CTRE Phoenix 6 C++ 25.2.1
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ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename > Struct Template Reference

Constants that are common across the swerve modules, used for creating instances of module-specific SwerveModuleConstants. More...

#include <ctre/phoenix6/swerve/SwerveModuleConstants.hpp>

Public Member Functions

constexpr SwerveModuleConstantsFactory ()=default
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveMotorGearRatio (units::dimensionless::scalar_t newDriveMotorGearRatio)
 Modifies the DriveMotorGearRatio parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerMotorGearRatio (units::dimensionless::scalar_t newSteerMotorGearRatio)
 Modifies the SteerMotorGearRatio parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithCouplingGearRatio (units::dimensionless::scalar_t newCouplingGearRatio)
 Modifies the CouplingGearRatio parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithWheelRadius (units::length::meter_t newWheelRadius)
 Modifies the WheelRadius parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerMotorGains (configs::Slot0Configs newSteerMotorGains)
 Modifies the SteerMotorGains parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveMotorGains (configs::Slot0Configs newDriveMotorGains)
 Modifies the DriveMotorGains parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerMotorClosedLoopOutput (ClosedLoopOutputType newSteerMotorClosedLoopOutput)
 Modifies the SteerMotorClosedLoopOutput parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveMotorClosedLoopOutput (ClosedLoopOutputType newDriveMotorClosedLoopOutput)
 Modifies the DriveMotorClosedLoopOutput parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSlipCurrent (units::current::ampere_t newSlipCurrent)
 Modifies the SlipCurrent parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSpeedAt12Volts (units::velocity::meters_per_second_t newSpeedAt12Volts)
 Modifies the SpeedAt12Volts parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveMotorType (DriveMotorArrangement newDriveMotorType)
 Modifies the DriveMotorType parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerMotorType (SteerMotorArrangement newSteerMotorType)
 Modifies the SteerMotorType parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithFeedbackSource (SteerFeedbackType newFeedbackSource)
 Modifies the FeedbackSource parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveMotorInitialConfigs (DriveMotorConfigsT newDriveMotorInitialConfigs)
 Modifies the DriveMotorInitialConfigs parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerMotorInitialConfigs (SteerMotorConfigsT newSteerMotorInitialConfigs)
 Modifies the SteerMotorInitialConfigs parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithEncoderInitialConfigs (EncoderConfigsT newEncoderInitialConfigs)
 Modifies the EncoderInitialConfigs parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerInertia (units::moment_of_inertia::kilogram_square_meter_t newSteerInertia)
 Modifies the SteerInertia parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveInertia (units::moment_of_inertia::kilogram_square_meter_t newDriveInertia)
 Modifies the DriveInertia parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithSteerFrictionVoltage (units::voltage::volt_t newSteerFrictionVoltage)
 Modifies the SteerFrictionVoltage parameter and returns itself.
 
constexpr SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & WithDriveFrictionVoltage (units::voltage::volt_t newDriveFrictionVoltage)
 Modifies the DriveFrictionVoltage parameter and returns itself.
 
constexpr SwerveModuleConstants< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > CreateModuleConstants (int steerMotorId, int driveMotorId, int encoderId, units::angle::turn_t encoderOffset, units::length::meter_t locationX, units::length::meter_t locationY, bool driveMotorInverted, bool steerMotorInverted, bool encoderInverted) const
 Creates the constants for a swerve module with the given properties.
 

Public Attributes

units::dimensionless::scalar_t DriveMotorGearRatio = 0
 Gear ratio between the drive motor and the wheel.
 
units::dimensionless::scalar_t SteerMotorGearRatio = 0
 Gear ratio between the steer motor and the azimuth encoder.
 
units::dimensionless::scalar_t CouplingGearRatio = 0
 Coupled gear ratio between the azimuth encoder and the drive motor.
 
units::length::meter_t WheelRadius = 0_m
 Radius of the driving wheel in meters.
 
configs::Slot0Configs SteerMotorGains = configs::Slot0Configs{}
 The steer motor closed-loop gains.
 
configs::Slot0Configs DriveMotorGains = configs::Slot0Configs{}
 The drive motor closed-loop gains.
 
ClosedLoopOutputType SteerMotorClosedLoopOutput = ClosedLoopOutputType::Voltage
 The closed-loop output type to use for the steer motors.
 
ClosedLoopOutputType DriveMotorClosedLoopOutput = ClosedLoopOutputType::Voltage
 The closed-loop output type to use for the drive motors.
 
units::current::ampere_t SlipCurrent = 120_A
 The maximum amount of stator current the drive motors can apply without slippage.
 
units::velocity::meters_per_second_t SpeedAt12Volts = 0_mps
 When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts.
 
DriveMotorArrangement DriveMotorType = DriveMotorArrangement::TalonFX_Integrated
 Choose the motor used for the drive motor.
 
SteerMotorArrangement SteerMotorType = SteerMotorArrangement::TalonFX_Integrated
 Choose the motor used for the steer motor.
 
SteerFeedbackType FeedbackSource = SteerFeedbackType::FusedCANcoder
 Choose how the feedback sensors should be configured.
 
DriveMotorConfigsT DriveMotorInitialConfigs = {}
 The initial configs used to configure the drive motor of the swerve module.
 
SteerMotorConfigsT SteerMotorInitialConfigs = {}
 The initial configs used to configure the steer motor of the swerve module.
 
EncoderConfigsT EncoderInitialConfigs = {}
 The initial configs used to configure the azimuth encoder of the swerve module.
 
units::moment_of_inertia::kilogram_square_meter_t SteerInertia = 0.00001_kg_sq_m
 Simulated azimuthal inertia.
 
units::moment_of_inertia::kilogram_square_meter_t DriveInertia = 0.001_kg_sq_m
 Simulated drive inertia.
 
units::voltage::volt_t SteerFrictionVoltage = 0.25_V
 Simulated steer voltage required to overcome friction.
 
units::voltage::volt_t DriveFrictionVoltage = 0.25_V
 Simulated drive voltage required to overcome friction.
 

Detailed Description

template<typename DriveMotorConfigsT, typename SteerMotorConfigsT, typename EncoderConfigsT, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
struct ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >

Constants that are common across the swerve modules, used for creating instances of module-specific SwerveModuleConstants.

Constructor & Destructor Documentation

◆ SwerveModuleConstantsFactory()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SwerveModuleConstantsFactory ( )
constexprdefault

Member Function Documentation

◆ CreateModuleConstants()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstants< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::CreateModuleConstants ( int steerMotorId,
int driveMotorId,
int encoderId,
units::angle::turn_t encoderOffset,
units::length::meter_t locationX,
units::length::meter_t locationY,
bool driveMotorInverted,
bool steerMotorInverted,
bool encoderInverted ) const
inlineconstexpr

Creates the constants for a swerve module with the given properties.

Parameters
steerMotorIdCAN ID of the steer motor.
driveMotorIdCAN ID of the drive motor.
encoderIdCAN ID of the absolute encoder used for azimuth.
encoderOffsetOffset of the azimuth encoder.
locationXThe location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
locationYThe location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
driveMotorInvertedTrue if the drive motor is inverted.
steerMotorInvertedTrue if the steer motor is inverted from the azimuth. The azimuth should rotate counter-clockwise (as seen from the top of the robot) for a positive motor output.
encoderInvertedTrue if the azimuth encoder is inverted from the azimuth. The encoder should report a positive velocity when the azimuth rotates counter-clockwise (as seen from the top of the robot).
Returns
Constants for the swerve module

◆ WithCouplingGearRatio()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithCouplingGearRatio ( units::dimensionless::scalar_t newCouplingGearRatio)
inlineconstexpr

Modifies the CouplingGearRatio parameter and returns itself.

