#include <ctre/phoenix6/swerve/SimSwerveDrivetrain.hpp>
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| SimSwerveModule (units::scalar_t driveGearing, units::kilogram_square_meter_t driveInertia, units::volt_t driveFrictionVoltage, bool driveMotorInverted, DriveMotorArrangement driveMotorType, units::scalar_t steerGearing, units::kilogram_square_meter_t steerInertia, units::volt_t steerFrictionVoltage, bool steerMotorInverted, SteerMotorArrangement steerMotorType, bool encoderInverted, SteerFeedbackType encoderType) |
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◆ SimSwerveModule()
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::SimSwerveModule::SimSwerveModule |
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units::scalar_t | driveGearing, |
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units::kilogram_square_meter_t | driveInertia, |
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units::volt_t | driveFrictionVoltage, |
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bool | driveMotorInverted, |
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DriveMotorArrangement | driveMotorType, |
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units::scalar_t | steerGearing, |
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units::kilogram_square_meter_t | steerInertia, |
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units::volt_t | steerFrictionVoltage, |
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bool | steerMotorInverted, |
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SteerMotorArrangement | steerMotorType, |
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bool | encoderInverted, |
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SteerFeedbackType | encoderType ) |
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◆ GetDriveMotorGearbox()
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
◆ GetSteerMotorGearbox()
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
◆ DriveFrictionVoltage
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Voltage necessary for the drive motor to overcome friction.
◆ DriveGearing
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Reference to steer gearing for updating encoder.
◆ DriveMotor
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Reference to motor simulation for drive motor.
◆ DriveMotorInverted
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Whether the drive motor is inverted.
◆ EncoderInverted
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Whether the azimuth encoder is inverted.
◆ EncoderType
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
The type of encoder to use for the azimuth.
◆ SteerFrictionVoltage
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Voltage necessary for the steer motor to overcome friction.
◆ SteerGearing
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Reference to steer gearing for updating encoder.
◆ SteerMotor
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Reference to motor simulation for the steer motor.
◆ SteerMotorInverted
template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
Whether the steer motor is inverted.
The documentation for this class was generated from the following file: