Package com.ctre.phoenix6.swerve

Class SwerveRequest.PointWheelsAt

java.lang.Object

com.ctre.phoenix6.swerve.SwerveRequest.PointWheelsAt

All Implemented Interfaces:

SwerveRequest, SwerveRequest.NativeSwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.PointWheelsAt
extends Object
implements SwerveRequest.NativeSwerveRequest

Sets the swerve drive modules to point to a specified direction.

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

Field Summary

Fields

Modifier and Type	Field	Description
SwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
Rotation2d	ModuleDirection	The direction to point the modules toward.
SwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the drive motor.

Constructor Summary

Constructors

Constructor	Description
PointWheelsAt()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveDrivetrain.SwerveControlParameters parameters, SwerveModule... modulesToApply)	Applies this swerve request to the given modules.
void	applyNative(int id)	Applies a native swerve request to the native drivetrain with the provided ID.
SwerveRequest.PointWheelsAt	withDriveRequestType(SwerveModule.DriveRequestType newDriveRequestType)	Modifies the DriveRequestType parameter and returns itself.
SwerveRequest.PointWheelsAt	withModuleDirection(Rotation2d newModuleDirection)	Modifies the ModuleDirection parameter and returns itself.
SwerveRequest.PointWheelsAt	withSteerRequestType(SwerveModule.SteerRequestType newSteerRequestType)	Modifies the SteerRequestType parameter and returns itself.

Methods inherited from class java.lang.Object

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

Field Details

ModuleDirection

public Rotation2d ModuleDirection

The direction to point the modules toward. This direction is still optimized to what the module was previously at.

DriveRequestType

public SwerveModule.DriveRequestType DriveRequestType

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

SteerRequestType

public SwerveModule.SteerRequestType SteerRequestType

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

Constructor Details

PointWheelsAt

public PointWheelsAt()

Method Details

withModuleDirection

public SwerveRequest.PointWheelsAt withModuleDirection(Rotation2d newModuleDirection)

Modifies the ModuleDirection parameter and returns itself.

The direction to point the modules toward. This direction is still optimized to what the module was previously at.

Parameters:

newModuleDirection - Parameter to modify

Returns:

this object

withDriveRequestType

public SwerveRequest.PointWheelsAt withDriveRequestType(SwerveModule.DriveRequestType newDriveRequestType)

Modifies the DriveRequestType parameter and returns itself.

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

Parameters:

newDriveRequestType - Parameter to modify

Returns:

this object

withSteerRequestType

public SwerveRequest.PointWheelsAt withSteerRequestType(SwerveModule.SteerRequestType newSteerRequestType)

Modifies the SteerRequestType parameter and returns itself.

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

Parameters:

newSteerRequestType - Parameter to modify

Returns:

this object

apply

public StatusCode apply(SwerveDrivetrain.SwerveControlParameters parameters,
 SwerveModule... modulesToApply)

Description copied from interface: SwerveRequest

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

For native swerve requests, this API can be called from a non-native request's apply to compose the two together.

Specified by:

apply in interface SwerveRequest

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

applyNative

public void applyNative(int id)

Description copied from interface: SwerveRequest.NativeSwerveRequest

Applies a native swerve request to the native drivetrain with the provided ID.

When this is implemented, the regular SwerveRequest.apply(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveModule...) function should do nothing (return OK). Additionally, this cannot be called from another swerve request's apply method, as this overrides the native swerve request of the drivetrain.

Unlike SwerveRequest.apply(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveModule...), this function is called every time SwerveDrivetrain.setControl(com.ctre.phoenix6.swerve.SwerveRequest) is run, not every loop of the odometry thread. Instead, the underlying native request is run at the full update frequency of the odometry thread.

Specified by:

applyNative in interface SwerveRequest.NativeSwerveRequest

Parameters:

id - ID of the native swerve drivetrain