ctre::phoenix6::swerve Namespace Reference

Namespaces
namespace	impl
namespace	requests

Classes
class	circular_buffer
	This is a simple circular buffer so we don't need to "bucket brigade" copy old values. More...
class	LinearFilter
	This class implements a linear, digital filter. More...
class	LinearPath
	A linear path for a holonomic drivetrain (i.e. More...
class	PhoenixPIDController
	Phoenix-centric PID controller taken from WPI's frc#PIDController class. More...
class	SimSwerveDrivetrain
	Simplified swerve drive simulation class. More...
class	SwerveDrivetrain
	Swerve Drive class utilizing CTR Electronics Phoenix 6 API. More...
struct	SwerveDrivetrainConstants
	Common constants for a swerve drivetrain. More...
class	SwerveModule
	Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices. More...
struct	SwerveModuleConstants
	All constants for a swerve module. More...
struct	SwerveModuleConstantsFactory
	Constants that are common across the swerve modules, used for creating instances of module-specific SwerveModuleConstants. More...
class	TimeInterpolatableBuffer
	The TimeInterpolatableBuffer provides an easy way to estimate past measurements. More...
class	WheelForceCalculator
	Calculates wheel force feedforwards for a SwerveDrivetrain. More...

Enumerations
enum class	ClosedLoopOutputType { Voltage = 0 , TorqueCurrentFOC = 1 }
	Supported closed-loop output types. More...
enum class	DriveMotorArrangement { TalonFX_Integrated = 0 , TalonFXS_NEO_JST = 1 , TalonFXS_VORTEX_JST = 2 }
	Supported motor arrangements for the drive motors. More...
enum class	SteerMotorArrangement {   TalonFX_Integrated = 0 , TalonFXS_Minion_JST = 1 , TalonFXS_NEO_JST = 2 , TalonFXS_VORTEX_JST = 3 ,   TalonFXS_NEO550_JST = 4 , TalonFXS_Brushed_AB = 5 , TalonFXS_Brushed_AC = 6 , TalonFXS_Brushed_BC = 7 }
	Supported motor arrangements for the steer motors. More...
enum class	SteerFeedbackType {   FusedCANcoder = 0 , SyncCANcoder = 1 , RemoteCANcoder = 2 , FusedCANdiPWM1 = 3 ,   FusedCANdiPWM2 = 4 , SyncCANdiPWM1 = 5 , SyncCANdiPWM2 = 6 , RemoteCANdiPWM1 = 7 ,   RemoteCANdiPWM2 = 8 , TalonFXS_PulseWidth = 9 }
	Supported feedback sensors for the steer motors. More...

Enumeration Type Documentation

ClosedLoopOutputType

enum class ctre::phoenix6::swerve::ClosedLoopOutputType

strong

Supported closed-loop output types.

Enumerator
Voltage
TorqueCurrentFOC	Requires Pro.

DriveMotorArrangement

enum class ctre::phoenix6::swerve::DriveMotorArrangement

strong

Supported motor arrangements for the drive motors.

Enumerator
TalonFX_Integrated	Talon FX integrated brushless motor.
TalonFXS_NEO_JST	Third party NEO brushless motor connected to a Talon FXS over JST.
TalonFXS_VORTEX_JST	Third party VORTEX brushless motor connected to a Talon FXS over JST.

SteerFeedbackType

enum class ctre::phoenix6::swerve::SteerFeedbackType

strong

Supported feedback sensors for the steer motors.

Enumerator
FusedCANcoder	Requires Pro; Use signals::FeedbackSensorSourceValue::FusedCANcoder for the steer motor.
SyncCANcoder	Requires Pro; Use signals::FeedbackSensorSourceValue::SyncCANcoder for the steer motor.
RemoteCANcoder	Use signals::FeedbackSensorSourceValue::RemoteCANcoder for the steer motor.
FusedCANdiPWM1	Requires Pro; Use signals::FeedbackSensorSourceValue::FusedCANdiPWM1 for the steer motor.
FusedCANdiPWM2	Requires Pro; Use signals::FeedbackSensorSourceValue::FusedCANdiPWM2 for the steer motor.
SyncCANdiPWM1	Requires Pro; Use signals::FeedbackSensorSourceValue::SyncCANdiPWM1 for the steer motor.
SyncCANdiPWM2	Requires Pro; Use signals::FeedbackSensorSourceValue::SyncCANdiPWM2 for the steer motor.
RemoteCANdiPWM1	Use signals::FeedbackSensorSourceValue::RemoteCANdiPWM1 for the steer motor.
RemoteCANdiPWM2	Use signals::FeedbackSensorSourceValue::RemoteCANdiPWM2 for the steer motor.
TalonFXS_PulseWidth	Use signals::ExternalFeedbackSensorSourceValue::PulseWidth for the steer motor. This requires Talon FXS.

SteerMotorArrangement

enum class ctre::phoenix6::swerve::SteerMotorArrangement

strong

Supported motor arrangements for the steer motors.

Enumerator
TalonFX_Integrated	Talon FX integrated brushless motor.
TalonFXS_Minion_JST	CTR Electronics Minion® brushless motor connected to a Talon FXS over JST.
TalonFXS_NEO_JST	Third party NEO brushless motor connected to a Talon FXS over JST.
TalonFXS_VORTEX_JST	Third party VORTEX brushless motor connected to a Talon FXS over JST.
TalonFXS_NEO550_JST	Third party NEO550 brushless motor connected to a Talon FXS over JST.
TalonFXS_Brushed_AB	Brushed motor connected to a Talon FXS on terminals A and B.
TalonFXS_Brushed_AC	Brushed motor connected to a Talon FXS on terminals A and C.
TalonFXS_Brushed_BC	Brushed motor connected to a Talon FXS on terminals B and C.