Coupled gear ratio between the azimuth encoder and the drive motor.

For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.

Parameters
newCouplingGearRatioParameter to modify
Returns
this object

◆ WithDriveFrictionVoltage()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveFrictionVoltage ( units::voltage::volt_t newDriveFrictionVoltage)
inlineconstexpr

Modifies the DriveFrictionVoltage parameter and returns itself.

Simulated drive voltage required to overcome friction.

Parameters
newDriveFrictionVoltageParameter to modify
Returns
this object

◆ WithDriveInertia()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveInertia ( units::moment_of_inertia::kilogram_square_meter_t newDriveInertia)
inlineconstexpr

Modifies the DriveInertia parameter and returns itself.

Simulated drive inertia.

Parameters
newDriveInertiaParameter to modify
Returns
this object

◆ WithDriveMotorClosedLoopOutput()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveMotorClosedLoopOutput ( ClosedLoopOutputType newDriveMotorClosedLoopOutput)
inlineconstexpr

Modifies the DriveMotorClosedLoopOutput parameter and returns itself.

The closed-loop output type to use for the drive motors.

Parameters
newDriveMotorClosedLoopOutputParameter to modify
Returns
this object

◆ WithDriveMotorGains()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveMotorGains ( configs::Slot0Configs newDriveMotorGains)
inlineconstexpr

Modifies the DriveMotorGains parameter and returns itself.

The drive motor closed-loop gains.

When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule#DriveRequestType. These gains operate on motor rotor rotations (before the gear ratio).

Parameters
newDriveMotorGainsParameter to modify
Returns
this object

◆ WithDriveMotorGearRatio()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveMotorGearRatio ( units::dimensionless::scalar_t newDriveMotorGearRatio)
inlineconstexpr

Modifies the DriveMotorGearRatio parameter and returns itself.

Gear ratio between the drive motor and the wheel.

Parameters
newDriveMotorGearRatioParameter to modify
Returns
this object

◆ WithDriveMotorInitialConfigs()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveMotorInitialConfigs ( DriveMotorConfigsT newDriveMotorInitialConfigs)
inlineconstexpr

Modifies the DriveMotorInitialConfigs parameter and returns itself.

The initial configs used to configure the drive motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

Parameters
newDriveMotorInitialConfigsParameter to modify
Returns
this object

◆ WithDriveMotorType()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithDriveMotorType ( DriveMotorArrangement newDriveMotorType)
inlineconstexpr

Modifies the DriveMotorType parameter and returns itself.

Choose the motor used for the drive motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

Parameters
newDriveMotorTypeParameter to modify
Returns
this object

◆ WithEncoderInitialConfigs()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithEncoderInitialConfigs ( EncoderConfigsT newEncoderInitialConfigs)
inlineconstexpr

Modifies the EncoderInitialConfigs parameter and returns itself.

The initial configs used to configure the azimuth encoder of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

For CANcoder, the list of configs that will be overwritten is as follows:

Parameters
newEncoderInitialConfigsParameter to modify
Returns
this object

◆ WithFeedbackSource()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithFeedbackSource ( SteerFeedbackType newFeedbackSource)
inlineconstexpr

Modifies the FeedbackSource parameter and returns itself.

Choose how the feedback sensors should be configured.

If the robot does not support Pro, then this should be set to RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.

If this is set to FusedCANcoder or SyncCANcoder when the steer motor is not Pro-licensed, the device will automatically fall back to RemoteCANcoder and report a UsingProFeatureOnUnlicensedDevice status code.

Parameters
newFeedbackSourceParameter to modify
Returns
this object

◆ WithSlipCurrent()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSlipCurrent ( units::current::ampere_t newSlipCurrent)
inlineconstexpr

Modifies the SlipCurrent parameter and returns itself.

The maximum amount of stator current the drive motors can apply without slippage.

