Package com.ctre.phoenix6.mechanisms.swerve

Class LegacySwerveRequest.ApplyChassisSpeeds

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.ApplyChassisSpeeds

All Implemented Interfaces:

LegacySwerveRequest

Enclosing interface:

LegacySwerveRequest

public static class LegacySwerveRequest.ApplyChassisSpeeds
extends Object
implements LegacySwerveRequest

Accepts a generic ChassisSpeeds to apply to the drivetrain.

Nested Class Summary

Nested classes/interfaces inherited from interface com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest

LegacySwerveRequest.ApplyChassisSpeeds, LegacySwerveRequest.FieldCentric, LegacySwerveRequest.FieldCentricFacingAngle, LegacySwerveRequest.ForwardReference, LegacySwerveRequest.Idle, LegacySwerveRequest.LegacySwerveControlRequestParameters, LegacySwerveRequest.PointWheelsAt, LegacySwerveRequest.RobotCentric, LegacySwerveRequest.SwerveDriveBrake, LegacySwerveRequest.SysIdSwerveRotation, LegacySwerveRequest.SysIdSwerveSteerGains, LegacySwerveRequest.SysIdSwerveTranslation

Field Summary

Fields

Modifier and Type	Field	Description
Translation2d	CenterOfRotation	The center of rotation to rotate around.
boolean	DesaturateWheelSpeeds	Whether to desaturate wheel speeds before applying.
LegacySwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
ChassisSpeeds	Speeds	The chassis speeds to apply to the drivetrain.
LegacySwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the steer motor.

Constructor Summary

Constructors

Constructor	Description
ApplyChassisSpeeds()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters, LegacySwerveModule... modulesToApply)	Applies this swerve request to the given modules.
LegacySwerveRequest.ApplyChassisSpeeds	withCenterOfRotation(Translation2d centerOfRotation)	Sets the center of rotation to rotate around.
LegacySwerveRequest.ApplyChassisSpeeds	withDesaturateWheelSpeeds(boolean desaturateWheelSpeeds)	Sets whether to desaturate wheel speeds before applying.
LegacySwerveRequest.ApplyChassisSpeeds	withDriveRequestType(LegacySwerveModule.DriveRequestType driveRequestType)	Sets the type of control request to use for the drive motor.
LegacySwerveRequest.ApplyChassisSpeeds	withSpeeds(ChassisSpeeds speeds)	Sets the chassis speeds to apply to the drivetrain.
LegacySwerveRequest.ApplyChassisSpeeds	withSteerRequestType(LegacySwerveModule.SteerRequestType steerRequestType)	Sets the type of control request to use for the steer motor.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

Speeds

public ChassisSpeeds Speeds

The chassis speeds to apply to the drivetrain.

CenterOfRotation

public Translation2d CenterOfRotation

The center of rotation to rotate around.

DriveRequestType

public LegacySwerveModule.DriveRequestType DriveRequestType

The type of control request to use for the drive motor.

SteerRequestType

public LegacySwerveModule.SteerRequestType SteerRequestType

The type of control request to use for the steer motor.

DesaturateWheelSpeeds

public boolean DesaturateWheelSpeeds

Whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

Constructor Details

ApplyChassisSpeeds

public ApplyChassisSpeeds()

Method Details

apply

public StatusCode apply(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters,
 LegacySwerveModule... modulesToApply)

Description copied from interface: LegacySwerveRequest

Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain.

Specified by:

apply in interface LegacySwerveRequest

Parameters:

parameters - Parameters the control request needs to calculate the module state

modulesToApply - Modules to which the control request is applied

Returns:

Status code of sending the request

withSpeeds

public LegacySwerveRequest.ApplyChassisSpeeds withSpeeds(ChassisSpeeds speeds)

Sets the chassis speeds to apply to the drivetrain.

Parameters:

speeds - Chassis speeds to apply to the drivetrain

Returns:

this request

withCenterOfRotation

public LegacySwerveRequest.ApplyChassisSpeeds withCenterOfRotation(Translation2d centerOfRotation)

Sets the center of rotation to rotate around.

Parameters:

centerOfRotation - Center of rotation to rotate around

Returns:

this request

withDriveRequestType

public LegacySwerveRequest.ApplyChassisSpeeds withDriveRequestType(LegacySwerveModule.DriveRequestType driveRequestType)

Sets the type of control request to use for the drive motor.

Parameters:

driveRequestType - The type of control request to use for the drive motor

Returns:

this request

withSteerRequestType

public LegacySwerveRequest.ApplyChassisSpeeds withSteerRequestType(LegacySwerveModule.SteerRequestType steerRequestType)

Sets the type of control request to use for the steer motor.

Parameters:

steerRequestType - The type of control request to use for the steer motor

Returns:

this request

withDesaturateWheelSpeeds

public LegacySwerveRequest.ApplyChassisSpeeds withDesaturateWheelSpeeds(boolean desaturateWheelSpeeds)

Sets whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

Parameters:

desaturateWheelSpeeds - Whether to desaturate wheel speeds

Returns:

this request