Package com.ctre.phoenix6.mechanisms.swerve
package com.ctre.phoenix6.mechanisms.swerve
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ClassDescriptionExtremely simplified swerve drive simulation class.Swerve Drive class utilizing CTR Electronics' Phoenix 6 API.Plain-Old-Data class holding the state of the swerve drivetrain.Common constants for a swerve drivetrain.Swerve Module class that encapsulates a swerve module powered by CTR Electronics devices.Supported closed-loop output types.All possible control requests for the module drive motor.All possible control requests for the module steer motor.All constants for a swerve module.Supported feedback sensors for the steer motors.Constants that are common across the swerve modules, used for creating instances of module-specific
LegacySwerveModuleConstants.Container for all the Swerve Requests.Accepts a generic ChassisSpeeds to apply to the drivetrain.Drives the swerve drivetrain in a field-centric manner.Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired directionThe reference for "forward" is sometimes different if you're talking about field relative.Does nothing to the swerve module state.Sets the swerve drive modules to point to a specified direction.Drives the swerve drivetrain in a robot-centric manner.Sets the swerve drive module states to point inward on the robot in an "X" fashion, creating a natural brake which will oppose any motion.SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain.SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain.SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain.