Plain-Old-Data class holding the state of the swerve drivetrain. More...

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

Public Attributes
Pose2d	Pose
	The current pose of the robot.

ChassisSpeeds	Speeds
	The current robot-centric velocity.

std::vector< SwerveModuleState >	ModuleStates
	The current module states.

std::vector< SwerveModuleState >	ModuleTargets
	The target module states.

std::vector< SwerveModulePosition >	ModulePositions
	The current module positions.

Rotation2d	RawHeading
	The raw heading of the robot, unaffected by vision updates and odometry resets.

units::second_t	Timestamp
	The timestamp of the state capture, in the timebase of utils::GetCurrentTime()

units::second_t	OdometryPeriod
	The measured odometry update period.

int32_t	SuccessfulDaqs
	Number of successful data acquisitions.

int32_t	FailedDaqs
	Number of failed data acquisitions.

Detailed Description

Plain-Old-Data class holding the state of the swerve drivetrain.

This encapsulates most data that is relevant for telemetry or decision-making from the Swerve Drive.

Member Data Documentation

◆ FailedDaqs

int32_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::FailedDaqs

Number of failed data acquisitions.

◆ ModulePositions

std::vector<SwerveModulePosition> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::ModulePositions

The current module positions.

◆ ModuleStates

std::vector<SwerveModuleState> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::ModuleStates

The current module states.

◆ ModuleTargets

std::vector<SwerveModuleState> ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::ModuleTargets

The target module states.

◆ OdometryPeriod

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::OdometryPeriod

The measured odometry update period.

◆ Pose

Pose2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::Pose

The current pose of the robot.

◆ RawHeading

Rotation2d ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::RawHeading

The raw heading of the robot, unaffected by vision updates and odometry resets.

◆ Speeds

ChassisSpeeds ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::Speeds

The current robot-centric velocity.

◆ SuccessfulDaqs

int32_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::SuccessfulDaqs

Number of successful data acquisitions.

◆ Timestamp

units::second_t ctre::phoenix6::swerve::impl::SwerveDrivetrainImpl::SwerveDriveState::Timestamp

The timestamp of the state capture, in the timebase of utils::GetCurrentTime()

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

ctre/phoenix6/swerve/impl/SwerveDrivetrainImpl.hpp

Public Attributes