com.ctre.phoenix6.mechanisms.swerve.SwerveRequest.FieldCentricFacingAngle

All Implemented Interfaces:: SwerveRequest

Enclosing interface:: SwerveRequest

public static class SwerveRequest.FieldCentricFacingAngle
extends Object
implements SwerveRequest

Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction

When users use this request, they specify the direction the robot should travel oriented against the field, and the direction the robot should be facing.

An example scenario is that the robot is oriented to the east, the VelocityX is +5 m/s, VelocityY is 0 m/s, and TargetDirection is 180 degrees. In this scenario, the robot would drive northward at 5 m/s and turn clockwise to a target of 180 degrees.

This control request is especially useful for autonomous control, where the robot should be facing a changing direction throughout the motion.

Nested Class Summary

Nested classes/interfaces inherited from interface com.ctre.phoenix6.mechanisms.swerve.SwerveRequest
SwerveRequest.ApplyChassisSpeeds, SwerveRequest.FieldCentric, SwerveRequest.FieldCentricFacingAngle, SwerveRequest.ForwardReference, SwerveRequest.Idle, SwerveRequest.PointWheelsAt, SwerveRequest.RobotCentric, SwerveRequest.SwerveControlRequestParameters, SwerveRequest.SwerveDriveBrake, SwerveRequest.SysIdSwerveRotation, SwerveRequest.SysIdSwerveSteerGains, SwerveRequest.SysIdSwerveTranslation

Field Summary

Fields
Modifier and Type	Field	Description
`Translation2d`	`CenterOfRotation`	The center of rotation the robot should rotate around.
`double`	`Deadband`	The allowable deadband of the request.
`SwerveModule.DriveRequestType`	`DriveRequestType`	The type of control request to use for the drive motor.
`SwerveRequest.ForwardReference`	`ForwardReference`	The perspective to use when determining which direction is forward.
`PhoenixPIDController`	`HeadingController`	The PID controller used to maintain the desired heading.
`double`	`RotationalDeadband`	The rotational deadband of the request.
`SwerveModule.SteerRequestType`	`SteerRequestType`	The type of control request to use for the steer motor.
`Rotation2d`	`TargetDirection`	The desired direction to face.
`double`	`VelocityX`	The velocity in the X direction, in m/s.
`double`	`VelocityY`	The velocity in the Y direction, in m/s.

Constructor Summary

Constructors

Constructor Description

FieldCentricFacingAngle()

Method Summary

Modifier and Type	Method	Description
`StatusCode`	`apply(SwerveRequest.SwerveControlRequestParameters parameters, SwerveModule... modulesToApply)`	Applies this swerve request to the given modules.
`SwerveRequest.FieldCentricFacingAngle`	`withCenterOfRotation(Translation2d centerOfRotation)`	Sets the center of rotation of the request
`SwerveRequest.FieldCentricFacingAngle`	`withDeadband(double deadband)`	Sets the allowable deadband of the request.
`SwerveRequest.FieldCentricFacingAngle`	`withDriveRequestType(SwerveModule.DriveRequestType driveRequestType)`	Sets the type of control request to use for the drive motor.
`SwerveRequest.FieldCentricFacingAngle`	`withRotationalDeadband(double rotationalDeadband)`	Sets the rotational deadband of the request.
`SwerveRequest.FieldCentricFacingAngle`	`withSteerRequestType(SwerveModule.SteerRequestType steerRequestType)`	Sets the type of control request to use for the steer motor.
`SwerveRequest.FieldCentricFacingAngle`	`withTargetDirection(Rotation2d targetDirection)`	Sets the desired direction to face.
`SwerveRequest.FieldCentricFacingAngle`	`withVelocityX(double velocityX)`	Sets the velocity in the X direction, in m/s.
`SwerveRequest.FieldCentricFacingAngle`	`withVelocityY(double velocityY)`	Sets the velocity in the Y direction, in m/s.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- VelocityX
  
  public double VelocityX
  
  The velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.
- VelocityY
  
  public double VelocityY
  
  The velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.
- TargetDirection
  
  public Rotation2d TargetDirection
  
  The desired direction to face. 0 Degrees is defined as in the direction of the X axis. As a result, a TargetDirection of 90 degrees will point along the Y axis, or to the left.
- Deadband
  
