Package com.ctre.phoenix6.mechanisms.swerve

Enum SwerveRequest.ForwardReference

java.lang.Object

java.lang.Enum<SwerveRequest.ForwardReference>

com.ctre.phoenix6.mechanisms.swerve.SwerveRequest.ForwardReference

All Implemented Interfaces:

Serializable, Comparable<SwerveRequest.ForwardReference>, java.lang.constant.Constable

Enclosing interface:

SwerveRequest

public static enum SwerveRequest.ForwardReference
extends Enum<SwerveRequest.ForwardReference>

The reference for "forward" is sometimes different if you're talking about field relative. This addresses which forward to use.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
OperatorPerspective	This forward references makes it so "forward" (positive X) is determined from the operator's perspective.
RedAlliance	This forward reference makes it so "forward" (positive X) is always towards the red alliance.

Method Summary

Modifier and Type	Method	Description
static SwerveRequest.ForwardReference	valueOf(String name)	Returns the enum constant of this type with the specified name.
static SwerveRequest.ForwardReference[]	values()	Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

RedAlliance

public static final SwerveRequest.ForwardReference RedAlliance

This forward reference makes it so "forward" (positive X) is always towards the red alliance. This is important in situations such as path following where positive X is always towards the red alliance wall, regardless of where the operator physically are located.

OperatorPerspective

public static final SwerveRequest.ForwardReference OperatorPerspective

This forward references makes it so "forward" (positive X) is determined from the operator's perspective. This is important for most teleop driven field-centric requests, where positive X really means to drive away from the operator.

Important: Users must specify the OperatorPerspective with SwerveDrivetrain object

Method Details

values

public static SwerveRequest.ForwardReference[] values()

Returns an array containing the constants of this enum type, in the order they are declared.

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static SwerveRequest.ForwardReference valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null