Package com.ctre.phoenix6.swerve
Class SwerveRequest.ApplyChassisSpeeds
java.lang.Object
com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotSpeeds
com.ctre.phoenix6.swerve.SwerveRequest.ApplyChassisSpeeds
- All Implemented Interfaces:
SwerveRequest
,SwerveRequest.NativeSwerveRequest
- Enclosing interface:
- SwerveRequest
@Deprecated(forRemoval=true,
since="2025")
public static class SwerveRequest.ApplyChassisSpeeds
extends SwerveRequest.ApplyRobotSpeeds
Deprecated, for removal: This API element is subject to removal in a future version.
Accepts a generic robot-centric ChassisSpeeds to apply to the drivetrain.
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Nested Class Summary
Nested classes/interfaces inherited from interface com.ctre.phoenix6.swerve.SwerveRequest
SwerveRequest.ApplyChassisSpeeds, SwerveRequest.ApplyFieldSpeeds, SwerveRequest.ApplyRobotSpeeds, SwerveRequest.FieldCentric, SwerveRequest.FieldCentricFacingAngle, SwerveRequest.ForwardPerspectiveValue, SwerveRequest.Idle, SwerveRequest.NativeSwerveRequest, SwerveRequest.PointWheelsAt, SwerveRequest.RobotCentric, SwerveRequest.SwerveDriveBrake, SwerveRequest.SysIdSwerveRotation, SwerveRequest.SysIdSwerveSteerGains, SwerveRequest.SysIdSwerveTranslation
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Field Summary
Fields inherited from class com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotSpeeds
CenterOfRotation, DesaturateWheelSpeeds, DriveRequestType, Speeds, SteerRequestType, WheelForceFeedforwardsX, WheelForceFeedforwardsY
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Constructor Summary
ConstructorsConstructorDescriptionDeprecated, for removal: This API element is subject to removal in a future version. -
Method Summary
Methods inherited from class com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotSpeeds
apply, applyNative, withCenterOfRotation, withDesaturateWheelSpeeds, withDriveRequestType, withSpeeds, withSteerRequestType, withWheelForceFeedforwardsX, withWheelForceFeedforwardsX, withWheelForceFeedforwardsY, withWheelForceFeedforwardsY
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Constructor Details
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ApplyChassisSpeeds
public ApplyChassisSpeeds()Deprecated, for removal: This API element is subject to removal in a future version.
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SwerveRequest.ApplyRobotSpeeds
instead