Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices. More...

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

Public Types
using	ModuleRequest = impl::SwerveModuleImpl::ModuleRequest
	Contains everything the swerve module needs to apply a request.

Public Member Functions
	SwerveModule (SwerveModuleConstants< typename DriveMotorT::Configuration, typename SteerMotorT::Configuration, typename EncoderT::Configuration > const &constants, std::string_view canbusName, impl::SwerveModuleImpl &module)
	Construct a SwerveModule with the specified constants.

virtual	~SwerveModule ()=default

virtual void	Apply (ModuleRequest const &moduleRequest)
	Applies the desired ModuleRequest to this module.

template<typename DriveReq , typename SteerReq >
void	Apply (DriveReq &&driveRequest, SteerReq &&steerRequest)
	Controls this module using the specified drive and steer control requests.

SwerveModulePosition	GetPosition (bool refresh)
	Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.

SwerveModulePosition	GetCachedPosition () const
	Gets the last cached swerve module position.

SwerveModuleState	GetCurrentState () const
	Get the current state of the module.

SwerveModuleState	GetTargetState () const
	Get the target state of the module.

virtual void	ResetPosition ()
	Resets this module's drive motor position to 0 rotations.

ClosedLoopOutputType	GetDriveClosedLoopOutputType () const
	Gets the closed-loop output type to use for the drive motor.

ClosedLoopOutputType	GetSteerClosedLoopOutputType () const
	Gets the closed-loop output type to use for the steer motor.

DriveMotorT &	GetDriveMotor ()
	Gets this module's Drive Motor reference.

SteerMotorT &	GetSteerMotor ()
	Gets this module's Steer Motor reference.

EncoderT &	GetEncoder ()
	Gets this module's azimuth encoder reference.

Protected Attributes
impl::SwerveModuleImpl *	_module
	The underlying swerve module instance.

Static Protected Attributes
static constexpr int	kNumConfigAttempts = 2
	Number of times to attempt config applies.

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::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >

Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices.

This class handles the hardware devices and configures them for swerve module operation using the Phoenix 6 API.

This class constructs hardware devices internally, so the user only specifies the constants (IDs, PID gains, gear ratios, etc). Getters for these hardware devices are available.

Member Typedef Documentation

◆ ModuleRequest

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> >>>

using ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::ModuleRequest = impl::SwerveModuleImpl::ModuleRequest

Contains everything the swerve module needs to apply a request.

Constructor & Destructor Documentation

◆ SwerveModule()

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> >>>

ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::SwerveModule	(	SwerveModuleConstants< typename DriveMotorT::Configuration, typename SteerMotorT::Configuration, typename EncoderT::Configuration > const &	constants,
		std::string_view	canbusName,
		impl::SwerveModuleImpl &	module )

inline

Construct a SwerveModule with the specified constants.

Parameters

constants	Constants used to construct the module
canbusName	The name of the CAN bus this module is on
module	The impl::SwerveModuleImpl to use

◆ ~SwerveModule()

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> >>>

virtual ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::~SwerveModule ( )

virtualdefault

Member Function Documentation

◆ Apply() [1/2]

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 DriveReq , typename SteerReq >

void ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::Apply	(	DriveReq &&	driveRequest,
		SteerReq &&	steerRequest )

inline

Controls this module using the specified drive and steer control requests.

This is intended only to be used for characterization of the robot; do not use this for normal use.

Parameters

driveRequest	The control request to apply to the drive motor
steerRequest	The control request to apply to the steer motor

◆ Apply() [2/2]

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> >>>

virtual void ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::Apply ( ModuleRequest const & moduleRequest )

inlinevirtual

Applies the desired ModuleRequest to this module.

Parameters

moduleRequest The request to apply to this module

◆ GetCachedPosition()

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> >>>

SwerveModulePosition ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetCachedPosition ( ) const

inline

Gets the last cached swerve module position.

This differs from GetPosition in that it will not perform any latency compensation or refresh the signals.

Returns: Last cached SwerveModulePosition

◆ GetCurrentState()

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> >>>

SwerveModuleState ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetCurrentState ( ) const

inline

Get the current state of the module.

This is typically used for telemetry, as the SwerveModulePosition is used for odometry.

Returns: Current state of the module

◆ GetDriveClosedLoopOutputType()

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> >>>

ClosedLoopOutputType ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetDriveClosedLoopOutputType ( ) const

inline

Gets the closed-loop output type to use for the drive motor.

Returns: Drive motor closed-loop output type

◆ GetDriveMotor()

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> >>>

DriveMotorT & ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetDriveMotor ( )

inline

Gets this module's Drive Motor reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns: This module's Drive Motor reference

◆ GetEncoder()

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> >>>

EncoderT & ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetEncoder ( )

inline

Gets this module's azimuth encoder reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns: This module's azimuth encoder reference

◆ GetPosition()

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> >>>

SwerveModulePosition ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetPosition ( bool refresh )

inline

Gets the state of this module and passes it back as a SwerveModulePosition object with latency compensated values.

This function is blocking when it performs a refresh.

Parameters

refresh True if the signals should be refreshed

Returns: SwerveModulePosition containing this module's state.

◆ GetSteerClosedLoopOutputType()

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> >>>

ClosedLoopOutputType ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetSteerClosedLoopOutputType ( ) const

inline

Gets the closed-loop output type to use for the steer motor.

Returns: Steer motor closed-loop output type

◆ GetSteerMotor()

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> >>>

SteerMotorT & ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetSteerMotor ( )

inline

Gets this module's Steer Motor reference.

This should be used only to access signals and change configurations that the swerve drivetrain does not configure itself.

Returns: This module's Steer Motor reference

◆ GetTargetState()

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> >>>

SwerveModuleState ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::GetTargetState ( ) const

inline

Get the target state of the module.

This is typically used for telemetry.

Returns: Target state of the module

◆ ResetPosition()

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> >>>

virtual void ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::ResetPosition ( )

inlinevirtual

Resets this module's drive motor position to 0 rotations.

Member Data Documentation

◆ _module

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::SwerveModuleImpl* ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::_module

protected

The underlying swerve module instance.

◆ kNumConfigAttempts

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> >>>

int ctre::phoenix6::swerve::SwerveModule< DriveMotorT, SteerMotorT, EncoderT, typename, typename, typename >::kNumConfigAttempts = 2

staticconstexprprotected

Number of times to attempt config applies.

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

ctre/phoenix6/swerve/SwerveModule.hpp

Public Types

Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ModuleRequest

Constructor & Destructor Documentation

◆ SwerveModule()

◆ ~SwerveModule()

Member Function Documentation

◆ Apply() [1/2]

◆ Apply() [2/2]

◆ GetCachedPosition()

◆ GetCurrentState()

◆ GetDriveClosedLoopOutputType()

◆ GetDriveMotor()

◆ GetEncoder()

◆ GetPosition()

◆ GetSteerClosedLoopOutputType()

◆ GetSteerMotor()

◆ GetTargetState()

◆ ResetPosition()

Member Data Documentation

◆ _module

◆ kNumConfigAttempts