Package com.ctre.phoenix6.mechanisms.swerve

Class LegacySwerveRequest.LegacySwerveControlRequestParameters

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.LegacySwerveControlRequestParameters

Enclosing interface:

LegacySwerveRequest

public static class LegacySwerveRequest.LegacySwerveControlRequestParameters
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
ChassisSpeeds	currentChassisSpeed
Pose2d	currentPose
SwerveDriveKinematics	kinematics
double	maxSpeedMps
Rotation2d	operatorForwardDirection
Translation2d[]	swervePositions
double	timestamp
double	updatePeriod

Constructor Summary

Constructors

Constructor	Description
LegacySwerveControlRequestParameters()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

maxSpeedMps

public double maxSpeedMps

kinematics

public SwerveDriveKinematics kinematics

currentChassisSpeed

public ChassisSpeeds currentChassisSpeed

currentPose

public Pose2d currentPose

timestamp

public double timestamp

swervePositions

public Translation2d[] swervePositions

operatorForwardDirection

public Rotation2d operatorForwardDirection

updatePeriod

public double updatePeriod

Constructor Details

LegacySwerveControlRequestParameters

public LegacySwerveControlRequestParameters()