67 return _module->
Apply(
state, driveRequestType, steerRequestType);
78 template <
typename DriveReq,
typename SteerReq>
79 void Apply(DriveReq &&driveRequest, SteerReq &&steerRequest)
81 return _module->
Apply(std::forward<DriveReq>(driveRequest), std::forward<SteerReq>(steerRequest));
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Definition: CTRE_LICENSE.txt:283
Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along w...
Definition: CANcoder.hpp:27
Class description for the Talon FX integrated motor controller.
Definition: TalonFX.hpp:32
Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices.
Definition: SwerveModule.hpp:28
virtual ~SwerveModule()=default
void Apply(impl::SwerveModuleState const &state, DriveRequestType driveRequestType, SteerRequestType steerRequestType=SteerRequestType::MotionMagicExpo)
Applies the desired SwerveModuleState to this module.
Definition: SwerveModule.hpp:65
void Apply(DriveReq &&driveRequest, SteerReq &&steerRequest)
Controls this module using the specified drive and steer control requests.
Definition: SwerveModule.hpp:79
impl::SwerveModuleState GetCurrentState() const
Get the current state of the module.
Definition: SwerveModule.hpp:116
SwerveModule(SwerveModuleConstants const &constants, std::string_view canbusName, impl::SwerveModuleImpl &module)
Construct a SwerveModule with the specified constants.
impl::SwerveModuleState GetTargetState() const
Get the target state of the module.
Definition: SwerveModule.hpp:128
void ResetPosition()
Resets this module's drive motor position to 0 rotations.
Definition: SwerveModule.hpp:136
hardware::TalonFX & GetSteerMotor()
Gets this module's Steer Motor TalonFX reference.
Definition: SwerveModule.hpp:162
impl::SwerveModulePosition GetCachedPosition() const
Gets the last cached swerve module position.
Definition: SwerveModule.hpp:103
hardware::TalonFX & GetDriveMotor()
Gets this module's Drive Motor TalonFX reference.
Definition: SwerveModule.hpp:149
hardware::CANcoder & GetCANcoder()
Gets this module's CANcoder reference.
Definition: SwerveModule.hpp:175
impl::SwerveModulePosition GetPosition(bool refresh)
Gets the state of this module and passes it back as a SwerveModulePosition object with latency compen...
Definition: SwerveModule.hpp:91
Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices.
Definition: SwerveModuleImpl.hpp:27
SwerveModuleState GetCurrentState() const
Get the current state of the module.
Definition: SwerveModuleImpl.hpp:153
DriveRequestType
All possible control requests for the module drive motor.
Definition: SwerveModuleImpl.hpp:48
SteerRequestType
All possible control requests for the module steer motor.
Definition: SwerveModuleImpl.hpp:32
@ MotionMagicExpo
Control the drive motor using a Motion Magic® Expo request.
SwerveModuleState GetTargetState() const
Get the target state of the module.
Definition: SwerveModuleImpl.hpp:165
SwerveModulePosition GetPosition(bool refresh)
Gets the state of this module and passes it back as a SwerveModulePosition object with latency compen...
void ResetPosition()
Resets this module's drive motor position to 0 rotations.
Definition: SwerveModuleImpl.hpp:170
SwerveModulePosition GetCachedPosition() const
Gets the last cached swerve module position.
Definition: SwerveModuleImpl.hpp:143
void Apply(SwerveModuleState const &state, DriveRequestType driveRequestType, SteerRequestType steerRequestType=SteerRequestType::MotionMagicExpo)
Applies the desired SwerveModuleState to this module.
Represents the state of one swerve module.
Definition: StatusCodes.h:18
All constants for a swerve module.
Definition: SwerveModuleConstants.hpp:53
Represents the position of one swerve module.
Definition: SwerveDriveKinematics.hpp:63
Definition: SwerveDriveKinematics.hpp:23