcoder.

◆ SteerMotor

frc::sim::DCMotorSim ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::SteerMotor

Reference to motor simulation for the steer motor.

◆ SteerMotorInverted

bool ctre::phoenix6::swerve::SimSwerveDrivetrain::SimSwerveModule::SteerMotorInverted

Whether the steer motor is inverted.


The documentation for this class was generated from the following file: