ctre::phoenix6::swerve::SwerveModuleConstants Struct Reference

All constants for a swerve module. More...

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

Public Member Functions
constexpr	SwerveModuleConstants ()=default
constexpr SwerveModuleConstants &	WithSteerMotorId (int newSteerMotorId)
	Modifies the SteerMotorId parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveMotorId (int newDriveMotorId)
	Modifies the DriveMotorId parameter and returns itself.
constexpr SwerveModuleConstants &	WithCANcoderId (int newCANcoderId)
	Modifies the CANcoderId parameter and returns itself.
constexpr SwerveModuleConstants &	WithCANcoderOffset (units::angle::turn_t newCANcoderOffset)
	Modifies the CANcoderOffset parameter and returns itself.
constexpr SwerveModuleConstants &	WithLocationX (units::length::meter_t newLocationX)
	Modifies the LocationX parameter and returns itself.
constexpr SwerveModuleConstants &	WithLocationY (units::length::meter_t newLocationY)
	Modifies the LocationY parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveMotorInverted (bool newDriveMotorInverted)
	Modifies the DriveMotorInverted parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerMotorInverted (bool newSteerMotorInverted)
	Modifies the SteerMotorInverted parameter and returns itself.
constexpr SwerveModuleConstants &	WithCANcoderInverted (bool newCANcoderInverted)
	Modifies the CANcoderInverted parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveMotorGearRatio (units::dimensionless::scalar_t newDriveMotorGearRatio)
	Modifies the DriveMotorGearRatio parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerMotorGearRatio (units::dimensionless::scalar_t newSteerMotorGearRatio)
	Modifies the SteerMotorGearRatio parameter and returns itself.
constexpr SwerveModuleConstants &	WithCouplingGearRatio (units::dimensionless::scalar_t newCouplingGearRatio)
	Modifies the CouplingGearRatio parameter and returns itself.
constexpr SwerveModuleConstants &	WithWheelRadius (units::length::meter_t newWheelRadius)
	Modifies the WheelRadius parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerMotorGains (const configs::Slot0Configs &newSteerMotorGains)
	Modifies the SteerMotorGains parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveMotorGains (const configs::Slot0Configs &newDriveMotorGains)
	Modifies the DriveMotorGains parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerMotorClosedLoopOutput (ClosedLoopOutputType newSteerMotorClosedLoopOutput)
	Modifies the SteerMotorClosedLoopOutput parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveMotorClosedLoopOutput (ClosedLoopOutputType newDriveMotorClosedLoopOutput)
	Modifies the DriveMotorClosedLoopOutput parameter and returns itself.
constexpr SwerveModuleConstants &	WithSlipCurrent (units::current::ampere_t newSlipCurrent)
	Modifies the SlipCurrent parameter and returns itself.
constexpr SwerveModuleConstants &	WithSpeedAt12Volts (units::velocity::meters_per_second_t newSpeedAt12Volts)
	Modifies the SpeedAt12Volts parameter and returns itself.
constexpr SwerveModuleConstants &	WithFeedbackSource (SteerFeedbackType newFeedbackSource)
	Modifies the FeedbackSource parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveMotorInitialConfigs (const configs::TalonFXConfiguration &newDriveMotorInitialConfigs)
	Modifies the DriveMotorInitialConfigs parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerMotorInitialConfigs (const configs::TalonFXConfiguration &newSteerMotorInitialConfigs)
	Modifies the SteerMotorInitialConfigs parameter and returns itself.
constexpr SwerveModuleConstants &	WithCANcoderInitialConfigs (const configs::CANcoderConfiguration &newCANcoderInitialConfigs)
	Modifies the CANcoderInitialConfigs parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerInertia (units::moment_of_inertia::kilogram_square_meter_t newSteerInertia)
	Modifies the SteerInertia parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveInertia (units::moment_of_inertia::kilogram_square_meter_t newDriveInertia)
	Modifies the DriveInertia parameter and returns itself.
constexpr SwerveModuleConstants &	WithSteerFrictionVoltage (units::voltage::volt_t newSteerFrictionVoltage)
	Modifies the SteerFrictionVoltage parameter and returns itself.
constexpr SwerveModuleConstants &	WithDriveFrictionVoltage (units::voltage::volt_t newDriveFrictionVoltage)
	Modifies the DriveFrictionVoltage parameter and returns itself.

