Package com.ctre.phoenix6.mechanisms.swerve

Class SwerveRequest.SwerveDriveBrake

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.SwerveRequest.SwerveDriveBrake

All Implemented Interfaces:

SwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.SwerveDriveBrake
extends Object
implements SwerveRequest

Sets the swerve drive module states to point inward on the robot in an "X" fashion, creating a natural brake which will oppose any motion.

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

Constructor Summary

Constructors

Constructor	Description
SwerveDriveBrake()

Method Summary

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

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

SwerveDriveBrake

public SwerveDriveBrake()

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

withDriveRequestType

public SwerveRequest.SwerveDriveBrake 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.SwerveDriveBrake 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