Package com.ctre.phoenix6.swerve

Class SwerveRequest.ApplyFieldSpeeds

java.lang.Object

com.ctre.phoenix6.swerve.SwerveRequest.ApplyFieldSpeeds

All Implemented Interfaces:

SwerveRequest, SwerveRequest.NativeSwerveRequest

Enclosing interface:

SwerveRequest

public static class SwerveRequest.ApplyFieldSpeeds
extends Object
implements SwerveRequest.NativeSwerveRequest

Accepts a generic field-centric ChassisSpeeds to apply to the drivetrain. This request is optimized for autonomous or profiled control, which typically directly provides ChassisSpeeds and optionally wheel force feedforwards.

Nested Class Summary

Nested classes/interfaces inherited from interface com.ctre.phoenix6.swerve.SwerveRequest

SwerveRequest.ApplyFieldSpeeds, SwerveRequest.ApplyRobotSpeeds, SwerveRequest.FieldCentric, SwerveRequest.FieldCentricFacingAngle, SwerveRequest.ForwardPerspectiveValue, SwerveRequest.Idle, SwerveRequest.NativeSwerveRequest, SwerveRequest.PointWheelsAt, SwerveRequest.RobotCentric, SwerveRequest.RobotCentricFacingAngle, SwerveRequest.SwerveDriveBrake, SwerveRequest.SysIdSwerveRotation, SwerveRequest.SysIdSwerveSteerGains, SwerveRequest.SysIdSwerveTranslation, SwerveRequest.TargetDirectionPerspectiveValue

Field Summary

Fields

Modifier and Type	Field	Description
Translation2d	CenterOfRotation	The center of rotation the robot should rotate around.
boolean	DesaturateWheelSpeeds	Whether to desaturate wheel speeds before applying.
SwerveModule.DriveRequestType	DriveRequestType	The type of control request to use for the drive motor.
SwerveRequest.ForwardPerspectiveValue	ForwardPerspective	The perspective to use when determining which direction is forward.
ChassisSpeeds	Speeds	The field-centric chassis speeds to apply to the drivetrain.
SwerveModule.SteerRequestType	SteerRequestType	The type of control request to use for the drive motor.
double[]	WheelForceFeedforwardsX	Field-centric wheel force feedforwards to apply in the X direction, in newtons.
double[]	WheelForceFeedforwardsY	Field-centric wheel force feedforwards to apply in the Y direction, in newtons.

Constructor Summary

Constructors

Constructor	Description
ApplyFieldSpeeds()

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveDrivetrain.SwerveControlParameters parameters, SwerveModule<?,?,?>... modulesToApply)	Applies this swerve request to the given modules.
void	applyNative(int id)	Applies a native swerve request to the native drivetrain with the provided ID.
SwerveRequest.ApplyFieldSpeeds	withCenterOfRotation(Translation2d newCenterOfRotation)	Modifies the CenterOfRotation parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withDesaturateWheelSpeeds(boolean newDesaturateWheelSpeeds)	Modifies the DesaturateWheelSpeeds parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withDriveRequestType(SwerveModule.DriveRequestType newDriveRequestType)	Modifies the DriveRequestType parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withForwardPerspective(SwerveRequest.ForwardPerspectiveValue newForwardPerspective)	Modifies the ForwardPerspective parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withSpeeds(ChassisSpeeds newSpeeds)	Modifies the Speeds parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withSteerRequestType(SwerveModule.SteerRequestType newSteerRequestType)	Modifies the SteerRequestType parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withWheelForceFeedforwardsX(double[] newWheelForceFeedforwardsX)	Modifies the WheelForceFeedforwardsX parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withWheelForceFeedforwardsX(Force[] newWheelForceFeedforwardsX)	Modifies the WheelForceFeedforwardsX parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withWheelForceFeedforwardsY(double[] newWheelForceFeedforwardsY)	Modifies the WheelForceFeedforwardsY parameter and returns itself.
SwerveRequest.ApplyFieldSpeeds	withWheelForceFeedforwardsY(Force[] newWheelForceFeedforwardsY)	Modifies the WheelForceFeedforwardsY parameter and returns itself.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

Speeds

public ChassisSpeeds Speeds

The field-centric chassis speeds to apply to the drivetrain.

WheelForceFeedforwardsX

public double[] WheelForceFeedforwardsX

Field-centric wheel force feedforwards to apply in the X direction, in newtons. X is defined as forward according to WPILib convention, so this determines the forward forces to apply.

These forces should include friction applied to the ground.

The order of the forces should match the order of the modules returned from SwerveDrivetrain.

WheelForceFeedforwardsY

public double[] WheelForceFeedforwardsY

Field-centric wheel force feedforwards to apply in the Y direction, in newtons. Y is defined as to the left according to WPILib convention, so this determines the forces to apply to the left.

These forces should include friction applied to the ground.

The order of the forces should match the order of the modules returned from SwerveDrivetrain.

CenterOfRotation

public Translation2d CenterOfRotation

The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.

DriveRequestType

public SwerveModule.DriveRequestType DriveRequestType

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

SteerRequestType

public SwerveModule.SteerRequestType SteerRequestType

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

DesaturateWheelSpeeds

public boolean DesaturateWheelSpeeds

Whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

ForwardPerspective

public SwerveRequest.ForwardPerspectiveValue ForwardPerspective

The perspective to use when determining which direction is forward.

Constructor Details

ApplyFieldSpeeds

public ApplyFieldSpeeds()

Method Details

withSpeeds

public SwerveRequest.ApplyFieldSpeeds withSpeeds(ChassisSpeeds newSpeeds)

Modifies the Speeds parameter and returns itself.

The field-centric chassis speeds to apply to the drivetrain.

Parameters:

newSpeeds - Parameter to modify

Returns:

this object

withWheelForceFeedforwardsX

public SwerveRequest.ApplyFieldSpeeds withWheelForceFeedforwardsX(double[] newWheelForceFeedforwardsX)

Modifies the WheelForceFeedforwardsX parameter and returns itself.

Field-centric wheel force feedforwards to apply in the X direction, in newtons. X is defined as forward according to WPILib convention, so this determines the forward forces to apply.

These forces should include friction applied to the ground.

The order of the forces should match the order of the modules returned from SwerveDrivetrain.

Parameters:

newWheelForceFeedforwardsX - Parameter to modify

Returns:

this object

withWheelForceFeedforwardsX

public SwerveRequest.ApplyFieldSpeeds withWheelForceFeedforwardsX(Force[] newWheelForceFeedforwardsX)

Modifies the WheelForceFeedforwardsX parameter and returns itself.

Field-centric wheel force feedforwards to apply in the X direction, in newtons. X is defined as forward according to WPILib convention, so this determines the forward forces to apply.

These forces should include friction applied to the ground.

The order of the forces should match the order of the modules returned from SwerveDrivetrain.

Parameters:

newWheelForceFeedforwardsX - Parameter to modify

Returns:

this object

withWheelForceFeedforwardsY

public SwerveRequest.ApplyFieldSpeeds withWheelForceFeedforwardsY(double[] newWheelForceFeedforwardsY)

Modifies the WheelForceFeedforwardsY parameter and returns itself.

Field-centric wheel force feedforwards to apply in the Y direction, in newtons. Y is defined as to the left according to WPILib convention, so this determines the forces to apply to the left.

These forces should include friction applied to the ground.

The order of the forces should match the order of the modules returned from SwerveDrivetrain.

Parameters:

newWheelForceFeedforwardsY - Parameter to modify

Returns:

this object

withWheelForceFeedforwardsY

public SwerveRequest.ApplyFieldSpeeds withWheelForceFeedforwardsY(Force[] newWheelForceFeedforwardsY)

Modifies the WheelForceFeedforwardsY parameter and returns itself.

Field-centric wheel force feedforwards to apply in the Y direction, in newtons. Y is defined as to the left according to WPILib convention, so this determines the forces to apply to the left.

These forces should include friction applied to the ground.

The order of the forces should match the order of the modules returned from SwerveDrivetrain.

Parameters:

newWheelForceFeedforwardsY - Parameter to modify

Returns:

this object

withCenterOfRotation

public SwerveRequest.ApplyFieldSpeeds withCenterOfRotation(Translation2d newCenterOfRotation)

Modifies the CenterOfRotation parameter and returns itself.

The center of rotation the robot should rotate around. This is (0,0) by default, which will rotate around the center of the robot.

Parameters:

newCenterOfRotation - Parameter to modify

Returns:

this object

withDriveRequestType

public SwerveRequest.ApplyFieldSpeeds withDriveRequestType(SwerveModule.DriveRequestType newDriveRequestType)

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

withSteerRequestType

public SwerveRequest.ApplyFieldSpeeds withSteerRequestType(SwerveModule.SteerRequestType newSteerRequestType)

Modifies the SteerRequestType parameter and returns itself.

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

Parameters:

newSteerRequestType - Parameter to modify

Returns:

this object

withDesaturateWheelSpeeds

public SwerveRequest.ApplyFieldSpeeds withDesaturateWheelSpeeds(boolean newDesaturateWheelSpeeds)

Modifies the DesaturateWheelSpeeds parameter and returns itself.

Whether to desaturate wheel speeds before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelSpeeds(edu.wpi.first.math.kinematics.SwerveModuleState[], double).

Parameters:

newDesaturateWheelSpeeds - Parameter to modify

Returns:

this object

withForwardPerspective

public SwerveRequest.ApplyFieldSpeeds withForwardPerspective(SwerveRequest.ForwardPerspectiveValue newForwardPerspective)

Modifies the ForwardPerspective parameter and returns itself.

The perspective to use when determining which direction is forward.

Parameters:

newForwardPerspective - Parameter to modify

Returns:

this object

apply

public StatusCode apply(SwerveDrivetrain.SwerveControlParameters parameters,
 SwerveModule<?,?,?>... modulesToApply)

Description copied from interface: SwerveRequest

Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain odometry thread.

For native swerve requests, this API can be called from a non-native request's apply to compose the two together.

Specified by:

apply in interface SwerveRequest

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

applyNative

public void applyNative(int id)

Description copied from interface: SwerveRequest.NativeSwerveRequest

Applies a native swerve request to the native drivetrain with the provided ID.

When this is implemented, the regular SwerveRequest.apply(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveModule<?, ?, ?>...) function should do nothing (return OK). Additionally, this cannot be called from another swerve request's apply method, as this overrides the native swerve request of the drivetrain.

Unlike SwerveRequest.apply(com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveControlParameters, com.ctre.phoenix6.swerve.SwerveModule<?, ?, ?>...), this function is called every time SwerveDrivetrain.setControl(com.ctre.phoenix6.swerve.SwerveRequest) is run, not every loop of the odometry thread. Instead, the underlying native request is run at the full update frequency of the odometry thread.

Specified by:

applyNative in interface SwerveRequest.NativeSwerveRequest

Parameters:

id - ID of the native swerve drivetrain