| SimSwerveDrivetrain |
Extremely simplified swerve drive simulation class.
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| SwerveDrivetrain |
Swerve Drive class utilizing CTR Electronics' Phoenix 6 API.
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| SwerveDrivetrain.SwerveDriveState |
Plain-Old-Data class holding the state of the swerve drivetrain.
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| SwerveDrivetrainConstants |
Common constants for a swerve drivetrain.
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| SwerveModule |
Swerve Module class that encapsulates a swerve module powered by CTR
Electronics devices.
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| SwerveModuleConstants |
All constants for a swerve module.
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| SwerveModuleConstantsFactory |
Constants that are common across the swerve modules, used
for creating instances of module-specific SwerveModuleConstants. |
| SwerveRequest.ApplyChassisSpeeds |
Accepts a generic ChassisSpeeds to apply to the drivetrain.
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| SwerveRequest.FieldCentric |
Drives the swerve drivetrain in a field-centric manner.
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| SwerveRequest.FieldCentricFacingAngle |
Drives the swerve drivetrain in a field-centric manner, maintaining a
specified heading
angle to ensure the robot is facing the desired direction
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| SwerveRequest.Idle |
Does nothing to the swerve module state.
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| SwerveRequest.PointWheelsAt |
Sets the swerve drive modules to point to a specified direction.
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| SwerveRequest.RobotCentric |
Drives the swerve drivetrain in a robot-centric manner.
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| SwerveRequest.SwerveControlRequestParameters |
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| SwerveRequest.SwerveDriveBrake |
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.
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| SwerveRequest.SysIdSwerveRotation |
SysId-specific SwerveRequest to characterize the rotational
characteristics of a swerve drivetrain.
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| SwerveRequest.SysIdSwerveSteerGains |
SysId-specific SwerveRequest to characterize the steer module
characteristics of a swerve drivetrain.
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| SwerveRequest.SysIdSwerveTranslation |
SysId-specific SwerveRequest to characterize the translational
characteristics of a swerve drivetrain.
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