Package com.ctre.phoenix6.mechanisms.swerve

Class LegacySwerveRequest.FieldCentric

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.FieldCentric

All Implemented Interfaces:

LegacySwerveRequest

Enclosing interface:

LegacySwerveRequest

public static class LegacySwerveRequest.FieldCentric
extends Object
implements LegacySwerveRequest

Drives the swerve drivetrain in a field-centric manner.

When users use this request, they specify the direction the robot should travel oriented against the field, and the rate at which their robot should rotate about the center of the robot.

An example scenario is that the robot is oriented to the east, the VelocityX is +5 m/s, VelocityY is 0 m/s, and RotationRate is 0.5 rad/s. In this scenario, the robot would drive northward at 5 m/s and turn counterclockwise at 0.5 rad/s.

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 the robot should rotate around.
double	Deadband	The allowable deadband of the request.
boolean	DesaturateWheelSpeeds	Whether to desaturate wheel speeds before applying.
LegacySwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
LegacySwerveRequest.ForwardReference	ForwardReference	The perspective to use when determining which direction is forward.
protected SwerveModuleState[]	m_lastAppliedState	The last applied state in case we don't have anything to drive.
double	RotationalDeadband	The rotational deadband of the request.
double	RotationalRate	The angular rate to rotate at, in radians per second.
LegacySwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the steer motor.
double	VelocityX	The velocity in the X direction, in m/s.
double	VelocityY	The velocity in the Y direction, in m/s.

Constructor Summary

Constructors

Constructor	Description
FieldCentric()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters, LegacySwerveModule... modulesToApply)	Applies this swerve request to the given modules.
LegacySwerveRequest.FieldCentric	withCenterOfRotation(Translation2d centerOfRotation)	Sets the center of rotation of the request
LegacySwerveRequest.FieldCentric	withDeadband(double deadband)	Sets the allowable deadband of the request.
LegacySwerveRequest.FieldCentric	withDesaturateWheelSpeeds(boolean desaturateWheelSpeeds)	Sets whether to desaturate wheel speeds before applying.
LegacySwerveRequest.FieldCentric	withDriveRequestType(LegacySwerveModule.DriveRequestType driveRequestType)	Sets the type of control request to use for the drive motor.
LegacySwerveRequest.FieldCentric	withRotationalDeadband(double rotationalDeadband)	Sets the rotational deadband of the request.
LegacySwerveRequest.FieldCentric	withRotationalRate(double rotationalRate)	The angular rate to rotate at, in radians per second.
LegacySwerveRequest.FieldCentric	withSteerRequestType(LegacySwerveModule.SteerRequestType steerRequestType)	Sets the type of control request to use for the steer motor.
LegacySwerveRequest.FieldCentric	withVelocityX(double velocityX)	Sets the velocity in the X direction, in m/s.
LegacySwerveRequest.FieldCentric	withVelocityY(double velocityY)	Sets the velocity in the Y direction, in m/s.

Methods inherited from class java.lang.Object

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

Field Details

VelocityX

public double VelocityX

The velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.

VelocityY

public double VelocityY

The velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.

RotationalRate

public double RotationalRate

The angular rate to rotate at, in radians per second. Angular rate is defined as counterclockwise positive, so this determines how fast to turn counterclockwise.

Deadband

public double Deadband

The allowable deadband of the request.

RotationalDeadband

public double RotationalDeadband

The rotational deadband of the request.

CenterOfRotation

public Translation2d CenterOfRotation

The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.

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).

ForwardReference

public LegacySwerveRequest.ForwardReference ForwardReference

The perspective to use when determining which direction is forward.

m_lastAppliedState

protected SwerveModuleState[] m_lastAppliedState

The last applied state in case we don't have anything to drive.

Constructor Details

FieldCentric

public FieldCentric()

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

withVelocityX

public LegacySwerveRequest.FieldCentric withVelocityX(double velocityX)

Sets the velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.

Parameters:

velocityX - Velocity in the X direction, in m/s

Returns:

this request

withVelocityY

public LegacySwerveRequest.FieldCentric withVelocityY(double velocityY)

Sets the velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.

Parameters:

velocityY - Velocity in the Y direction, in m/s

Returns:

this request

withRotationalRate

public LegacySwerveRequest.FieldCentric withRotationalRate(double rotationalRate)

The angular rate to rotate at, in radians per second. Angular rate is defined as counterclockwise positive, so this determines how fast to turn counterclockwise.

Parameters:

rotationalRate - Angular rate to rotate at, in radians per second

Returns:

this request

withDeadband

public LegacySwerveRequest.FieldCentric withDeadband(double deadband)

Sets the allowable deadband of the request.

Parameters:

deadband - Allowable deadband of the request

Returns:

this request

withRotationalDeadband

public LegacySwerveRequest.FieldCentric withRotationalDeadband(double rotationalDeadband)

Sets the rotational deadband of the request.

Parameters:

rotationalDeadband - Rotational deadband of the request

Returns:

this request

withCenterOfRotation

public LegacySwerveRequest.FieldCentric withCenterOfRotation(Translation2d centerOfRotation)

Sets the center of rotation of the request

Parameters:

centerOfRotation - The center of rotation the robot should rotate around.

Returns:

this request

withDriveRequestType

public LegacySwerveRequest.FieldCentric 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.FieldCentric 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.FieldCentric 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