ctre::phoenix6::swerve::impl Namespace Reference

Classes
class	SwerveDrivetrainImpl
	Swerve Drive class utilizing CTR Electronics Phoenix 6 API. More...
class	SwerveDriveOdometry
	Class for swerve drive odometry. More...
class	SwerveDrivePoseEstimator
	This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More...
class	SwerveDriveKinematics
	Class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (velocity and angle). More...
class	SwerveModuleImpl
	Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices. More...

Enumerations
enum class	SteerRequestType { MotionMagicExpo = 0 , Position = 1 }
	All possible control requests for the module steer motor. More...
enum class	DriveRequestType { OpenLoopVoltage = 0 , Velocity = 1 }
	All possible control requests for the module drive motor. More...

Enumeration Type Documentation

DriveRequestType

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

strong

All possible control requests for the module drive motor.

Enumerator
OpenLoopVoltage	Control the drive motor using an open-loop voltage request.
Velocity	Control the drive motor using a velocity closed-loop request. The control output type is determined by SwerveModuleConstants::DriveMotorClosedLoopOutput.

SteerRequestType

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

strong

All possible control requests for the module steer motor.

Enumerator
MotionMagicExpo	Control the drive motor using a Motion Magic® Expo request. The control output type is determined by SwerveModuleConstants::SteerMotorClosedLoopOutput.
Position	Control the drive motor using an unprofiled position request. The control output type is determined by SwerveModuleConstants::SteerMotorClosedLoopOutput.