Package com.ctre.phoenix6.mechanisms.swerve

Interface LegacySwerveRequest

All Known Implementing Classes:

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

public interface LegacySwerveRequest

Container for all the Swerve Requests. Use this to find all applicable swerve drive requests.

This is also an interface common to all swerve drive control requests that allow the request to calculate the state to apply to the modules.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	LegacySwerveRequest.ApplyChassisSpeeds	Accepts a generic ChassisSpeeds to apply to the drivetrain.
static class	LegacySwerveRequest.FieldCentric	Drives the swerve drivetrain in a field-centric manner.
static class	LegacySwerveRequest.FieldCentricFacingAngle	Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction
static enum	LegacySwerveRequest.ForwardReference	The reference for "forward" is sometimes different if you're talking about field relative.
static class	LegacySwerveRequest.Idle	Does nothing to the swerve module state.
static class	LegacySwerveRequest.LegacySwerveControlRequestParameters
static class	LegacySwerveRequest.PointWheelsAt	Sets the swerve drive modules to point to a specified direction.
static class	LegacySwerveRequest.RobotCentric	Drives the swerve drivetrain in a robot-centric manner.
static class	LegacySwerveRequest.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.
static class	LegacySwerveRequest.SysIdSwerveRotation	SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain.
static class	LegacySwerveRequest.SysIdSwerveSteerGains	SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain.
static class	LegacySwerveRequest.SysIdSwerveTranslation	SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain.

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters, LegacySwerveModule... modulesToApply)	Applies this swerve request to the given modules.

Method Details

apply

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

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

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