Package com.ctre.phoenix6.mechanisms.swerve

Class SwerveRequest.PointWheelsAt

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SwerveRequest.PointWheelsAt

All Implemented Interfaces:

SwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.PointWheelsAt
extends Object
implements SwerveRequest

Sets the swerve drive modules to point to a specified direction.

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
SwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
Rotation2d	ModuleDirection	The direction to point the modules toward.
SwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the steer motor.

Constructor Summary

Constructors

Constructor	Description
PointWheelsAt()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveRequest.SwerveControlRequestParameters parameters, SwerveModule... modulesToApply)	Applies this swerve request to the given modules.
SwerveRequest.PointWheelsAt	withDriveRequestType(SwerveModule.DriveRequestType driveRequestType)	Sets the type of control request to use for the drive motor.
SwerveRequest.PointWheelsAt	withModuleDirection(Rotation2d moduleDirection)	Sets the direction to point the modules toward.
SwerveRequest.PointWheelsAt	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

ModuleDirection

public Rotation2d ModuleDirection

The direction to point the modules toward. This direction is still optimized to what the module was previously at.

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

PointWheelsAt

public PointWheelsAt()

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

withModuleDirection

public SwerveRequest.PointWheelsAt withModuleDirection(Rotation2d moduleDirection)

Sets the direction to point the modules toward. This direction is still optimized to what the module was previously at.

Parameters:

moduleDirection - Direction to point the modules toward

Returns:

this request

withDriveRequestType

public SwerveRequest.PointWheelsAt 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.PointWheelsAt 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