SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain.
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#include <ctre/phoenix6/swerve/SwerveRequest.hpp>
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units::volt_t | VoltsToApply = 0_V |
| Voltage to apply to drive wheels.
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SysId-specific SwerveRequest to characterize the steer module 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() [1/2]
SysIdSwerveSteerGains & ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains::WithVolts |
( |
units::volt_t | volts | ) |
& |
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inline |
Update the voltage to apply to the drive wheels.
- Parameters
-
- Returns
- this request
◆ WithVolts() [2/2]
SysIdSwerveSteerGains && ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains::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::SysIdSwerveSteerGains::VoltsToApply = 0_V |
Voltage to apply to drive wheels.
The documentation for this class was generated from the following file: