Package com.ctre.phoenix6.swerve

Class SwerveRequest.FieldCentric

java.lang.Object

com.ctre.phoenix6.swerve.SwerveRequest.FieldCentric

All Implemented Interfaces:

SwerveRequest, SwerveRequest.NativeSwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.FieldCentric
extends Object
implements SwerveRequest.NativeSwerveRequest

Drives the swerve drivetrain in a field-centric manner.

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

Nested Class Summary

Nested classes/interfaces inherited from interface com.ctre.phoenix6.swerve.SwerveRequest

SwerveRequest.ApplyChassisSpeeds, SwerveRequest.ApplyFieldSpeeds, SwerveRequest.ApplyRobotSpeeds, SwerveRequest.FieldCentric, SwerveRequest.FieldCentricFacingAngle, SwerveRequest.ForwardPerspectiveValue, SwerveRequest.Idle, SwerveRequest.NativeSwerveRequest, SwerveRequest.PointWheelsAt, SwerveRequest.RobotCentric, 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, in m/s.
boolean	DesaturateWheelSpeeds	Whether to desaturate wheel speeds before applying.
SwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
SwerveRequest.ForwardPerspectiveValue	ForwardPerspective	The perspective to use when determining which direction is forward.
double	RotationalDeadband	The rotational deadband of the request, in radians per second.
double	RotationalRate	The angular rate to rotate at, in radians per second.
SwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the drive 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
FieldCentric()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveDrivetrain.SwerveControlParameters parameters, SwerveModule<?,?,?>... modulesToApply)	Applies this swerve request to the given modules.
void	applyNative(int id)	Applies a native swerve request to the native drivetrain with the provided ID.
SwerveRequest.FieldCentric	withCenterOfRotation(Translation2d newCenterOfRotation)	Modifies the CenterOfRotation parameter and returns itself.
SwerveRequest.FieldCentric	withDeadband(double newDeadband)	Modifies the Deadband parameter and returns itself.
SwerveRequest.FieldCentric	withDeadband(LinearVelocity newDeadband)	Modifies the Deadband parameter and returns itself.
SwerveRequest.FieldCentric	withDesaturateWheelSpeeds(boolean newDesaturateWheelSpeeds)	Modifies the DesaturateWheelSpeeds parameter and returns itself.
SwerveRequest.FieldCentric	withDriveRequestType(SwerveModule.DriveRequestType newDriveRequestType)	Modifies the DriveRequestType parameter and returns itself.
SwerveRequest.FieldCentric	withForwardPerspective(SwerveRequest.ForwardPerspectiveValue newForwardPerspective)	Modifies the ForwardPerspective parameter and returns itself.
SwerveRequest.FieldCentric	withRotationalDeadband(double newRotationalDeadband)	Modifies the RotationalDeadband parameter and returns itself.
SwerveRequest.FieldCentric	withRotationalDeadband(AngularVelocity newRotationalDeadband)	Modifies the RotationalDeadband parameter and returns itself.
SwerveRequest.FieldCentric	withRotationalRate(double newRotationalRate)	Modifies the RotationalRate parameter and returns itself.
SwerveRequest.FieldCentric	withRotationalRate(AngularVelocity newRotationalRate)	Modifies the RotationalRate parameter and returns itself.
SwerveRequest.FieldCentric	withSteerRequestType(SwerveModule.SteerRequestType newSteerRequestType)	Modifies the SteerRequestType parameter and returns itself.
SwerveRequest.FieldCentric	withVelocityX(double newVelocityX)	Modifies the VelocityX parameter and returns itself.
SwerveRequest.FieldCentric	withVelocityX(LinearVelocity newVelocityX)	Modifies the VelocityX parameter and returns itself.
SwerveRequest.FieldCentric	withVelocityY(double newVelocityY)	Modifies the VelocityY parameter and returns itself.
SwerveRequest.FieldCentric	withVelocityY(LinearVelocity newVelocityY)	Modifies the VelocityY parameter and returns itself.

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, in m/s.

RotationalDeadband

public double RotationalDeadband

The rotational deadband of the request, in radians per second.

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 drive motor.

DesaturateWheelSpeeds

public boolean DesaturateWheelSpeeds

Whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

ForwardPerspective

public SwerveRequest.ForwardPerspectiveValue ForwardPerspective

The perspective to use when determining which direction is forward.

Constructor Details

FieldCentric

public FieldCentric()

Method Details

withVelocityX

public SwerveRequest.FieldCentric withVelocityX(double newVelocityX)

Modifies the VelocityX parameter and returns itself.

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:

newVelocityX - Parameter to modify

Returns:

this object

withVelocityX

public SwerveRequest.FieldCentric withVelocityX(LinearVelocity newVelocityX)

Modifies the VelocityX parameter and returns itself.

