Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices. More...

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

Public Types
using	SteerRequestType = impl::SwerveModuleImpl::SteerRequestType
	All possible control requests for the module steer motor.

using	DriveRequestType = impl::SwerveModuleImpl::DriveRequestType
	All possible control requests for the module drive motor.

using	ModuleRequest = impl::SwerveModuleImpl::ModuleRequest
	Contains everything the swerve module needs to apply a request.

Public Member Functions
	SwerveModule (SwerveModuleConstants const &constants, std::string_view canbusName, impl::SwerveModuleImpl &module)
	Construct a SwerveModule with the specified constants.

virtual	~SwerveModule ()=default

virtual void	Apply (ModuleRequest const &moduleRequest)
	Applies the desired ModuleRequest to this module.

template<typename DriveReq , typename SteerReq >
void	Apply (DriveReq &&driveRequest, SteerReq &&steerRequest)
	Controls this module using the specified drive and steer control requests.

SwerveModulePosition	GetPosition (bool refresh)
	Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.

SwerveModulePosition	GetCachedPosition () const
	Gets the last cached swerve module position.

SwerveModuleState	GetCurrentState () const
	Get the current state of the module.

SwerveModuleState	GetTargetState () const
	Get the target state of the module.

virtual void	ResetPosition ()
	Resets this module's drive motor position to 0 rotations.

hardware::TalonFX &	GetDriveMotor ()
	Gets this module's Drive Motor TalonFX reference.

hardware::TalonFX &	GetSteerMotor ()
	Gets this module's Steer Motor TalonFX reference.

hardware::CANcoder &	GetCANcoder ()
	Gets this module's CANcoder reference.

Protected Attributes
impl::SwerveModuleImpl *	_module
	The underlying swerve module instance.

Static Protected Attributes
static constexpr int	kNumConfigAttempts = 2
	Number of times to attempt config applies.

Detailed Description

Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices.

This class handles the hardware devices and configures them for swerve module operation using the Phoenix 6 API.

This class constructs hardware devices internally, so the user only specifies the constants (IDs, PID gains, gear ratios, etc). Getters for these hardware devices are available.

Member Typedef Documentation

◆ DriveRequestType

using ctre::phoenix6::swerve::SwerveModule::DriveRequestType = impl::SwerveModuleImpl::DriveRequestType

All possible control requests for the module drive motor.

◆ ModuleRequest

using ctre::phoenix6::swerve::SwerveModule::ModuleRequest = impl::SwerveModuleImpl::ModuleRequest

Contains everything the swerve module needs to apply a request.

◆ SteerRequestType

using ctre::phoenix6::swerve::SwerveModule::SteerRequestType = impl::SwerveModuleImpl::SteerRequestType

All possible control requests for the module steer motor.

Constructor & Destructor Documentation

◆ SwerveModule()

ctre::phoenix6::swerve::SwerveModule::SwerveModule	(	SwerveModuleConstants const &	constants,
		std::string_view	canbusName,
		impl::SwerveModuleImpl &	module )

Construct a SwerveModule with the specified constants.

Parameters

constants	Constants used to construct the module
canbusName	The name of the CAN bus this module is on
module	The impl::SwerveModuleImpl to use

◆ ~SwerveModule()

virtual ctre::phoenix6::swerve::SwerveModule::~SwerveModule ( )

virtualdefault

Member Function Documentation

◆ Apply() [1/2]

template<typename DriveReq , typename SteerReq >

void ctre::phoenix6::swerve::SwerveModule::Apply	(	DriveReq &&	driveRequest,
		SteerReq &&	steerRequest )

inline

Controls this module using the specified drive and steer control requests.

This is intended only to be used for characterization of the robot; do not use this for normal use.

Parameters

driveRequest	The control request to apply to the drive motor
steerRequest	The control request to apply to the steer motor

◆ Apply() [2/2]

virtual void ctre::phoenix6::swerve::SwerveModule::Apply ( ModuleRequest const & moduleRequest )

inlinevirtual

Applies the desired ModuleRequest to this module.

Parameters

moduleRequest The request to apply to this module

◆ GetCachedPosition()

SwerveModulePosition ctre::phoenix6::swerve::SwerveModule::GetCachedPosition ( ) const

inline

Gets the last cached swerve module position.

This differs from GetPosition in that it will not perform any latency compensation or refresh the signals.

Returns: Last cached SwerveModulePosition

◆ GetCANcoder()

hardware::CANcoder & ctre::phoenix6::swerve::SwerveModule::GetCANcoder ( )

inline

Gets this module's CANcoder reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns: This module's CANcoder reference

◆ GetCurrentState()

SwerveModuleState ctre::phoenix6::swerve::SwerveModule::GetCurrentState ( ) const

inline

Get the current state of the module.

This is typically used for telemetry, as the SwerveModulePosition is used for odometry.

Returns: Current state of the module

◆ GetDriveMotor()

hardware::TalonFX & ctre::phoenix6::swerve::SwerveModule::GetDriveMotor ( )

inline

Gets this module's Drive Motor TalonFX reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns: This module's Drive Motor reference

◆ GetPosition()

SwerveModulePosition ctre::phoenix6::swerve::SwerveModule::GetPosition ( bool refresh )

inline

Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.

This function is blocking when it performs a refresh.

Parameters

refresh True if the signals should be refreshed

Returns: SwerveModulePosition containing this module's state.

◆ GetSteerMotor()

hardware::TalonFX & ctre::phoenix6::swerve::SwerveModule::GetSteerMotor ( )

inline

Gets this module's Steer Motor TalonFX reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns: This module's Steer Motor reference

◆ GetTargetState()

SwerveModuleState ctre::phoenix6::swerve::SwerveModule::GetTargetState ( ) const

inline

Get the target state of the module.

This is typically used for telemetry.

Returns: Target state of the module

◆ ResetPosition()

virtual void ctre::phoenix6::swerve::SwerveModule::ResetPosition ( )

inlinevirtual

Resets this module's drive motor position to 0 rotations.

Member Data Documentation

◆ _module

impl::SwerveModuleImpl* ctre::phoenix6::swerve::SwerveModule::_module

protected

The underlying swerve module instance.

◆ kNumConfigAttempts

constexpr int ctre::phoenix6::swerve::SwerveModule::kNumConfigAttempts = 2

staticconstexprprotected

Number of times to attempt config applies.

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

ctre/phoenix6/swerve/SwerveModule.hpp

Public Types

Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ DriveRequestType

◆ ModuleRequest

◆ SteerRequestType

Constructor & Destructor Documentation

◆ SwerveModule()

◆ ~SwerveModule()

Member Function Documentation

◆ Apply() [1/2]

◆ Apply() [2/2]

◆ GetCachedPosition()

◆ GetCANcoder()

◆ GetCurrentState()

◆ GetDriveMotor()

◆ GetPosition()

◆ GetSteerMotor()

◆ GetTargetState()

◆ ResetPosition()

Member Data Documentation

◆ _module

◆ kNumConfigAttempts