ctre::phoenix6::swerve::requests::SwerveRequest Class Reference

Container for all the Swerve Requests. More...

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

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

Public Types
using	ControlParameters = impl::SwerveDrivetrainImpl::ControlParameters

Public Member Functions
virtual	~SwerveRequest ()=default
virtual ctre::phoenix::StatusCode	Apply (ControlParameters const &parameters, std::vector< std::unique_ptr< impl::SwerveModuleImpl > > const &modulesToApply)=0
	Applies this swerve request to the given modules.

Detailed Description

Container for all the Swerve Requests.

Use this to find all applicable swerve drive requests.

This is also an interface common to all swerve drive control requests that allow the request to calculate the state to apply to the modules.

Member Typedef Documentation

ControlParameters

using ctre::phoenix6::swerve::requests::SwerveRequest::ControlParameters = impl::SwerveDrivetrainImpl::ControlParameters

Constructor & Destructor Documentation

~SwerveRequest()

virtual ctre::phoenix6::swerve::requests::SwerveRequest::~SwerveRequest ( )

virtualdefault

Member Function Documentation

Apply()

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

pure virtual

Applies this swerve request to the given modules.

This is typically called by the SwerveDrivetrain.

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

Implemented in ctre::phoenix6::swerve::requests::Idle, ctre::phoenix6::swerve::requests::SwerveDriveBrake, ctre::phoenix6::swerve::requests::FieldCentric, ctre::phoenix6::swerve::requests::RobotCentric, ctre::phoenix6::swerve::requests::PointWheelsAt, ctre::phoenix6::swerve::requests::ApplyRobotSpeeds, ctre::phoenix6::swerve::requests::ApplyFieldSpeeds, ctre::phoenix6::swerve::requests::FieldCentricFacingAngle, ctre::phoenix6::swerve::requests::SysIdSwerveTranslation, ctre::phoenix6::swerve::requests::SysIdSwerveRotation, and ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains.

---

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

• ctre/phoenix6/swerve/SwerveRequest.hpp