Package com.ctre.phoenix6.swerve
Class SwerveRequest.SysIdSwerveSteerGains
java.lang.Object
com.ctre.phoenix6.swerve.SwerveRequest.SysIdSwerveSteerGains
- All Implemented Interfaces:
SwerveRequest
- Enclosing interface:
- SwerveRequest
SysId-specific SwerveRequest to characterize the steer module
characteristics of a swerve 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 -
Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionapply
(SwerveDrivetrain.SwerveControlParameters parameters, SwerveModule... modulesToApply) Applies this swerve request to the given modules.withVolts
(double volts) Sets the voltage to apply to the steer motors.withVolts
(edu.wpi.first.units.measure.Voltage volts) Sets the voltage to apply to the steer motors.
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Field Details
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VoltsToApply
Voltage to apply to steer motors.
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Constructor Details
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SysIdSwerveSteerGains
public SysIdSwerveSteerGains()
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Method Details
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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 interfaceSwerveRequest
- Parameters:
parameters
- Parameters the control request needs to calculate the module statemodulesToApply
- Modules to which the control request is applied- Returns:
- Status code of sending the request
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withVolts
Sets the voltage to apply to the steer motors.- Parameters:
volts
- Voltage to apply- Returns:
- this request
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withVolts
Sets the voltage to apply to the steer motors.- Parameters:
volts
- Voltage to apply- Returns:
- this request
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