ctre::phoenix6::swerve Namespace Reference

Namespaces
namespace	impl
namespace	requests

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

DriveRequestType

enum class ctre::phoenix6::swerve::impl::DriveRequestType

strong

All possible control requests for the module drive motor.

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.

SteerRequestType

enum class ctre::phoenix6::swerve::impl::SteerRequestType

strong

All possible control requests for the module steer motor.