CTRE Phoenix 6 C++ 25.3.1
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ctre::phoenix6::swerve::requests::SysIdSwerveTranslation Class Reference

SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain. More...

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

Inheritance diagram for ctre::phoenix6::swerve::requests::SysIdSwerveTranslation:
ctre::phoenix6::swerve::requests::SwerveRequest

Public Member Functions

ctre::phoenix::StatusCode Apply (SwerveRequest::ControlParameters const &parameters, std::vector< std::unique_ptr< impl::SwerveModuleImpl > > const &modulesToApply) override
 Applies this swerve request to the given modules.
 
SysIdSwerveTranslationWithVolts (units::volt_t volts) &
 Sets the voltage to apply to drive wheels.
 
SysIdSwerveTranslation && WithVolts (units::volt_t volts) &&
 Sets the voltage to apply to drive wheels.
 
- Public Member Functions inherited from ctre::phoenix6::swerve::requests::SwerveRequest
virtual ~SwerveRequest ()=default
 

Public Attributes

units::volt_t VoltsToApply = 0_V
 Voltage to apply to drive wheels.
 

Additional Inherited Members

- Public Types inherited from ctre::phoenix6::swerve::requests::SwerveRequest
using ControlParameters = impl::SwerveDrivetrainImpl::ControlParameters
 

Detailed Description

SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain.

Member Function Documentation

◆ Apply()

ctre::phoenix::StatusCode ctre::phoenix6::swerve::requests::SysIdSwerveTranslation::Apply ( SwerveRequest::ControlParameters const & parameters,
std::vector< std::unique_ptr< impl::SwerveModuleImpl > > const & modulesToApply )
inlineoverridevirtual

Applies this swerve request to the given modules.

This is typically called by the SwerveDrivetrain.

Parameters
parametersParameters the control request needs to calculate the module state
modulesToApplyModules to which the control request is applied
Returns
Status code of sending the request

Implements ctre::phoenix6::swerve::requests::SwerveRequest.

◆ WithVolts() [1/2]

SysIdSwerveTranslation & ctre::phoenix6::swerve::requests::SysIdSwerveTranslation::WithVolts ( units::volt_t volts) &
inline

Sets the voltage to apply to drive wheels.

Parameters
voltsVoltage to apply
Returns
this request

◆ WithVolts() [2/2]

SysIdSwerveTranslation && ctre::phoenix6::swerve::requests::SysIdSwerveTranslation::WithVolts ( units::volt_t volts) &&
inline

Sets the voltage to apply to drive wheels.

Parameters
voltsVoltage to apply
Returns
this request

Member Data Documentation

◆ VoltsToApply

units::volt_t ctre::phoenix6::swerve::requests::SysIdSwerveTranslation::VoltsToApply = 0_V

Voltage to apply to drive wheels.


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