Parameters
newSlipCurrentParameter to modify
Returns
this object

◆ WithSpeedAt12Volts()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSpeedAt12Volts ( units::velocity::meters_per_second_t newSpeedAt12Volts)
inlineconstexpr

Modifies the SpeedAt12Volts parameter and returns itself.

When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts. This is used to approximate the output for a desired velocity. If using closed loop control, this value is ignored.

Parameters
newSpeedAt12VoltsParameter to modify
Returns
this object

◆ WithSteerFrictionVoltage()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerFrictionVoltage ( units::voltage::volt_t newSteerFrictionVoltage)
inlineconstexpr

Modifies the SteerFrictionVoltage parameter and returns itself.

Simulated steer voltage required to overcome friction.

Parameters
newSteerFrictionVoltageParameter to modify
Returns
this object

◆ WithSteerInertia()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerInertia ( units::moment_of_inertia::kilogram_square_meter_t newSteerInertia)
inlineconstexpr

Modifies the SteerInertia parameter and returns itself.

Simulated azimuthal inertia.

Parameters
newSteerInertiaParameter to modify
Returns
this object

◆ WithSteerMotorClosedLoopOutput()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerMotorClosedLoopOutput ( ClosedLoopOutputType newSteerMotorClosedLoopOutput)
inlineconstexpr

Modifies the SteerMotorClosedLoopOutput parameter and returns itself.

The closed-loop output type to use for the steer motors.

Parameters
newSteerMotorClosedLoopOutputParameter to modify
Returns
this object

◆ WithSteerMotorGains()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerMotorGains ( configs::Slot0Configs newSteerMotorGains)
inlineconstexpr

Modifies the SteerMotorGains parameter and returns itself.

The steer motor closed-loop gains.

The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule#SteerRequestType. These gains operate on azimuth rotations (after the gear ratio).

Parameters
newSteerMotorGainsParameter to modify
Returns
this object

◆ WithSteerMotorGearRatio()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerMotorGearRatio ( units::dimensionless::scalar_t newSteerMotorGearRatio)
inlineconstexpr

Modifies the SteerMotorGearRatio parameter and returns itself.

Gear ratio between the steer motor and the azimuth encoder. For example, the SDS Mk4 has a steering ratio of 12.8.

Parameters
newSteerMotorGearRatioParameter to modify
Returns
this object

◆ WithSteerMotorInitialConfigs()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerMotorInitialConfigs ( SteerMotorConfigsT newSteerMotorInitialConfigs)
inlineconstexpr

Modifies the SteerMotorInitialConfigs parameter and returns itself.

The initial configs used to configure the steer motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

Parameters
newSteerMotorInitialConfigsParameter to modify
Returns
this object

◆ WithSteerMotorType()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithSteerMotorType ( SteerMotorArrangement newSteerMotorType)
inlineconstexpr

Modifies the SteerMotorType parameter and returns itself.

Choose the motor used for the steer motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

Parameters
newSteerMotorTypeParameter to modify
Returns
this object

◆ WithWheelRadius()

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT > & ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WithWheelRadius ( units::length::meter_t newWheelRadius)
inlineconstexpr

Modifies the WheelRadius parameter and returns itself.

Radius of the driving wheel in meters.

Parameters
newWheelRadiusParameter to modify
Returns
this object

Member Data Documentation

◆ CouplingGearRatio

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::dimensionless::scalar_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::CouplingGearRatio = 0

Coupled gear ratio between the azimuth encoder and the drive motor.

For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.

◆ DriveFrictionVoltage

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::voltage::volt_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveFrictionVoltage = 0.25_V

Simulated drive voltage required to overcome friction.

◆ DriveInertia

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::moment_of_inertia::kilogram_square_meter_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveInertia = 0.001_kg_sq_m

Simulated drive inertia.

◆ DriveMotorClosedLoopOutput

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
ClosedLoopOutputType ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveMotorClosedLoopOutput = ClosedLoopOutputType::Voltage

The closed-loop output type to use for the drive motors.

