ctre::phoenix6::swerve::requests Namespace Reference

Classes
class	ApplyFieldSpeeds
	Accepts a generic field-centric ChassisSpeeds to apply to the drivetrain. More...
class	ApplyRobotSpeeds
	Accepts a generic robot-centric ChassisSpeeds to apply to the drivetrain. More...
class	FieldCentric
	Drives the swerve drivetrain in a field-centric manner. More...
class	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	Idle
	Does nothing to the swerve module state. More...
class	PointWheelsAt
	Sets the swerve drive modules to point to a specified direction. More...
class	RobotCentric
	Drives the swerve drivetrain in a robot-centric manner. More...
class	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	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	SwerveRequest
	Container for all the Swerve Requests. More...
class	SysIdSwerveRotation
	SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain. More...
class	SysIdSwerveSteerGains
	SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain. More...
class	SysIdSwerveTranslation
	SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain. More...

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

Enumeration Type Documentation

ForwardPerspectiveValue

enum class ctre::phoenix6::swerve::requests::ForwardPerspectiveValue

strong

In field-centric control, the direction of "forward" is sometimes different depending on perspective.

This addresses which forward to use.

Enumerator
OperatorPerspective	"Forward" (positive X) is determined from the operator's perspective. This is important for most teleop driven field-centric requests, where positive X means to drive away from the operator. Important: Users must specify the OperatorPerspective in the SwerveDrivetrain object
BlueAlliance	"Forward" (positive X) is always from the perspective of the blue alliance (i.e. towards the red alliance). This is important in situations such as path following where positive X is always from the blue alliance perspective, regardless of where the operator is physically located.