Public Attributes
int	SteerMotorId = 0
	CAN ID of the steer motor.
int	DriveMotorId = 0
	CAN ID of the drive motor.
int	CANcoderId = 0
	CAN ID of the CANcoder used for azimuth.
units::angle::turn_t	CANcoderOffset = 0_tr
	Offset of the CANcoder.
units::length::meter_t	LocationX = 0_m
	The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.
units::length::meter_t	LocationY = 0_m
	The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.
bool	DriveMotorInverted = false
	True if the drive motor is inverted.
bool	SteerMotorInverted = false
	True if the steer motor is inverted from the azimuth.
bool	CANcoderInverted = false
	True if the CANcoder is inverted from the azimuth.
units::dimensionless::scalar_t	DriveMotorGearRatio = 0
	Gear ratio between the drive motor and the wheel.
units::dimensionless::scalar_t	SteerMotorGearRatio = 0
	Gear ratio between the steer motor and the CANcoder.
units::dimensionless::scalar_t	CouplingGearRatio = 0
	Coupled gear ratio between the CANcoder and the drive motor.
units::length::meter_t	WheelRadius = 0_m
	Radius of the driving wheel in meters.
configs::Slot0Configs	SteerMotorGains = configs::Slot0Configs{}
	The steer motor closed-loop gains.
configs::Slot0Configs	DriveMotorGains = configs::Slot0Configs{}
	The drive motor closed-loop gains.
ClosedLoopOutputType	SteerMotorClosedLoopOutput = ClosedLoopOutputType::Voltage
	The closed-loop output type to use for the steer motors.
ClosedLoopOutputType	DriveMotorClosedLoopOutput = ClosedLoopOutputType::Voltage
	The closed-loop output type to use for the drive motors.
units::current::ampere_t	SlipCurrent = 120_A
	The maximum amount of stator current the drive motors can apply without slippage.
units::velocity::meters_per_second_t	SpeedAt12Volts = 0_mps
	When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts.
SteerFeedbackType	FeedbackSource = SteerFeedbackType::FusedCANcoder
	Choose how the feedback sensors should be configured.
configs::TalonFXConfiguration	DriveMotorInitialConfigs = configs::TalonFXConfiguration{}
	The initial configs used to configure the drive motor of the swerve module.
configs::TalonFXConfiguration	SteerMotorInitialConfigs = configs::TalonFXConfiguration{}
	The initial configs used to configure the steer motor of the swerve module.
configs::CANcoderConfiguration	CANcoderInitialConfigs = configs::CANcoderConfiguration{}
	The initial configs used to configure the CANcoder of the swerve module.
units::moment_of_inertia::kilogram_square_meter_t	SteerInertia = 0.00001_kg_sq_m
	Simulated azimuthal inertia.
units::moment_of_inertia::kilogram_square_meter_t	DriveInertia = 0.001_kg_sq_m
	Simulated drive inertia.
units::voltage::volt_t	SteerFrictionVoltage = 0.25_V
	Simulated steer voltage required to overcome friction.
units::voltage::volt_t	DriveFrictionVoltage = 0.25_V
	Simulated drive voltage required to overcome friction.

Detailed Description

All constants for a swerve module.

Constructor & Destructor Documentation

SwerveModuleConstants()

constexpr ctre::phoenix6::swerve::SwerveModuleConstants::SwerveModuleConstants ( )

constexprdefault

Member Function Documentation

WithCANcoderId()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithCANcoderId ( int newCANcoderId )

inlineconstexpr

Modifies the CANcoderId parameter and returns itself.

CAN ID of the CANcoder used for azimuth.

