ctre::phoenix6::swerve Namespace Reference

Namespaces
namespace	detail
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	PhoenixPIDController
	Phoenix-centric PID controller taken from WPI's frc::PIDController class. More...
class	SimSwerveDrivetrain
	Simplified swerve drive simulation class. More...
class	span
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...

Enumerations
enum class	ClosedLoopOutputType { Voltage = 0 , TorqueCurrentFOC = 1 }
	Supported closed-loop output types. More...
enum class	SteerFeedbackType { FusedCANcoder = 0 , SyncCANcoder = 1 , RemoteCANcoder = 2 }
	Supported feedback sensors for the steer motors. More...

Functions
template<class T , size_t N>
	span (T(&)[N]) -> span< T, N >
template<class T , size_t N>
	span (std::array< T, N > &) -> span< T, N >
template<class T , size_t N>
	span (const std::array< T, N > &) -> span< const T, N >
template<class Container >
	span (Container &) -> span< typename Container::value_type >
template<class Container >
	span (const Container &) -> span< const typename Container::value_type >
template<typename ElementType , std::size_t Extent>
span< const std::byte,((Extent==dynamic_extent) ? dynamic_extent :sizeof(ElementType) *Extent)>	as_bytes (span< ElementType, Extent > s) noexcept
template<class ElementType , size_t Extent, typename std::enable_if<!std::is_const< ElementType >::value, int >::type = 0>
span< std::byte,((Extent==dynamic_extent) ? dynamic_extent :sizeof(ElementType) *Extent)>	as_writable_bytes (span< ElementType, Extent > s) noexcept
template<std::size_t N, typename E , std::size_t S>
constexpr auto	get (span< E, S > s) -> decltype(s[N])

Variables
constexpr std::size_t	dynamic_extent = SIZE_MAX

Enumeration Type Documentation

ClosedLoopOutputType

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

strong

Supported closed-loop output types.

Enumerator
Voltage
TorqueCurrentFOC	Requires Pro.

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.

Function Documentation

as_bytes()

template<typename ElementType , std::size_t Extent>

span< const std::byte,((Extent==dynamic_extent) ? dynamic_extent :sizeof(ElementType) *Extent)> ctre::phoenix6::swerve::as_bytes ( span< ElementType, Extent > s )

noexcept

as_writable_bytes()

template<class ElementType , size_t Extent, typename std::enable_if<!std::is_const< ElementType >::value, int >::type = 0>

span< std::byte,((Extent==dynamic_extent) ? dynamic_extent :sizeof(ElementType) *Extent)> ctre::phoenix6::swerve::as_writable_bytes ( span< ElementType, Extent > s )

noexcept

get()

template<std::size_t N, typename E , std::size_t S>

constexpr auto ctre::phoenix6::swerve::get ( span< E, S > s ) -> decltype(s[N])

constexpr

span() [1/5]

template<class Container >

ctre::phoenix6::swerve::span

(

const Container &

)

-> span< const typename Container::value_type >

span() [2/5]

template<class T , size_t N>

ctre::phoenix6::swerve::span

(

const std::array< T, N > &

)

-> span< const T, N >

span() [3/5]

template<class Container >

ctre::phoenix6::swerve::span

(

Container &

)

-> span< typename Container::value_type >

span() [4/5]

template<class T , size_t N>

ctre::phoenix6::swerve::span

(

std::array< T, N > &

)

-> span< T, N >

span() [5/5]

template<class T , size_t N>

ctre::phoenix6::swerve::span

(

T(&)

[N]

)

-> span< T, N >

Variable Documentation

dynamic_extent

constexpr std::size_t ctre::phoenix6::swerve::dynamic_extent = SIZE_MAX

inlineconstexpr