CTRE Phoenix 6 C++ 24.50.0-alpha-2
ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState Struct Reference

Plain-Old-Data class holding the state of the swerve drivetrain. More...

#include <ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp>

Public Attributes

Pose2d Pose
 The current pose of the robot. More...
 
ChassisSpeeds Speeds
 The current velocity of the robot. More...
 
std::vector< SwerveModuleStateModuleStates
 The current module states. More...
 
std::vector< SwerveModuleStateModuleTargets
 The target module states. More...
 
units::second_t OdometryPeriod
 The measured odometry update period. More...
 
int32_t SuccessfulDaqs
 Number of successful data acquisitions. More...
 
int32_t FailedDaqs
 Number of failed data acquisitions. More...
 

Detailed Description

Plain-Old-Data class holding the state of the swerve drivetrain.

This encapsulates most data that is relevant for telemetry or decision-making from the Swerve Drive.

Member Data Documentation

◆ FailedDaqs

int32_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::FailedDaqs

Number of failed data acquisitions.

◆ ModuleStates

std::vector<SwerveModuleState> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::ModuleStates

The current module states.

◆ ModuleTargets

std::vector<SwerveModuleState> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::ModuleTargets

The target module states.

◆ OdometryPeriod

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::OdometryPeriod

The measured odometry update period.

◆ Pose

Pose2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::Pose

The current pose of the robot.

◆ Speeds

ChassisSpeeds ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::Speeds

The current velocity of the robot.

◆ SuccessfulDaqs

int32_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::SuccessfulDaqs

Number of successful data acquisitions.


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