  public double Deadband
  
  The allowable deadband of the request.
- RotationalDeadband
  
  public double RotationalDeadband
  
  The rotational deadband of the request.
- CenterOfRotation
  
  public Translation2d CenterOfRotation
  
  The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.
- DriveRequestType
  
  public SwerveModule.DriveRequestType DriveRequestType
  
  The type of control request to use for the drive motor.
- SteerRequestType
  
  public SwerveModule.SteerRequestType SteerRequestType
  
  The type of control request to use for the steer motor.
- HeadingController
  
  public PhoenixPIDController HeadingController
  
  The PID controller used to maintain the desired heading. Users can specify the PID gains to change how aggressively to maintain heading.
  This PID controller operates on heading radians and outputs a target rotational rate in radians per second.
- ForwardReference
  
  public SwerveRequest.ForwardReference ForwardReference
  
  The perspective to use when determining which direction is forward.
Constructor Details
- FieldCentricFacingAngle
  
  public FieldCentricFacingAngle()
Method Details
- apply
  
  public StatusCode apply(SwerveRequest.SwerveControlRequestParameters parameters, SwerveModule... modulesToApply)
  
  Description copied from interface: SwerveRequest
  
  Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain.
  
  Specified by:
  
  apply in interface SwerveRequest
  
  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
- withVelocityX
  
  public SwerveRequest.FieldCentricFacingAngle withVelocityX(double velocityX)
  
  Sets the velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.
  
  Parameters:
  
  velocityX - Velocity in the X direction, in m/s
  
  Returns:
  
  this request
- withVelocityY
  
  public SwerveRequest.FieldCentricFacingAngle withVelocityY(double velocityY)
  
  Sets the velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.
  
  Parameters:
  
  velocityY - Velocity in the Y direction, in m/s
  
  Returns:
  
  this request
- withTargetDirection
  
  public SwerveRequest.FieldCentricFacingAngle withTargetDirection(Rotation2d targetDirection)
  
  Sets the desired direction to face. 0 Degrees is defined as in the direction of the X axis. As a result, a TargetDirection of 90 degrees will point along the Y axis, or to the left.
  
  Parameters:
  
  targetDirection - Desired direction to face
  
  Returns:
  
  this request
- withDeadband
  
  public SwerveRequest.FieldCentricFacingAngle withDeadband(double deadband)
  
  Sets the allowable deadband of the request.
  
  Parameters:
  
  deadband - Allowable deadband of the request
  
  Returns:
  
  this request
- withRotationalDeadband
  
  public SwerveRequest.FieldCentricFacingAngle withRotationalDeadband(double rotationalDeadband)
  
  Sets the rotational deadband of the request.
  
  Parameters:
  
  rotationalDeadband - Rotational deadband of the request
  
  Returns:
  
  this request
- withCenterOfRotation
  
  public SwerveRequest.FieldCentricFacingAngle withCenterOfRotation(Translation2d centerOfRotation)
  
  Sets the center of rotation of the request
  
  Parameters:
  
  centerOfRotation - The center of rotation the robot should rotate around.
  
  Returns:
  
  this request
- withDriveRequestType
  
  public SwerveRequest.FieldCentricFacingAngle withDriveRequestType(SwerveModule.DriveRequestType driveRequestType)
  
  Sets the type of control request to use for the drive motor.
  
  Parameters:
  
  driveRequestType - The type of control request to use for the drive motor
  
  Returns:
  
  this request
- withSteerRequestType
  
  public SwerveRequest.FieldCentricFacingAngle withSteerRequestType(SwerveModule.SteerRequestType steerRequestType)
  
  Sets the type of control request to use for the steer motor.
  
  Parameters:
  
  steerRequestType - The type of control request to use for the steer motor
  
  Returns:
  
  this request

Class SwerveRequest.FieldCentricFacingAngle

Nested Class Summary

Nested classes/interfaces inherited from interface com.ctre.phoenix6.mechanisms.swerve.SwerveRequest

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Constructor Details

Method Details