Package com.ctre.phoenix6.mechanisms.swerve

Class SwerveRequest.RobotCentric

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SwerveRequest.RobotCentric

All Implemented Interfaces:

SwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.RobotCentric
extends Object
implements SwerveRequest

Drives the swerve drivetrain in a robot-centric manner.

When users use this request, they specify the direction the robot should travel oriented against the robot itself, 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 eastward at 5 m/s and turn counterclockwise at 0.5 rad/s.

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 the robot should rotate around.
double	Deadband	The allowable deadband of the request.
SwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
double	RotationalDeadband	The rotational deadband of the request.
double	RotationalRate	The angular rate to rotate at, in radians per second.
SwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the steer motor.
double	VelocityX	The velocity in the X direction, in m/s.
double	VelocityY	The velocity in the Y direction, in m/s.

Constructor Summary

Constructors

Constructor	Description
RobotCentric()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveRequest.SwerveControlRequestParameters parameters, SwerveModule... modulesToApply)	Applies this swerve request to the given modules.
SwerveRequest.RobotCentric	withCenterOfRotation(Translation2d centerOfRotation)	Sets the center of rotation of the request
SwerveRequest.RobotCentric	withDeadband(double deadband)	Sets the allowable deadband of the request.
SwerveRequest.RobotCentric	withDriveRequestType(SwerveModule.DriveRequestType driveRequestType)	Sets the type of control request to use for the drive motor.
SwerveRequest.RobotCentric	withRotationalDeadband(double rotationalDeadband)	Sets the rotational deadband of the request.
SwerveRequest.RobotCentric	withRotationalRate(double rotationalRate)	The angular rate to rotate at, in radians per second.
SwerveRequest.RobotCentric	withSteerRequestType(SwerveModule.SteerRequestType steerRequestType)	Sets the type of control request to use for the steer motor.
SwerveRequest.RobotCentric	withVelocityX(double velocityX)	Sets the velocity in the X direction, in m/s.
SwerveRequest.RobotCentric	withVelocityY(double velocityY)	Sets the velocity in the Y direction, in m/s.

Methods inherited from class java.lang.Object

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

Field Details

VelocityX

public double VelocityX

The velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.

VelocityY

public double VelocityY

The velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.

RotationalRate

public double RotationalRate

The angular rate to rotate at, in radians per second. Angular rate is defined as counterclockwise positive, so this determines how fast to turn counterclockwise.

Deadband

public double Deadband

The allowable deadband of the request.

RotationalDeadband

public double RotationalDeadband

The rotational deadband of the request.

CenterOfRotation

public Translation2d CenterOfRotation

The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.

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

RobotCentric

public RobotCentric()

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

withVelocityX

public SwerveRequest.RobotCentric withVelocityX(double velocityX)

Sets the velocity in the X direction, in m/s. X is defined as forward according to WPILib convention, so this determines how fast to travel forward.

Parameters:

velocityX - Velocity in the X direction, in m/s

Returns:

this request

withVelocityY

public SwerveRequest.RobotCentric withVelocityY(double velocityY)

Sets the velocity in the Y direction, in m/s. Y is defined as to the left according to WPILib convention, so this determines how fast to travel to the left.

Parameters:

velocityY - Velocity in the Y direction, in m/s

Returns:

this request

withRotationalRate

public SwerveRequest.RobotCentric withRotationalRate(double rotationalRate)

The angular rate to rotate at, in radians per second. Angular rate is defined as counterclockwise positive, so this determines how fast to turn counterclockwise.

Parameters:

rotationalRate - Angular rate to rotate at, in radians per second

Returns:

this request

withDeadband

public SwerveRequest.RobotCentric withDeadband(double deadband)

Sets the allowable deadband of the request.

Parameters:

deadband - Allowable deadband of the request

Returns:

this request

withRotationalDeadband

public SwerveRequest.RobotCentric withRotationalDeadband(double rotationalDeadband)

Sets the rotational deadband of the request.

Parameters:

rotationalDeadband - Rotational deadband of the request

Returns:

this request

withCenterOfRotation

public SwerveRequest.RobotCentric withCenterOfRotation(Translation2d centerOfRotation)

Sets the center of rotation of the request

Parameters:

centerOfRotation - The center of rotation the robot should rotate around.

Returns:

this request

withDriveRequestType

public SwerveRequest.RobotCentric 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.RobotCentric 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