Package com.ctre.phoenix6.swerve

Interface SwerveRequest

All Known Subinterfaces:

SwerveRequest.NativeSwerveRequest

All Known Implementing Classes:

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

public interface SwerveRequest

Container for all the Swerve Requests. Use this to find all applicable swerve drive requests.

This is also an interface common to all swerve drive control requests that allow the request to calculate the state to apply to the modules.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	SwerveRequest.ApplyFieldSpeeds	Accepts a generic field-centric ChassisSpeeds to apply to the drivetrain.
static class	SwerveRequest.ApplyRobotSpeeds	Accepts a generic robot-centric ChassisSpeeds to apply to the drivetrain.
static class	SwerveRequest.FieldCentric	Drives the swerve drivetrain in a field-centric manner.
static class	SwerveRequest.FieldCentricFacingAngle	Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction
static enum	SwerveRequest.ForwardPerspectiveValue	In field-centric control, the direction of "forward" is sometimes different depending on perspective.
static class	SwerveRequest.Idle	Does nothing to the swerve module state.
static interface	SwerveRequest.NativeSwerveRequest	Swerve requests implemented in native code.
static class	SwerveRequest.PointWheelsAt	Sets the swerve drive modules to point to a specified direction.
static class	SwerveRequest.RobotCentric	Drives the swerve drivetrain in a robot-centric manner.
static class	SwerveRequest.RobotCentricFacingAngle	Drives the swerve drivetrain in a robot-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction
static class	SwerveRequest.SwerveDriveBrake	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.
static class	SwerveRequest.SysIdSwerveRotation	SysId-specific SwerveRequest to characterize the rotational characteristics of a swerve drivetrain.
static class	SwerveRequest.SysIdSwerveSteerGains	SysId-specific SwerveRequest to characterize the steer module characteristics of a swerve drivetrain.
static class	SwerveRequest.SysIdSwerveTranslation	SysId-specific SwerveRequest to characterize the translational characteristics of a swerve drivetrain.

Method Summary

Modifier and Type	Method	Description
StatusCode	apply(SwerveDrivetrain.SwerveControlParameters parameters, SwerveModule<?,?,?>... modulesToApply)	Applies this swerve request to the given modules.

Method Details

apply

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

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.

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