ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename > Class Template Reference

Simplified swerve drive simulation class. More...

#include <ctre/phoenix6/swerve/SimSwerveDrivetrain.hpp>

Classes
class	SimSwerveModule

Public Member Functions
template<typename... ModuleConstants, typename = std::enable_if_t<std::conjunction_v< std::is_same< ModuleConstants, SwerveModuleConstants<typename DriveMotorT::Configuration, typename SteerMotorT::Configuration, typename EncoderT::Configuration> >... >>>
	SimSwerveDrivetrain (std::vector< Translation2d > wheelLocations, sim::Pigeon2SimState &pigeonSim, ModuleConstants const &... moduleConstants)
void	Update (units::second_t dt, units::volt_t supplyVoltage, std::vector< std::unique_ptr< SwerveModule< DriveMotorT, SteerMotorT, EncoderT > > > const &modulesToApply)

Static Protected Member Functions
static units::volt_t	AddFriction (units::volt_t motorVoltage, units::volt_t frictionVoltage)
	Applies the effects of friction to dampen the motor voltage.

Protected Attributes
sim::Pigeon2SimState &	_pigeonSim
std::vector< SimSwerveModule >	_modules
impl::SwerveDriveKinematics	_kinem
Rotation2d	_lastAngle {}

Detailed Description

template<typename DriveMotorT, typename SteerMotorT, typename EncoderT, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>
class ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >

Simplified swerve drive simulation class.

This class assumes that the swerve drive is perfect, meaning that there is no scrub and the wheels do not slip.

In addition, it assumes the inertia of the robot is governed only by the inertia of the steer module and the individual drive wheels. Robot-wide inertia is not accounted for, and neither is translational vs rotational inertia of the robot.

These assumptions provide a simplified example that can demonstrate the behavior of a swerve drive in simulation. Users are encouraged to expand this model for their own use.

Constructor & Destructor Documentation

SimSwerveDrivetrain()

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

template<typename... ModuleConstants, typename = std::enable_if_t<std::conjunction_v< std::is_same< ModuleConstants, SwerveModuleConstants<typename DriveMotorT::Configuration, typename SteerMotorT::Configuration, typename EncoderT::Configuration> >... >>>

ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::SimSwerveDrivetrain ( std::vector< Translation2d > wheelLocations, sim::Pigeon2SimState & pigeonSim, ModuleConstants const &... moduleConstants )

inline

Member Function Documentation

AddFriction()

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

static units::volt_t ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::AddFriction ( units::volt_t motorVoltage, units::volt_t frictionVoltage )

inlinestaticprotected

Applies the effects of friction to dampen the motor voltage.

Parameters

motorVoltage	Voltage output by the motor
frictionVoltage	Voltage required to overcome friction

Returns

Friction-dampened motor voltage

Update()

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

void ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::Update ( units::second_t dt, units::volt_t supplyVoltage, std::vector< std::unique_ptr< SwerveModule< DriveMotorT, SteerMotorT, EncoderT > > > const & modulesToApply )

inline

Member Data Documentation

_kinem

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

impl::SwerveDriveKinematics ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::_kinem

protected

_lastAngle

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

Rotation2d ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::_lastAngle {}

protected

_modules

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

std::vector<SimSwerveModule> ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::_modules

protected

_pigeonSim

template<typename DriveMotorT , typename SteerMotorT , typename EncoderT , typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, DriveMotorT>>, typename = std::enable_if_t<std::is_base_of_v<hardware::traits::CommonTalon, SteerMotorT>>, typename = std::enable_if_t<std::disjunction_v< std::is_same<hardware::CANcoder, EncoderT>, std::is_same<hardware::CANdi, EncoderT>, std::is_same<hardware::TalonFXS, EncoderT> >>>

sim::Pigeon2SimState& ctre::phoenix6::swerve::SimSwerveDrivetrain< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::_pigeonSim

protected

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The documentation for this class was generated from the following file:

• ctre/phoenix6/swerve/SimSwerveDrivetrain.hpp