Package com.ctre.phoenix6.swerve

Class SwerveRequest.SysIdSwerveSteerGains

java.lang.Object

com.ctre.phoenix6.swerve.SwerveRequest.SysIdSwerveSteerGains

All Implemented Interfaces:

SwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.SysIdSwerveSteerGains
extends Object
implements SwerveRequest

SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain.

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
double	VoltsToApply	Voltage to apply to steer motors.

Constructor Summary

Constructors

Constructor	Description
SysIdSwerveSteerGains()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveDrivetrain.SwerveControlParameters parameters, SwerveModule<?,?,?>... modulesToApply)	Applies this swerve request to the given modules.
SwerveRequest.SysIdSwerveSteerGains	withVolts(double volts)	Sets the voltage to apply to the steer motors.
SwerveRequest.SysIdSwerveSteerGains	withVolts(Voltage volts)	Sets the voltage to apply to the steer motors.

Methods inherited from class java.lang.Object

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

Field Details

VoltsToApply

public double VoltsToApply

Voltage to apply to steer motors.

Constructor Details

SysIdSwerveSteerGains

public SysIdSwerveSteerGains()

Method Details

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

withVolts

public SwerveRequest.SysIdSwerveSteerGains withVolts(double volts)

Sets the voltage to apply to the steer motors.

Parameters:

volts - Voltage to apply

Returns:

this request

withVolts

public SwerveRequest.SysIdSwerveSteerGains withVolts(Voltage volts)

Sets the voltage to apply to the steer motors.

Parameters:

volts - Voltage to apply

Returns:

this request