ctre::phoenix6::swerve::SwerveDrivetrainConstants Struct Reference

Common constants for a swerve drivetrain. More...

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

Public Member Functions
constexpr	SwerveDrivetrainConstants ()=default
constexpr SwerveDrivetrainConstants &	WithNetwork (CANBus newNetwork)
	Modifies the Network parameter and returns itself.
constexpr SwerveDrivetrainConstants &	WithPigeon2Id (int newPigeon2Id)
	Modifies the Pigeon2Id parameter and returns itself.
constexpr SwerveDrivetrainConstants &	WithPigeon2Configs (const std::optional< configs::Pigeon2Configuration > &newPigeon2Configs)
	Modifies the Pigeon2Configs parameter and returns itself.

Public Attributes
CANBus	Network = CANBus{}
	The network the swerve drive is on.
int	Pigeon2Id = 0
	CAN ID of the Pigeon2 on the drivetrain.
std::optional< configs::Pigeon2Configuration >	Pigeon2Configs = std::nullopt
	The configuration object to apply to the Pigeon2.

Detailed Description

Common constants for a swerve drivetrain.

Constructor & Destructor Documentation

SwerveDrivetrainConstants()

ctre::phoenix6::swerve::SwerveDrivetrainConstants::SwerveDrivetrainConstants ( )

constexprdefault

Member Function Documentation

WithNetwork()

SwerveDrivetrainConstants & ctre::phoenix6::swerve::SwerveDrivetrainConstants::WithNetwork ( CANBus newNetwork )

inlineconstexpr

Modifies the Network parameter and returns itself.

The network the swerve drive is on. Note that all devices must be on the same CAN bus.

Parameters

newNetwork

Parameter to modify

Returns

this object

WithPigeon2Configs()

SwerveDrivetrainConstants & ctre::phoenix6::swerve::SwerveDrivetrainConstants::WithPigeon2Configs ( const std::optional< configs::Pigeon2Configuration > & newPigeon2Configs )

inlineconstexpr

Modifies the Pigeon2Configs parameter and returns itself.

The configuration object to apply to the Pigeon2. This defaults to null. If this remains null, then the Pigeon2 will not be configured (and whatever configs are on it remain on it). If this is not null, the Pigeon2 will be overwritten with these configs.

Parameters

newPigeon2Configs

Parameter to modify

Returns

this object

WithPigeon2Id()

SwerveDrivetrainConstants & ctre::phoenix6::swerve::SwerveDrivetrainConstants::WithPigeon2Id ( int newPigeon2Id )

inlineconstexpr

Modifies the Pigeon2Id parameter and returns itself.

CAN ID of the Pigeon2 on the drivetrain.

Parameters

newPigeon2Id

Parameter to modify

Returns

this object

Member Data Documentation

Network

CANBus ctre::phoenix6::swerve::SwerveDrivetrainConstants::Network = CANBus{}

The network the swerve drive is on.

Note that all devices must be on the same CAN bus.

Pigeon2Configs

std::optional<configs::Pigeon2Configuration> ctre::phoenix6::swerve::SwerveDrivetrainConstants::Pigeon2Configs = std::nullopt

The configuration object to apply to the Pigeon2.

This defaults to null. If this remains null, then the Pigeon2 will not be configured (and whatever configs are on it remain on it). If this is not null, the Pigeon2 will be overwritten with these configs.

Pigeon2Id

int ctre::phoenix6::swerve::SwerveDrivetrainConstants::Pigeon2Id = 0

CAN ID of the Pigeon2 on the drivetrain.

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

• ctre/phoenix6/swerve/SwerveDrivetrainConstants.hpp