Class SwerveRequest.FieldCentric

All Implemented Interfaces:
Enclosing interface:

public static class SwerveRequest.FieldCentric
extends Object
implements SwerveRequest
Drives the swerve drivetrain in a field-centric manner.

When users use this request, they specify the direction the robot should travel oriented against the field, and the rate at which their robot should rotate about the center of the robot.

An example scenario is that the robot is oriented to the east, the VelocityX is +5 m/s, VelocityY is 0 m/s, and RotationRate is 0.5 rad/s. In this scenario, the robot would drive northward at 5 m/s and turn counterclockwise at 0.5 rad/s.