◆ DriveMotorGains

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
configs::Slot0Configs ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveMotorGains = configs::Slot0Configs{}

The drive motor closed-loop gains.

When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule#DriveRequestType. These gains operate on motor rotor rotations (before the gear ratio).

◆ DriveMotorGearRatio

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::dimensionless::scalar_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveMotorGearRatio = 0

Gear ratio between the drive motor and the wheel.

◆ DriveMotorInitialConfigs

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
DriveMotorConfigsT ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveMotorInitialConfigs = {}

The initial configs used to configure the drive motor of the swerve module.

The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

◆ DriveMotorType

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
DriveMotorArrangement ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::DriveMotorType = DriveMotorArrangement::TalonFX_Integrated

Choose the motor used for the drive motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

◆ EncoderInitialConfigs

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
EncoderConfigsT ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::EncoderInitialConfigs = {}

The initial configs used to configure the azimuth encoder of the swerve module.

The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

For CANcoder, the list of configs that will be overwritten is as follows:

◆ FeedbackSource

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SteerFeedbackType ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::FeedbackSource = SteerFeedbackType::FusedCANcoder

Choose how the feedback sensors should be configured.

If the robot does not support Pro, then this should be set to RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.

If this is set to FusedCANcoder or SyncCANcoder when the steer motor is not Pro-licensed, the device will automatically fall back to RemoteCANcoder and report a UsingProFeatureOnUnlicensedDevice status code.

◆ SlipCurrent

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::current::ampere_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SlipCurrent = 120_A

The maximum amount of stator current the drive motors can apply without slippage.

◆ SpeedAt12Volts

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::velocity::meters_per_second_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SpeedAt12Volts = 0_mps

When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts.

This is used to approximate the output for a desired velocity. If using closed loop control, this value is ignored.

◆ SteerFrictionVoltage

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::voltage::volt_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerFrictionVoltage = 0.25_V

Simulated steer voltage required to overcome friction.

◆ SteerInertia

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::moment_of_inertia::kilogram_square_meter_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerInertia = 0.00001_kg_sq_m

Simulated azimuthal inertia.

◆ SteerMotorClosedLoopOutput

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
ClosedLoopOutputType ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerMotorClosedLoopOutput = ClosedLoopOutputType::Voltage

The closed-loop output type to use for the steer motors.

◆ SteerMotorGains

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
configs::Slot0Configs ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerMotorGains = configs::Slot0Configs{}

The steer motor closed-loop gains.

The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule#SteerRequestType. These gains operate on azimuth rotations (after the gear ratio).

◆ SteerMotorGearRatio

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::dimensionless::scalar_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerMotorGearRatio = 0

Gear ratio between the steer motor and the azimuth encoder.

For example, the SDS Mk4 has a steering ratio of 12.8.

◆ SteerMotorInitialConfigs

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SteerMotorConfigsT ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerMotorInitialConfigs = {}

◆ SteerMotorType

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
SteerMotorArrangement ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::SteerMotorType = SteerMotorArrangement::TalonFX_Integrated

Choose the motor used for the steer motor.

If using a Talon FX, this should be set to TalonFX_Integrated. If using a Talon FXS, this should be set to the motor attached to the Talon FXS.

◆ WheelRadius

template<typename DriveMotorConfigsT , typename SteerMotorConfigsT , typename EncoderConfigsT , typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, DriveMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, SteerMotorConfigsT>>, typename = std::enable_if_t<std::is_base_of_v<configs::ParentConfiguration, EncoderConfigsT>>>
units::length::meter_t ctre::phoenix6::swerve::SwerveModuleConstantsFactory< DriveMotorConfigsT, SteerMotorConfigsT, EncoderConfigsT, typename, typename, typename >::WheelRadius = 0_m

Radius of the driving wheel in meters.


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