:py:mod:`phoenix6.swerve.swerve_drivetrain_constants`
=====================================================

.. py:module:: phoenix6.swerve.swerve_drivetrain_constants

Module Contents
---------------


.. py:class:: SwerveDrivetrainConstants


   Common constants for a swerve drivetrain.

   .. py:attribute:: can_bus_name
      :type: str
      :value: 'rio'

      Name of the CAN bus the swerve drive is on. Possible CAN bus strings are:

          - empty string or "rio" for the native roboRIO CAN bus
          - CANivore name or serial number
          - "*" for any CANivore seen by the program

      Note that all devices must be on the same CAN bus.


   .. py:attribute:: pigeon2_id
      :type: int
      :value: 0

      CAN ID of the Pigeon2 on the drivetrain.


   .. py:attribute:: pigeon2_configs
      :type: None | phoenix6.configs.Pigeon2Configuration

      The configuration object to apply to the Pigeon2. This defaults to null. If this
      remains null, then the Pigeon2 will not be configured (and whatever configs are
      on it remain on it). If this is not null, the Pigeon2 will be overwritten with
      these configs.


   .. py:method:: with_can_bus_name(new_can_bus_name: str) -> SwerveDrivetrainConstants

      Modifies the can_bus_name parameter and returns itself.

      Name of the CAN bus the swerve drive is on. Possible CAN bus strings are:

          - empty string or "rio" for the native roboRIO CAN bus
          - CANivore name or serial number
          - "*" for any CANivore seen by the program

      Note that all devices must be on the same CAN bus.

      :param new_can_bus_name: Parameter to modify
      :type new_can_bus_name: str
      :returns: this object
      :rtype: SwerveDrivetrainConstants


   .. py:method:: with_pigeon2_id(new_pigeon2_id: int) -> SwerveDrivetrainConstants

      Modifies the pigeon2_id parameter and returns itself.

      CAN ID of the Pigeon2 on the drivetrain.

      :param new_pigeon2_id: Parameter to modify
      :type new_pigeon2_id: int
      :returns: this object
      :rtype: SwerveDrivetrainConstants


   .. py:method:: with_pigeon2_configs(new_pigeon2_configs: None | phoenix6.configs.Pigeon2Configuration) -> SwerveDrivetrainConstants

      Modifies the pigeon2_configs parameter and returns itself.

      The configuration object to apply to the Pigeon2. This defaults to null. If this
      remains null, then the Pigeon2 will not be configured (and whatever configs are
      on it remain on it). If this is not null, the Pigeon2 will be overwritten with
      these configs.

      :param new_pigeon2_configs: Parameter to modify
      :type new_pigeon2_configs: None | Pigeon2Configuration
      :returns: this object
      :rtype: SwerveDrivetrainConstants