Package com.ctre.phoenix6.swerve

Enum Class SwerveRequest.ForwardPerspectiveValue

java.lang.Object

java.lang.Enum<SwerveRequest.ForwardPerspectiveValue>

com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue

All Implemented Interfaces:

Serializable, Comparable<SwerveRequest.ForwardPerspectiveValue>, java.lang.constant.Constable

Enclosing interface:

SwerveRequest

public static enum SwerveRequest.ForwardPerspectiveValue
extends Enum<SwerveRequest.ForwardPerspectiveValue>

In field-centric control, the direction of "forward" is sometimes different depending on perspective. This addresses which forward to use.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
BlueAlliance	"Forward" (positive X) is always from the perspective of the blue alliance (i.e.
OperatorPerspective	"Forward" (positive X) is determined from the operator's perspective.

Field Summary

Fields

Modifier and Type	Field	Description
final int	value

Method Summary

Modifier and Type	Method	Description
static SwerveRequest.ForwardPerspectiveValue	valueOf(int value)	Gets ForwardPerspectiveValue from specified value
static SwerveRequest.ForwardPerspectiveValue	valueOf(String name)	Returns the enum constant of this class with the specified name.
static SwerveRequest.ForwardPerspectiveValue[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

OperatorPerspective

public static final SwerveRequest.ForwardPerspectiveValue OperatorPerspective

"Forward" (positive X) is determined from the operator's perspective. This is important for most teleop driven field-centric requests, where positive X means to drive away from the operator.

Important: Users must specify the OperatorPerspective in the SwerveDrivetrain object

BlueAlliance

public static final SwerveRequest.ForwardPerspectiveValue BlueAlliance

"Forward" (positive X) is always from the perspective of the blue alliance (i.e. towards the red alliance). This is important in situations such as path following where positive X is always from the blue alliance perspective, regardless of where the operator is physically located.

Field Details

value

public final int value

Method Details

values

public static SwerveRequest.ForwardPerspectiveValue[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static SwerveRequest.ForwardPerspectiveValue valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null

valueOf

public static SwerveRequest.ForwardPerspectiveValue valueOf(int value)

Gets ForwardPerspectiveValue from specified value

Parameters:

value - Value of ForwardPerspectiveValue

Returns:

ForwardPerspectiveValue of specified value