Parameters

newCANcoderId

Parameter to modify

Returns

this object

WithCANcoderInitialConfigs()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithCANcoderInitialConfigs ( const configs::CANcoderConfiguration & newCANcoderInitialConfigs )

inlineconstexpr

Modifies the CANcoderInitialConfigs parameter and returns itself.

The initial configs used to configure the CANcoder of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• configs::MagnetSensorConfigs::MagnetOffset (SwerveModuleConstants::CANcoderOffset)
• configs::MagnetSensorConfigs::SensorDirection (SwerveModuleConstants::CANcoderInverted)

Parameters

newCANcoderInitialConfigs

Parameter to modify

Returns

this object

WithCANcoderInverted()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithCANcoderInverted ( bool newCANcoderInverted )

inlineconstexpr

Modifies the CANcoderInverted parameter and returns itself.

True if the CANcoder is inverted from the azimuth. The CANcoder should report a positive velocity when the azimuth rotates counter-clockwise (as seen from the top of the robot).

Parameters

newCANcoderInverted

Parameter to modify

Returns

this object

WithCANcoderOffset()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithCANcoderOffset ( units::angle::turn_t newCANcoderOffset )

inlineconstexpr

Modifies the CANcoderOffset parameter and returns itself.

Offset of the CANcoder.

Parameters

newCANcoderOffset

Parameter to modify

Returns

this object

WithCouplingGearRatio()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithCouplingGearRatio ( units::dimensionless::scalar_t newCouplingGearRatio )

inlineconstexpr

Modifies the CouplingGearRatio parameter and returns itself.

Coupled gear ratio between the CANcoder and the drive motor.

For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.

Parameters

newCouplingGearRatio

Parameter to modify

Returns

this object

WithDriveFrictionVoltage()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveFrictionVoltage ( units::voltage::volt_t newDriveFrictionVoltage )

inlineconstexpr

Modifies the DriveFrictionVoltage parameter and returns itself.

Simulated drive voltage required to overcome friction.

Parameters

newDriveFrictionVoltage

Parameter to modify

Returns

this object

WithDriveInertia()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveInertia ( units::moment_of_inertia::kilogram_square_meter_t newDriveInertia )

inlineconstexpr

Modifies the DriveInertia parameter and returns itself.

Simulated drive inertia.

Parameters

newDriveInertia

Parameter to modify

Returns

this object

WithDriveMotorClosedLoopOutput()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveMotorClosedLoopOutput ( ClosedLoopOutputType newDriveMotorClosedLoopOutput )

inlineconstexpr

Modifies the DriveMotorClosedLoopOutput parameter and returns itself.

The closed-loop output type to use for the drive motors.

Parameters

newDriveMotorClosedLoopOutput

Parameter to modify

Returns

this object

WithDriveMotorGains()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveMotorGains ( const configs::Slot0Configs & newDriveMotorGains )

inlineconstexpr

Modifies the DriveMotorGains parameter and returns itself.

The drive motor closed-loop gains.

When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule::DriveRequestType. These gains operate on motor rotor rotations (before the gear ratio).

Parameters

newDriveMotorGains

Parameter to modify

Returns

this object

WithDriveMotorGearRatio()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveMotorGearRatio ( units::dimensionless::scalar_t newDriveMotorGearRatio )

inlineconstexpr

Modifies the DriveMotorGearRatio parameter and returns itself.

Gear ratio between the drive motor and the wheel.

Parameters

newDriveMotorGearRatio

Parameter to modify

Returns

this object

WithDriveMotorId()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveMotorId ( int newDriveMotorId )

inlineconstexpr

Modifies the DriveMotorId parameter and returns itself.

CAN ID of the drive motor.

Parameters

newDriveMotorId

Parameter to modify

Returns

this object

WithDriveMotorInitialConfigs()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveMotorInitialConfigs ( const configs::TalonFXConfiguration & newDriveMotorInitialConfigs )

inlineconstexpr

Modifies the DriveMotorInitialConfigs parameter and returns itself.

