CTRE Phoenix 6 C++ 25.2.1
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ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters Struct Reference

Contains everything the control requests need to calculate the module state. More...

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

Public Attributes

impl::SwerveDriveKinematicskinematics
 The kinematics object used for control.
 
Translation2d const * moduleLocations
 The locations of the swerve modules.
 
units::meters_per_second_t kMaxSpeed
 The max speed of the robot at 12 V output.
 
Rotation2d operatorForwardDirection
 The forward direction from the operator perspective.
 
ChassisSpeeds currentChassisSpeed
 The current chassis speeds of the robot.
 
Pose2d currentPose
 The current pose of the robot.
 
units::second_t timestamp
 The timestamp of the current control apply, in the timebase of utils::GetCurrentTime()
 
units::second_t updatePeriod
 The update period of control apply.
 

Detailed Description

Contains everything the control requests need to calculate the module state.

Member Data Documentation

◆ currentChassisSpeed

ChassisSpeeds ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::currentChassisSpeed

The current chassis speeds of the robot.

◆ currentPose

Pose2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::currentPose

The current pose of the robot.

◆ kinematics

impl::SwerveDriveKinematics* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::kinematics

The kinematics object used for control.

◆ kMaxSpeed

units::meters_per_second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::kMaxSpeed

The max speed of the robot at 12 V output.

◆ moduleLocations

Translation2d const* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::moduleLocations

The locations of the swerve modules.

◆ operatorForwardDirection

Rotation2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::operatorForwardDirection

The forward direction from the operator perspective.

◆ timestamp

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::timestamp

The timestamp of the current control apply, in the timebase of utils::GetCurrentTime()

◆ updatePeriod

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::updatePeriod

The update period of control apply.


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