Package com.ctre.phoenix6.swerve.utility

Class WheelForceCalculator.Feedforwards

java.lang.Object

com.ctre.phoenix6.swerve.utility.WheelForceCalculator.Feedforwards

Enclosing class:

WheelForceCalculator

public static class WheelForceCalculator.Feedforwards
extends Object

Wheel force feedforwards to apply to a swerve drivetrain.

Field Summary

Fields

Modifier and Type	Field	Description
final double[]	x_newtons	The X component of the forces in Newtons.
final double[]	y_newtons	The Y component of the forces in Newtons.

Constructor Summary

Constructors

Constructor	Description
Feedforwards(int numModules)	Constructs a new set of wheel force feedforwards.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

x_newtons

public final double[] x_newtons

The X component of the forces in Newtons.

y_newtons

public final double[] y_newtons

The Y component of the forces in Newtons.

Constructor Details

Feedforwards

public Feedforwards(int numModules)

Constructs a new set of wheel force feedforwards.

Parameters:

numModules - The number of swerve modules