CTRE Phoenix 6 C++ 25.2.1
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Contains everything the control requests need to calculate the module state. More...
#include <ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp>
Public Attributes | |
impl::SwerveDriveKinematics * | kinematics |
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. | |
Contains everything the control requests need to calculate the module state.
ChassisSpeeds ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::currentChassisSpeed |
The current chassis speeds of the robot.
Pose2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::currentPose |
The current pose of the robot.
impl::SwerveDriveKinematics* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::kinematics |
The kinematics object used for control.
units::meters_per_second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::kMaxSpeed |
The max speed of the robot at 12 V output.
Translation2d const* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::moduleLocations |
The locations of the swerve modules.
Rotation2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::operatorForwardDirection |
The forward direction from the operator perspective.
units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::timestamp |
The timestamp of the current control apply, in the timebase of utils::GetCurrentTime()
units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::updatePeriod |
The update period of control apply.