SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain.
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#include <ctre/phoenix6/swerve/SwerveRequest.hpp>
SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain.
◆ Apply()
Applies this swerve request to the given modules.
This is typically called by the SwerveDrivetrain.
- Parameters
-
parameters | Parameters the control request needs to calculate the module state |
modulesToApply | Modules to which the control request is applied |
- Returns
- Status code of sending the request
Implements ctre::phoenix6::swerve::requests::SwerveRequest.
◆ WithVolts()
SysIdSwerveRotation & ctre::phoenix6::swerve::requests::SysIdSwerveRotation::WithVolts |
( |
units::volt_t |
volts | ) |
|
|
inline |
Update the voltage to apply to the drive wheels.
- Parameters
-
- Returns
- this request
◆ VoltsToApply
units::volt_t ctre::phoenix6::swerve::requests::SysIdSwerveRotation::VoltsToApply = 0_V |
Voltage to apply to drive wheels.
The documentation for this class was generated from the following file: