Package com.ctre.phoenix6.swerve

Class SwerveDrivetrain.SwerveControlParameters

java.lang.Object

com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters

Enclosing class:

SwerveDrivetrain<DriveMotorT extends CommonTalon,SteerMotorT extends CommonTalon,EncoderT extends ParentDevice>

public static class SwerveDrivetrain.SwerveControlParameters
extends Object

Contains everything the control requests need to calculate the module state.

Field Summary

Fields

Modifier and Type	Field	Description
ChassisSpeeds	currentChassisSpeed	The current robot-centric chassis speeds
Pose2d	currentPose	The current pose of the robot
int	drivetrainId	ID of the native drivetrain instance, used for JNI calls
SwerveDriveKinematics	kinematics	The kinematics object used for control
double	kMaxSpeedMps	The max speed of the robot at 12 V output, in m/s
Translation2d[]	moduleLocations	The locations of the swerve modules
Rotation2d	operatorForwardDirection	The forward direction from the operator perspective
double	timestamp	The timestamp of the current control apply, in the timebase of Utils.getCurrentTimeSeconds()
double	updatePeriod	The update period of control apply

Constructor Summary

Constructors

Constructor	Description
SwerveControlParameters()

Method Summary

Modifier and Type	Method	Description
protected void	updateFromJni(SwerveJNI.ControlParams controlParams)

Methods inherited from class java.lang.Object

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

Field Details

drivetrainId

public int drivetrainId

ID of the native drivetrain instance, used for JNI calls

kinematics

public SwerveDriveKinematics kinematics

The kinematics object used for control

moduleLocations

public Translation2d[] moduleLocations

The locations of the swerve modules

kMaxSpeedMps

public double kMaxSpeedMps

The max speed of the robot at 12 V output, in m/s

operatorForwardDirection

public Rotation2d operatorForwardDirection

The forward direction from the operator perspective

currentChassisSpeed

public ChassisSpeeds currentChassisSpeed

The current robot-centric chassis speeds

currentPose

public Pose2d currentPose

The current pose of the robot

timestamp

public double timestamp

The timestamp of the current control apply, in the timebase of Utils.getCurrentTimeSeconds()

updatePeriod

public double updatePeriod

The update period of control apply

Constructor Details

SwerveControlParameters

public SwerveControlParameters()

Method Details

updateFromJni

protected void updateFromJni(SwerveJNI.ControlParams controlParams)