SwerveRequest.hpp File Reference

#include "ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp"
#include "ctre/phoenix6/swerve/utility/PhoenixPIDController.hpp"

Go to the source code of this file.

Classes
class	ctre::phoenix6::swerve::requests::SwerveRequest
	Container for all the Swerve Requests. More...
class	ctre::phoenix6::swerve::requests::Idle
	Does nothing to the swerve module state. More...
class	ctre::phoenix6::swerve::requests::SwerveDriveBrake
	Sets the swerve drive module states to point inward on the robot in an "X" fashion, creating a natural brake which will oppose any motion. More...
class	ctre::phoenix6::swerve::requests::FieldCentric
	Drives the swerve drivetrain in a field-centric manner. More...
class	ctre::phoenix6::swerve::requests::RobotCentric
	Drives the swerve drivetrain in a robot-centric manner. More...
class	ctre::phoenix6::swerve::requests::PointWheelsAt
	Sets the swerve drive modules to point to a specified direction. More...
class	ctre::phoenix6::swerve::requests::ApplyRobotSpeeds
	Accepts a generic robot-centric ChassisSpeeds to apply to the drivetrain. More...
class	ctre::phoenix6::swerve::requests::ApplyFieldSpeeds
	Accepts a generic field-centric ChassisSpeeds to apply to the drivetrain. More...
class	ctre::phoenix6::swerve::requests::FieldCentricFacingAngle
	Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction. More...
class	ctre::phoenix6::swerve::requests::RobotCentricFacingAngle
	Drives the swerve drivetrain in a robot-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction. More...
class	ctre::phoenix6::swerve::requests::SysIdSwerveTranslation
	SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain. More...
class	ctre::phoenix6::swerve::requests::SysIdSwerveRotation
	SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain. More...
class	ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains
	SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain. More...

Namespaces
namespace	ctre
namespace	ctre::phoenix6
namespace	ctre::phoenix6::swerve
namespace	ctre::phoenix6::swerve::requests

Enumerations
enum class	ctre::phoenix6::swerve::requests::ForwardPerspectiveValue { ctre::phoenix6::swerve::requests::OperatorPerspective = 0 , ctre::phoenix6::swerve::requests::BlueAlliance = 1 }
	In field-centric control, the direction of "forward" is sometimes different depending on perspective. More...