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:

newVelocityX - Parameter to modify

Returns:

this object

withVelocityY

public SwerveRequest.FieldCentric withVelocityY(double newVelocityY)

Modifies the VelocityY parameter and returns itself.

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:

newVelocityY - Parameter to modify

Returns:

this object

withVelocityY

public SwerveRequest.FieldCentric withVelocityY(LinearVelocity newVelocityY)

Modifies the VelocityY parameter and returns itself.

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:

newVelocityY - Parameter to modify

Returns:

this object

withRotationalRate

public SwerveRequest.FieldCentric withRotationalRate(double newRotationalRate)

Modifies the RotationalRate parameter and returns itself.

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:

newRotationalRate - Parameter to modify

Returns:

this object

withRotationalRate

public SwerveRequest.FieldCentric withRotationalRate(AngularVelocity newRotationalRate)

Modifies the RotationalRate parameter and returns itself.

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:

newRotationalRate - Parameter to modify

Returns:

this object

withDeadband

public SwerveRequest.FieldCentric withDeadband(double newDeadband)

Modifies the Deadband parameter and returns itself.

The allowable deadband of the request, in m/s.

Parameters:

newDeadband - Parameter to modify

Returns:

this object

withDeadband

public SwerveRequest.FieldCentric withDeadband(LinearVelocity newDeadband)

Modifies the Deadband parameter and returns itself.

The allowable deadband of the request, in m/s.

Parameters:

newDeadband - Parameter to modify

Returns:

this object

withRotationalDeadband

public SwerveRequest.FieldCentric withRotationalDeadband(double newRotationalDeadband)

Modifies the RotationalDeadband parameter and returns itself.

The rotational deadband of the request, in radians per second.

Parameters:

newRotationalDeadband - Parameter to modify

Returns:

this object

withRotationalDeadband

public SwerveRequest.FieldCentric withRotationalDeadband(AngularVelocity newRotationalDeadband)

Modifies the RotationalDeadband parameter and returns itself.

The rotational deadband of the request, in radians per second.

Parameters:

newRotationalDeadband - Parameter to modify

Returns:

this object

withCenterOfRotation

public SwerveRequest.FieldCentric withCenterOfRotation(Translation2d newCenterOfRotation)

Modifies the CenterOfRotation parameter and returns itself.

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

Parameters:

newCenterOfRotation - Parameter to modify

Returns:

this object

withDriveRequestType

public SwerveRequest.FieldCentric withDriveRequestType(SwerveModule.DriveRequestType newDriveRequestType)

Modifies the DriveRequestType parameter and returns itself.

The type of control request to use for the drive motor.

Parameters:

newDriveRequestType - Parameter to modify

Returns:

this object

withSteerRequestType

public SwerveRequest.FieldCentric withSteerRequestType(SwerveModule.SteerRequestType newSteerRequestType)

Modifies the SteerRequestType parameter and returns itself.

The type of control request to use for the drive motor.

Parameters:

newSteerRequestType - Parameter to modify

Returns:

this object

withDesaturateWheelSpeeds

public SwerveRequest.FieldCentric withDesaturateWheelSpeeds(boolean newDesaturateWheelSpeeds)

Modifies the DesaturateWheelSpeeds parameter and returns itself.

Whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

Parameters:

newDesaturateWheelSpeeds - Parameter to modify

Returns:

this object

withForwardPerspective

public SwerveRequest.FieldCentric withForwardPerspective(SwerveRequest.ForwardPerspectiveValue newForwardPerspective)

Modifies the ForwardPerspective parameter and returns itself.

The perspective to use when determining which direction is forward.

Parameters:

newForwardPerspective - Parameter to modify

Returns:

this object

apply

public StatusCode apply(SwerveDrivetrain.SwerveControlParameters parameters,
 SwerveModule<?,?,?>... modulesToApply)

Description copied from interface: SwerveRequest

Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain odometry thread.

For native swerve requests, this API can be called from a non-native request's apply to compose the two together.

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

applyNative

public void applyNative(int id)

Description copied from interface: SwerveRequest.NativeSwerveRequest

Applies a native swerve request to the native drivetrain with the provided ID.

When this is implemented, the regular SwerveRequest.apply(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveModule<?, ?, ?>...) function should do nothing (return OK). Additionally, this cannot be called from another swerve request's apply method, as this overrides the native swerve request of the drivetrain.

Unlike SwerveRequest.apply(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveModule<?, ?, ?>...), this function is called every time SwerveDrivetrain.setControl(com.ctre.phoenix6.swerve.SwerveRequest) is run, not every loop of the odometry thread. Instead, the underlying native request is run at the full update frequency of the odometry thread.

Specified by:

applyNative in interface SwerveRequest.NativeSwerveRequest

Parameters:

id - ID of the native swerve drivetrain