The initial configs used to configure the drive motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• configs::MotorOutputConfigs::NeutralMode (Brake mode, overwritten with SwerveDrivetrain::ConfigNeutralMode)
• configs::MotorOutputConfigs::Inverted (SwerveModuleConstants::DriveMotorInverted)
• configs::Slot0Configs (SwerveModuleConstants::DriveMotorGains)
• configs::CurrentLimitsConfigs::StatorCurrentLimit / configs::TorqueCurrentConfigs::PeakForwardTorqueCurrent / configs::TorqueCurrentConfigs::PeakReverseTorqueCurrent (SwerveModuleConstants::SlipCurrent)
• configs::CurrentLimitsConfigs::StatorCurrentLimitEnable (Enabled)

Parameters

newDriveMotorInitialConfigs

Parameter to modify

Returns

this object

WithDriveMotorInverted()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithDriveMotorInverted ( bool newDriveMotorInverted )

inlineconstexpr

Modifies the DriveMotorInverted parameter and returns itself.

True if the drive motor is inverted.

Parameters

newDriveMotorInverted

Parameter to modify

Returns

this object

WithFeedbackSource()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithFeedbackSource ( SteerFeedbackType newFeedbackSource )

inlineconstexpr

Modifies the FeedbackSource parameter and returns itself.

Choose how the feedback sensors should be configured.

If the robot does not support Pro, then this should be set to RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.

If this is set to FusedCANcoder or SyncCANcoder when the steer motor is not Pro-licensed, the device will automatically fall back to RemoteCANcoder and report a UsingProFeatureOnUnlicensedDevice status code.

Parameters

newFeedbackSource

Parameter to modify

Returns

this object

WithLocationX()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithLocationX ( units::length::meter_t newLocationX )

inlineconstexpr

Modifies the LocationX parameter and returns itself.

The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.

Parameters

newLocationX

Parameter to modify

Returns

this object

WithLocationY()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithLocationY ( units::length::meter_t newLocationY )

inlineconstexpr

Modifies the LocationY parameter and returns itself.

The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.

Parameters

newLocationY

Parameter to modify

Returns

this object

WithSlipCurrent()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSlipCurrent ( units::current::ampere_t newSlipCurrent )

inlineconstexpr

Modifies the SlipCurrent parameter and returns itself.

The maximum amount of stator current the drive motors can apply without slippage.

Parameters

newSlipCurrent

Parameter to modify

Returns

this object

WithSpeedAt12Volts()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSpeedAt12Volts ( units::velocity::meters_per_second_t newSpeedAt12Volts )

inlineconstexpr

Modifies the SpeedAt12Volts parameter and returns itself.

When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts. This is used to approximate the output for a desired velocity. If using closed loop control, this value is ignored.

Parameters

newSpeedAt12Volts

Parameter to modify

Returns

this object

WithSteerFrictionVoltage()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerFrictionVoltage ( units::voltage::volt_t newSteerFrictionVoltage )

inlineconstexpr

Modifies the SteerFrictionVoltage parameter and returns itself.

Simulated steer voltage required to overcome friction.

Parameters

newSteerFrictionVoltage

Parameter to modify

Returns

this object

WithSteerInertia()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerInertia ( units::moment_of_inertia::kilogram_square_meter_t newSteerInertia )

inlineconstexpr

Modifies the SteerInertia parameter and returns itself.

Simulated azimuthal inertia.

Parameters

newSteerInertia

Parameter to modify

Returns

this object

WithSteerMotorClosedLoopOutput()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerMotorClosedLoopOutput ( ClosedLoopOutputType newSteerMotorClosedLoopOutput )

inlineconstexpr

Modifies the SteerMotorClosedLoopOutput parameter and returns itself.

The closed-loop output type to use for the steer motors.

