ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters Struct Reference

Contains everything the control requests need to calculate the module state. More...

#include <ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp>

Public Attributes
impl::SwerveDriveKinematics *	kinematics
	The kinematics object used for control.
Translation2d const *	moduleLocations
	The locations of the swerve modules.
units::meters_per_second_t	kMaxSpeed
	The max speed of the robot at 12 V output.
Rotation2d	operatorForwardDirection
	The forward direction from the operator perspective.
ChassisSpeeds	currentChassisSpeed
	The current robot-centric chassis speeds.
Pose2d	currentPose
	The current pose of the robot.
units::second_t	timestamp
	The timestamp of the current control apply, in the timebase of utils::GetCurrentTime()
units::second_t	updatePeriod
	The update period of control apply.

Detailed Description

Contains everything the control requests need to calculate the module state.

Member Data Documentation

currentChassisSpeed

ChassisSpeeds ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::currentChassisSpeed

The current robot-centric chassis speeds.

currentPose

Pose2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::currentPose

The current pose of the robot.

kinematics

impl::SwerveDriveKinematics* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::kinematics

The kinematics object used for control.

kMaxSpeed

units::meters_per_second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::kMaxSpeed

The max speed of the robot at 12 V output.

moduleLocations

Translation2d const* ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::moduleLocations

The locations of the swerve modules.

operatorForwardDirection

Rotation2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::operatorForwardDirection

The forward direction from the operator perspective.

timestamp

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::timestamp

The timestamp of the current control apply, in the timebase of utils::GetCurrentTime()

updatePeriod

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::ControlParameters::updatePeriod

The update period of control apply.

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

• ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp