ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains Class Reference

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

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

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

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.
SysIdSwerveSteerGains &	WithVolts (units::volt_t volts) &
	Update the voltage to apply to the drive wheels.
SysIdSwerveSteerGains &&	WithVolts (units::volt_t volts) &&
	Update the voltage to apply to the drive wheels.
Public Member Functions inherited from ctre::phoenix6::swerve::requests::SwerveRequest
virtual	~SwerveRequest ()=default

Public Attributes
units::volt_t	VoltsToApply = 0_V
	Voltage to apply to drive wheels.

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

Detailed Description

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

Member Function Documentation

Apply()

ctre::phoenix::StatusCode ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains::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.

WithVolts() [1/2]

SysIdSwerveSteerGains & ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains::WithVolts ( units::volt_t volts ) &

inline

Update the voltage to apply to the drive wheels.

Parameters

volts

Voltage to apply

Returns

this request

WithVolts() [2/2]

SysIdSwerveSteerGains && ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains::WithVolts ( units::volt_t volts ) &&

inline

Update the voltage to apply to the drive wheels.

Parameters

volts

Voltage to apply

Returns

this request

Member Data Documentation

VoltsToApply

units::volt_t ctre::phoenix6::swerve::requests::SysIdSwerveSteerGains::VoltsToApply = 0_V

Voltage to apply to drive wheels.

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

• ctre/phoenix6/swerve/SwerveRequest.hpp