Parameters

newSteerMotorClosedLoopOutput

Parameter to modify

Returns

this object

WithSteerMotorGains()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerMotorGains ( const configs::Slot0Configs & newSteerMotorGains )

inlineconstexpr

Modifies the SteerMotorGains parameter and returns itself.

The steer motor closed-loop gains.

The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule::SteerRequestType. These gains operate on azimuth rotations (after the gear ratio).

Parameters

newSteerMotorGains

Parameter to modify

Returns

this object

WithSteerMotorGearRatio()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerMotorGearRatio ( units::dimensionless::scalar_t newSteerMotorGearRatio )

inlineconstexpr

Modifies the SteerMotorGearRatio parameter and returns itself.

Gear ratio between the steer motor and the CANcoder. For example, the SDS Mk4 has a steering ratio of 12.8.

Parameters

newSteerMotorGearRatio

Parameter to modify

Returns

this object

WithSteerMotorId()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerMotorId ( int newSteerMotorId )

inlineconstexpr

Modifies the SteerMotorId parameter and returns itself.

CAN ID of the steer motor.

Parameters

newSteerMotorId

Parameter to modify

Returns

this object

WithSteerMotorInitialConfigs()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerMotorInitialConfigs ( const configs::TalonFXConfiguration & newSteerMotorInitialConfigs )

inlineconstexpr

Modifies the SteerMotorInitialConfigs parameter and returns itself.

The initial configs used to configure the steer motor of the swerve module. The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• configs::MotorOutputConfigs::NeutralMode (Brake mode)
• configs::MotorOutputConfigs::Inverted (SwerveModuleConstants::SteerMotorInverted)
• configs::Slot0Configs (SwerveModuleConstants::SteerMotorGains)
• configs::FeedbackConfigs::FeedbackRemoteSensorID (SwerveModuleConstants::CANcoderId)
• configs::FeedbackConfigs::FeedbackSensorSource (SwerveModuleConstants::FeedbackSource)
• configs::FeedbackConfigs::RotorToSensorRatio (SwerveModuleConstants::SteerMotorGearRatio)
• configs::MotionMagicConfigs (Calculated from gear ratios)
• configs::ClosedLoopGeneralConfigs::ContinuousWrap (true)

Parameters

newSteerMotorInitialConfigs

Parameter to modify

Returns

this object

WithSteerMotorInverted()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithSteerMotorInverted ( bool newSteerMotorInverted )

inlineconstexpr

Modifies the SteerMotorInverted parameter and returns itself.

True if the steer motor is inverted from the azimuth. The azimuth should rotate counter-clockwise (as seen from the top of the robot) for a positive motor output.

Parameters

newSteerMotorInverted

Parameter to modify

Returns

this object

WithWheelRadius()

constexpr SwerveModuleConstants & ctre::phoenix6::swerve::SwerveModuleConstants::WithWheelRadius ( units::length::meter_t newWheelRadius )

inlineconstexpr

Modifies the WheelRadius parameter and returns itself.

Radius of the driving wheel in meters.

Parameters

newWheelRadius

Parameter to modify

Returns

this object

Member Data Documentation

CANcoderId

int ctre::phoenix6::swerve::SwerveModuleConstants::CANcoderId = 0

CAN ID of the CANcoder used for azimuth.

CANcoderInitialConfigs

configs::CANcoderConfiguration ctre::phoenix6::swerve::SwerveModuleConstants::CANcoderInitialConfigs = configs::CANcoderConfiguration{}

The initial configs used to configure the CANcoder of the swerve module.

The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• configs::MagnetSensorConfigs::MagnetOffset (SwerveModuleConstants::CANcoderOffset)
• configs::MagnetSensorConfigs::SensorDirection (SwerveModuleConstants::CANcoderInverted)

CANcoderInverted

bool ctre::phoenix6::swerve::SwerveModuleConstants::CANcoderInverted = false

True if the CANcoder is inverted from the azimuth.

The CANcoder should report a positive velocity when the azimuth rotates counter-clockwise (as seen from the top of the robot).

