Package com.ctre.phoenix6.mechanisms.swerve

Class SwerveRequest.ApplyChassisSpeeds

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SwerveRequest.ApplyChassisSpeeds

All Implemented Interfaces:

SwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.ApplyChassisSpeeds
extends Object
implements SwerveRequest

Accepts a generic ChassisSpeeds to apply to the drivetrain.

Nested Class Summary

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

SwerveRequest.ApplyChassisSpeeds, SwerveRequest.FieldCentric, SwerveRequest.FieldCentricFacingAngle, SwerveRequest.ForwardReference, SwerveRequest.Idle, SwerveRequest.PointWheelsAt, SwerveRequest.RobotCentric, SwerveRequest.SwerveControlRequestParameters, SwerveRequest.SwerveDriveBrake, SwerveRequest.SysIdSwerveRotation, SwerveRequest.SysIdSwerveSteerGains, SwerveRequest.SysIdSwerveTranslation

Field Summary

Fields

Modifier and Type	Field	Description
Translation2d	CenterOfRotation	The center of rotation to rotate around.
SwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
ChassisSpeeds	Speeds	The chassis speeds to apply to the drivetrain.
SwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the steer motor.

Constructor Summary

Constructors

Constructor	Description
ApplyChassisSpeeds()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveRequest.SwerveControlRequestParameters parameters, SwerveModule... modulesToApply)	Applies this swerve request to the given modules.
SwerveRequest.ApplyChassisSpeeds	withCenterOfRotation(Translation2d centerOfRotation)	Sets the center of rotation to rotate around.
SwerveRequest.ApplyChassisSpeeds	withDriveRequestType(SwerveModule.DriveRequestType driveRequestType)	Sets the type of control request to use for the drive motor.
SwerveRequest.ApplyChassisSpeeds	withSpeeds(ChassisSpeeds speeds)	Sets the chassis speeds to apply to the drivetrain.
SwerveRequest.ApplyChassisSpeeds	withSteerRequestType(SwerveModule.SteerRequestType steerRequestType)	Sets the type of control request to use for the steer motor.

Methods inherited from class java.lang.Object

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

Field Details

Speeds

public ChassisSpeeds Speeds

The chassis speeds to apply to the drivetrain.

CenterOfRotation

public Translation2d CenterOfRotation

The center of rotation to rotate around.

DriveRequestType

public SwerveModule.DriveRequestType DriveRequestType

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

SteerRequestType

public SwerveModule.SteerRequestType SteerRequestType

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

Constructor Details

ApplyChassisSpeeds

public ApplyChassisSpeeds()

Method Details

apply

public StatusCode apply(SwerveRequest.SwerveControlRequestParameters parameters, SwerveModule... modulesToApply)

Description copied from interface: SwerveRequest

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

Specified by:

apply in interface SwerveRequest

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

withSpeeds

public SwerveRequest.ApplyChassisSpeeds withSpeeds(ChassisSpeeds speeds)

Sets the chassis speeds to apply to the drivetrain.

Parameters:

speeds - Chassis speeds to apply to the drivetrain

Returns:

this request

withCenterOfRotation

public SwerveRequest.ApplyChassisSpeeds withCenterOfRotation(Translation2d centerOfRotation)

Sets the center of rotation to rotate around.

Parameters:

centerOfRotation - Center of rotation to rotate around

Returns:

this request

withDriveRequestType

public SwerveRequest.ApplyChassisSpeeds withDriveRequestType(SwerveModule.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 SwerveRequest.ApplyChassisSpeeds withSteerRequestType(SwerveModule.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