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 &	WithCANBusName (std::string_view newCANBusName)
	Modifies the CANBusName parameter and returns itself.
constexpr SwerveDrivetrainConstants &	WithPigeon2Id (int newPigeon2Id)
	Modifies the Pigeon2Id parameter and returns itself.
SwerveDrivetrainConstants &	WithPigeon2Configs (const std::optional< configs::Pigeon2Configuration > &newPigeon2Configs)
	Modifies the Pigeon2Configs parameter and returns itself.

Public Attributes
std::string_view	CANBusName = "rio"
	Name of the CAN bus 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()

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

constexprdefault

Member Function Documentation

WithCANBusName()

constexpr SwerveDrivetrainConstants & ctre::phoenix6::swerve::SwerveDrivetrainConstants::WithCANBusName ( std::string_view newCANBusName )

inlineconstexpr

Modifies the CANBusName parameter and returns itself.

Name of the CAN bus the swerve drive is on. Possible CAN bus strings are:

• empty string or "rio" for the native roboRIO CAN bus
• CANivore name or serial number
• "*" for any CANivore seen by the program

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

Parameters

newCANBusName

Parameter to modify

Returns

this object

WithPigeon2Configs()

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

inline

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()

constexpr 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

CANBusName

std::string_view ctre::phoenix6::swerve::SwerveDrivetrainConstants::CANBusName = "rio"

Name of the CAN bus the swerve drive is on.

Possible CAN bus strings are:

• empty string or "rio" for the native roboRIO CAN bus
• CANivore name or serial number
• "*" for any CANivore seen by the program

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