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.
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Nested Class Summary
Modifier and TypeInterfaceDescriptionstatic class
Accepts a generic ChassisSpeeds to apply to the drivetrain.static class
Drives the swerve drivetrain in a field-centric manner.static class
Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired directionstatic enum
The reference for "forward" is sometimes different if you're talking about field relative.static class
Does nothing to the swerve module state.static class
static class
Sets the swerve drive modules to point to a specified direction.static class
Drives the swerve drivetrain in a robot-centric manner.static class
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
SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain.static class
SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain.static class
SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain. -
Method Summary
Modifier and TypeMethodDescriptionapply
(LegacySwerveRequest.LegacySwerveControlRequestParameters parameters, LegacySwerveModule... modulesToApply) Applies this swerve request to the given modules.
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Method Details
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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 statemodulesToApply
- Modules to which the control request is applied- Returns:
- Status code of sending the request
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