CTRE Phoenix 6 C++ 24.50.0-alpha-2
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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... | |
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strong |
The reference for "forward" is sometimes different if you're talking about field relative.
This addresses which forward to use.
Enumerator | |
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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 |