Package com.ctre.phoenix6.mechanisms.swerve

Class LegacySwerveRequest.FieldCentricFacingAngle

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.FieldCentricFacingAngle

All Implemented Interfaces:

LegacySwerveRequest

Enclosing interface:

LegacySwerveRequest

public static class LegacySwerveRequest.FieldCentricFacingAngle
extends Object
implements LegacySwerveRequest

Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction

When users use this request, they specify the direction the robot should travel oriented against the field, and the direction the robot should be facing.

An example scenario is that the robot is oriented to the east, the VelocityX is +5 m/s, VelocityY is 0 m/s, and TargetDirection is 180 degrees. In this scenario, the robot would drive northward at 5 m/s and turn clockwise to a target of 180 degrees.

This control request is especially useful for autonomous control, where the robot should be facing a changing direction throughout the motion.

Nested Class Summary

Nested classes/interfaces inherited from interface com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest

LegacySwerveRequest.ApplyChassisSpeeds, LegacySwerveRequest.FieldCentric, LegacySwerveRequest.FieldCentricFacingAngle, LegacySwerveRequest.ForwardReference, LegacySwerveRequest.Idle, LegacySwerveRequest.LegacySwerveControlRequestParameters, LegacySwerveRequest.PointWheelsAt, LegacySwerveRequest.RobotCentric, LegacySwerveRequest.SwerveDriveBrake, LegacySwerveRequest.SysIdSwerveRotation, LegacySwerveRequest.SysIdSwerveSteerGains, LegacySwerveRequest.SysIdSwerveTranslation

Field Summary

Fields

Modifier and Type	Field	Description
Translation2d	CenterOfRotation	The center of rotation the robot should rotate around.
double	Deadband	The allowable deadband of the request.
boolean	DesaturateWheelSpeeds	Whether to desaturate wheel speeds before applying.
LegacySwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
LegacySwerveRequest.ForwardReference	ForwardReference	The perspective to use when determining which direction is forward.
LegacyPhoenixPIDController	HeadingController	The PID controller used to maintain the desired heading.
double	RotationalDeadband	The rotational deadband of the request.
LegacySwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the steer motor.
Rotation2d	TargetDirection	The desired direction to face.
double	VelocityX	The velocity in the X direction, in m/s.
double	VelocityY	The velocity in the Y direction, in m/s.

Constructor Summary

Constructors

Constructor	Description
FieldCentricFacingAngle()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters, LegacySwerveModule... modulesToApply)	Applies this swerve request to the given modules.
LegacySwerveRequest.FieldCentricFacingAngle	withCenterOfRotation(Translation2d centerOfRotation)	Sets the center of rotation of the request
LegacySwerveRequest.FieldCentricFacingAngle	withDeadband(double deadband)	Sets the allowable deadband of the request.
LegacySwerveRequest.FieldCentricFacingAngle	withDesaturateWheelSpeeds(boolean desaturateWheelSpeeds)	Sets whether to desaturate wheel speeds before applying.
LegacySwerveRequest.FieldCentricFacingAngle	withDriveRequestType(LegacySwerveModule.DriveRequestType driveRequestType)	Sets the type of control request to use for the drive motor.
LegacySwerveRequest.FieldCentricFacingAngle	withRotationalDeadband(double rotationalDeadband)	Sets the rotational deadband of the request.
LegacySwerveRequest.FieldCentricFacingAngle	withSteerRequestType(LegacySwerveModule.SteerRequestType steerRequestType)	Sets the type of control request to use for the steer motor.
LegacySwerveRequest.FieldCentricFacingAngle	withTargetDirection(Rotation2d targetDirection)	Sets the desired direction to face.
LegacySwerveRequest.FieldCentricFacingAngle	withVelocityX(double velocityX)	Sets the velocity in the X direction, in m/s.
LegacySwerveRequest.FieldCentricFacingAngle	withVelocityY(double velocityY)	Sets the velocity in the Y direction, in m/s.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

VelocityX

public double VelocityX

The velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.

VelocityY

public double VelocityY

The velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.

