ctre::phoenix6::swerve::requests::PointWheelsAt Class Reference

Sets the swerve drive modules to point to a specified direction. More...

#include <ctre/phoenix6/swerve/SwerveRequest.hpp>

Inheritance diagram for ctre::phoenix6::swerve::requests::PointWheelsAt:

Public Member Functions
ctre::phoenix::StatusCode	Apply (SwerveRequest::ControlParameters const &parameters, std::span< std::unique_ptr< impl::SwerveModuleImpl > const > modulesToApply) override
	Applies this swerve request to the given modules.
PointWheelsAt &	WithModuleDirection (Rotation2d newModuleDirection) &
	Modifies the ModuleDirection parameter and returns itself.
PointWheelsAt &&	WithModuleDirection (Rotation2d newModuleDirection) &&
	Modifies the ModuleDirection parameter and returns itself.
PointWheelsAt &	WithDriveRequestType (impl::DriveRequestType newDriveRequestType) &
	Modifies the DriveRequestType parameter and returns itself.
PointWheelsAt &&	WithDriveRequestType (impl::DriveRequestType newDriveRequestType) &&
	Modifies the DriveRequestType parameter and returns itself.
PointWheelsAt &	WithSteerRequestType (impl::SteerRequestType newSteerRequestType) &
	Modifies the SteerRequestType parameter and returns itself.
PointWheelsAt &&	WithSteerRequestType (impl::SteerRequestType newSteerRequestType) &&
	Modifies the SteerRequestType parameter and returns itself.
Public Member Functions inherited from ctre::phoenix6::swerve::requests::SwerveRequest
virtual	~SwerveRequest ()=default

Public Attributes
Rotation2d	ModuleDirection {}
	The direction to point the modules toward.
impl::DriveRequestType	DriveRequestType = impl::DriveRequestType::OpenLoopVoltage
	The type of control request to use for the drive motor.
impl::SteerRequestType	SteerRequestType = impl::SteerRequestType::Position
	The type of control request to use for the steer motor.

Additional Inherited Members
Public Types inherited from ctre::phoenix6::swerve::requests::SwerveRequest
using	ControlParameters = impl::SwerveDrivetrainImpl::ControlParameters

Detailed Description

Sets the swerve drive modules to point to a specified direction.

Member Function Documentation

Apply()

ctre::phoenix::StatusCode ctre::phoenix6::swerve::requests::PointWheelsAt::Apply ( SwerveRequest::ControlParameters const & parameters, std::span< std::unique_ptr< impl::SwerveModuleImpl > const > modulesToApply )

inlineoverridevirtual

Applies this swerve request to the given modules.

This is typically called by the SwerveDrivetrain.

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

Implements ctre::phoenix6::swerve::requests::SwerveRequest.

WithDriveRequestType() [1/2]

PointWheelsAt & ctre::phoenix6::swerve::requests::PointWheelsAt::WithDriveRequestType ( impl::DriveRequestType newDriveRequestType ) &

inline

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

WithDriveRequestType() [2/2]

PointWheelsAt && ctre::phoenix6::swerve::requests::PointWheelsAt::WithDriveRequestType ( impl::DriveRequestType newDriveRequestType ) &&

inline

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

WithModuleDirection() [1/2]

PointWheelsAt & ctre::phoenix6::swerve::requests::PointWheelsAt::WithModuleDirection ( Rotation2d newModuleDirection ) &

inline

Modifies the ModuleDirection parameter and returns itself.

The direction to point the modules toward. This direction is still optimized to what the module was previously at.

Parameters

newModuleDirection

Parameter to modify

Returns

this object

WithModuleDirection() [2/2]

PointWheelsAt && ctre::phoenix6::swerve::requests::PointWheelsAt::WithModuleDirection ( Rotation2d newModuleDirection ) &&

inline

Modifies the ModuleDirection parameter and returns itself.

The direction to point the modules toward. This direction is still optimized to what the module was previously at.

Parameters

newModuleDirection

Parameter to modify

Returns

this object

WithSteerRequestType() [1/2]

PointWheelsAt & ctre::phoenix6::swerve::requests::PointWheelsAt::WithSteerRequestType ( impl::SteerRequestType newSteerRequestType ) &

inline

Modifies the SteerRequestType parameter and returns itself.

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

Parameters

newSteerRequestType

Parameter to modify

Returns

this object

WithSteerRequestType() [2/2]

PointWheelsAt && ctre::phoenix6::swerve::requests::PointWheelsAt::WithSteerRequestType ( impl::SteerRequestType newSteerRequestType ) &&

inline

Modifies the SteerRequestType parameter and returns itself.

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

Parameters

newSteerRequestType

Parameter to modify

Returns

this object

Member Data Documentation

DriveRequestType

impl::DriveRequestType ctre::phoenix6::swerve::requests::PointWheelsAt::DriveRequestType = impl::DriveRequestType::OpenLoopVoltage

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

ModuleDirection

Rotation2d ctre::phoenix6::swerve::requests::PointWheelsAt::ModuleDirection {}

The direction to point the modules toward.

This direction is still optimized to what the module was previously at.

SteerRequestType

impl::SteerRequestType ctre::phoenix6::swerve::requests::PointWheelsAt::SteerRequestType = impl::SteerRequestType::Position

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

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The documentation for this class was generated from the following file:

• ctre/phoenix6/swerve/SwerveRequest.hpp