ctre::phoenix6::swerve::impl Namespace Reference

Classes
class	SwerveDriveKinematics
	Class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle). More...
class	SwerveDriveOdometry
	Class for swerve drive odometry. More...
class	SwerveDrivePoseEstimator
	This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More...
class	SwerveDrivetrainImpl
	Swerve Drive class utilizing CTR Electronics Phoenix 6 API. More...
class	SwerveModuleImpl
	Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices. More...

Enumerations
enum class	SteerRequestType { MotionMagicExpo = 0 , Position = 1 }
	All possible control requests for the module steer motor. More...
enum class	DriveRequestType { OpenLoopVoltage = 0 , Velocity = 1 }
	All possible control requests for the module drive motor. More...

Enumeration Type Documentation

DriveRequestType

enum class ctre::phoenix6::swerve::impl::DriveRequestType

strong

All possible control requests for the module drive motor.

Enumerator
OpenLoopVoltage	Control the drive motor using an open-loop voltage request.
Velocity	Control the drive motor using a velocity closed-loop request. The control output type is determined by SwerveModuleConstants::DriveMotorClosedLoopOutput.

SteerRequestType

enum class ctre::phoenix6::swerve::impl::SteerRequestType

strong

All possible control requests for the module steer motor.

Enumerator
MotionMagicExpo	Control the drive motor using a Motion Magic® Expo request. The control output type is determined by SwerveModuleConstants::SteerMotorClosedLoopOutput.
Position	Control the drive motor using an unprofiled position request. The control output type is determined by SwerveModuleConstants::SteerMotorClosedLoopOutput.