CANcoderOffset

units::angle::turn_t ctre::phoenix6::swerve::SwerveModuleConstants::CANcoderOffset = 0_tr

Offset of the CANcoder.

CouplingGearRatio

units::dimensionless::scalar_t ctre::phoenix6::swerve::SwerveModuleConstants::CouplingGearRatio = 0

Coupled gear ratio between the CANcoder and the drive motor.

For a typical swerve module, the azimuth turn motor also drives the wheel a nontrivial amount, which affects the accuracy of odometry and control. This ratio represents the number of rotations of the drive motor caused by a rotation of the azimuth.

DriveFrictionVoltage

units::voltage::volt_t ctre::phoenix6::swerve::SwerveModuleConstants::DriveFrictionVoltage = 0.25_V

Simulated drive voltage required to overcome friction.

DriveInertia

units::moment_of_inertia::kilogram_square_meter_t ctre::phoenix6::swerve::SwerveModuleConstants::DriveInertia = 0.001_kg_sq_m

Simulated drive inertia.

DriveMotorClosedLoopOutput

ClosedLoopOutputType ctre::phoenix6::swerve::SwerveModuleConstants::DriveMotorClosedLoopOutput = ClosedLoopOutputType::Voltage

The closed-loop output type to use for the drive motors.

DriveMotorGains

configs::Slot0Configs ctre::phoenix6::swerve::SwerveModuleConstants::DriveMotorGains = configs::Slot0Configs{}

The drive motor closed-loop gains.

When using closed-loop control, the drive motor uses the control output type specified by DriveMotorClosedLoopOutput and any closed-loop SwerveModule::DriveRequestType. These gains operate on motor rotor rotations (before the gear ratio).

DriveMotorGearRatio

units::dimensionless::scalar_t ctre::phoenix6::swerve::SwerveModuleConstants::DriveMotorGearRatio = 0

Gear ratio between the drive motor and the wheel.

DriveMotorId

int ctre::phoenix6::swerve::SwerveModuleConstants::DriveMotorId = 0

CAN ID of the drive motor.

DriveMotorInitialConfigs

configs::TalonFXConfiguration ctre::phoenix6::swerve::SwerveModuleConstants::DriveMotorInitialConfigs = configs::TalonFXConfiguration{}

The initial configs used to configure the drive motor of the swerve module.

The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• configs::MotorOutputConfigs::NeutralMode (Brake mode, overwritten with SwerveDrivetrain::ConfigNeutralMode)
• configs::MotorOutputConfigs::Inverted (SwerveModuleConstants::DriveMotorInverted)
• configs::Slot0Configs (SwerveModuleConstants::DriveMotorGains)
• configs::CurrentLimitsConfigs::StatorCurrentLimit / configs::TorqueCurrentConfigs::PeakForwardTorqueCurrent / configs::TorqueCurrentConfigs::PeakReverseTorqueCurrent (SwerveModuleConstants::SlipCurrent)
• configs::CurrentLimitsConfigs::StatorCurrentLimitEnable (Enabled)

DriveMotorInverted

bool ctre::phoenix6::swerve::SwerveModuleConstants::DriveMotorInverted = false

True if the drive motor is inverted.

FeedbackSource

SteerFeedbackType ctre::phoenix6::swerve::SwerveModuleConstants::FeedbackSource = SteerFeedbackType::FusedCANcoder

Choose how the feedback sensors should be configured.

If the robot does not support Pro, then this should be set to RemoteCANcoder. Otherwise, users have the option to use either FusedCANcoder or SyncCANcoder depending on if there is a risk that the CANcoder can fail in a way to provide "good" data.

If this is set to FusedCANcoder or SyncCANcoder when the steer motor is not Pro-licensed, the device will automatically fall back to RemoteCANcoder and report a UsingProFeatureOnUnlicensedDevice status code.

LocationX

units::length::meter_t ctre::phoenix6::swerve::SwerveModuleConstants::LocationX = 0_m

The location of this module's wheels relative to the physical center of the robot in meters along the X axis of the robot.