TargetDirection

public Rotation2d TargetDirection

The desired direction to face. 0 Degrees is defined as in the direction of the X axis. As a result, a TargetDirection of 90 degrees will point along the Y axis, or to the left.

Deadband

public double Deadband

The allowable deadband of the request.

RotationalDeadband

public double RotationalDeadband

The rotational deadband of the request.

CenterOfRotation

public Translation2d CenterOfRotation

The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.

DriveRequestType

public LegacySwerveModule.DriveRequestType DriveRequestType

The type of control request to use for the drive motor.

SteerRequestType

public LegacySwerveModule.SteerRequestType SteerRequestType

The type of control request to use for the steer motor.

DesaturateWheelSpeeds

public boolean DesaturateWheelSpeeds

Whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

HeadingController

public LegacyPhoenixPIDController HeadingController

The PID controller used to maintain the desired heading. Users can specify the PID gains to change how aggressively to maintain heading.

This PID controller operates on heading radians and outputs a target rotational rate in radians per second.

ForwardReference

public LegacySwerveRequest.ForwardReference ForwardReference

The perspective to use when determining which direction is forward.

Constructor Details

FieldCentricFacingAngle

public FieldCentricFacingAngle()

Method Details

apply

public StatusCode apply(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters,
 LegacySwerveModule... modulesToApply)

Description copied from interface: LegacySwerveRequest

Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain.

Specified by:

apply in interface LegacySwerveRequest

Parameters:

parameters - Parameters the control request needs to calculate the module state

modulesToApply - Modules to which the control request is applied

Returns:

Status code of sending the request

withVelocityX

public LegacySwerveRequest.FieldCentricFacingAngle withVelocityX(double velocityX)

Sets the velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.

Parameters:

velocityX - Velocity in the X direction, in m/s

Returns:

this request

withVelocityY

public LegacySwerveRequest.FieldCentricFacingAngle withVelocityY(double velocityY)

Sets the velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.

Parameters:

velocityY - Velocity in the Y direction, in m/s

Returns:

this request

withTargetDirection

public LegacySwerveRequest.FieldCentricFacingAngle withTargetDirection(Rotation2d targetDirection)

Sets the desired direction to face. 0 Degrees is defined as in the direction of the X axis. As a result, a TargetDirection of 90 degrees will point along the Y axis, or to the left.

Parameters:

targetDirection - Desired direction to face

Returns:

this request

withDeadband

public LegacySwerveRequest.FieldCentricFacingAngle withDeadband(double deadband)

Sets the allowable deadband of the request.

Parameters:

deadband - Allowable deadband of the request

Returns:

this request

withRotationalDeadband

public LegacySwerveRequest.FieldCentricFacingAngle withRotationalDeadband(double rotationalDeadband)

Sets the rotational deadband of the request.

Parameters:

rotationalDeadband - Rotational deadband of the request

Returns:

this request

withCenterOfRotation

public LegacySwerveRequest.FieldCentricFacingAngle withCenterOfRotation(Translation2d centerOfRotation)

Sets the center of rotation of the request

Parameters:

centerOfRotation - The center of rotation the robot should rotate around.

Returns:

this request

withDriveRequestType

public LegacySwerveRequest.FieldCentricFacingAngle withDriveRequestType(LegacySwerveModule.DriveRequestType driveRequestType)

Sets the type of control request to use for the drive motor.

Parameters:

driveRequestType - The type of control request to use for the drive motor

Returns:

this request

withSteerRequestType

public LegacySwerveRequest.FieldCentricFacingAngle withSteerRequestType(LegacySwerveModule.SteerRequestType steerRequestType)

Sets the type of control request to use for the steer motor.

Parameters:

steerRequestType - The type of control request to use for the steer motor

Returns:

this request

withDesaturateWheelSpeeds

public LegacySwerveRequest.FieldCentricFacingAngle withDesaturateWheelSpeeds(boolean desaturateWheelSpeeds)

Sets whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

Parameters:

desaturateWheelSpeeds - Whether to desaturate wheel speeds

Returns:

this request