LocationY

units::length::meter_t ctre::phoenix6::swerve::SwerveModuleConstants::LocationY = 0_m

The location of this module's wheels relative to the physical center of the robot in meters along the Y axis of the robot.

SlipCurrent

units::current::ampere_t ctre::phoenix6::swerve::SwerveModuleConstants::SlipCurrent = 120_A

The maximum amount of stator current the drive motors can apply without slippage.

SpeedAt12Volts

units::velocity::meters_per_second_t ctre::phoenix6::swerve::SwerveModuleConstants::SpeedAt12Volts = 0_mps

When using open-loop drive control, this specifies the speed at which the robot travels when driven with 12 volts.

This is used to approximate the output for a desired velocity. If using closed loop control, this value is ignored.

SteerFrictionVoltage

units::voltage::volt_t ctre::phoenix6::swerve::SwerveModuleConstants::SteerFrictionVoltage = 0.25_V

Simulated steer voltage required to overcome friction.

SteerInertia

units::moment_of_inertia::kilogram_square_meter_t ctre::phoenix6::swerve::SwerveModuleConstants::SteerInertia = 0.00001_kg_sq_m

Simulated azimuthal inertia.

SteerMotorClosedLoopOutput

ClosedLoopOutputType ctre::phoenix6::swerve::SwerveModuleConstants::SteerMotorClosedLoopOutput = ClosedLoopOutputType::Voltage

The closed-loop output type to use for the steer motors.

SteerMotorGains

configs::Slot0Configs ctre::phoenix6::swerve::SwerveModuleConstants::SteerMotorGains = configs::Slot0Configs{}

The steer motor closed-loop gains.

The steer motor uses the control ouput type specified by SteerMotorClosedLoopOutput and any SwerveModule::SteerRequestType. These gains operate on azimuth rotations (after the gear ratio).

SteerMotorGearRatio

units::dimensionless::scalar_t ctre::phoenix6::swerve::SwerveModuleConstants::SteerMotorGearRatio = 0

Gear ratio between the steer motor and the CANcoder.

For example, the SDS Mk4 has a steering ratio of 12.8.

SteerMotorId

int ctre::phoenix6::swerve::SwerveModuleConstants::SteerMotorId = 0

CAN ID of the steer motor.

SteerMotorInitialConfigs

configs::TalonFXConfiguration ctre::phoenix6::swerve::SwerveModuleConstants::SteerMotorInitialConfigs = configs::TalonFXConfiguration{}

The initial configs used to configure the steer motor of the swerve module.

The default value is the factory-default.

Users may change the initial configuration as they need. Any config that's not referenced in the SwerveModuleConstants class is available to be changed.

The list of configs that will be overwritten is as follows:

• configs::MotorOutputConfigs::NeutralMode (Brake mode)
• configs::MotorOutputConfigs::Inverted (SwerveModuleConstants::SteerMotorInverted)
• configs::Slot0Configs (SwerveModuleConstants::SteerMotorGains)
• configs::FeedbackConfigs::FeedbackRemoteSensorID (SwerveModuleConstants::CANcoderId)
• configs::FeedbackConfigs::FeedbackSensorSource (SwerveModuleConstants::FeedbackSource)
• configs::FeedbackConfigs::RotorToSensorRatio (SwerveModuleConstants::SteerMotorGearRatio)
• configs::MotionMagicConfigs (Calculated from gear ratios)
• configs::ClosedLoopGeneralConfigs::ContinuousWrap (true)

SteerMotorInverted

bool ctre::phoenix6::swerve::SwerveModuleConstants::SteerMotorInverted = false

True if the steer motor is inverted from the azimuth.

The azimuth should rotate counter-clockwise (as seen from the top of the robot) for a positive motor output.

WheelRadius

units::length::meter_t ctre::phoenix6::swerve::SwerveModuleConstants::WheelRadius = 0_m

Radius of the driving wheel in meters.

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

• ctre/phoenix6/swerve/SwerveModuleConstants.hpp