Class SwerveRequest.ApplyRobotVelocity

java.lang.Object
com.ctre.phoenix6.swerve.SwerveRequest.ApplyRobotVelocity
All Implemented Interfaces:
SwerveRequest, SwerveRequest.NativeSwerveRequest
Enclosing interface:
SwerveRequest
public static class SwerveRequest.ApplyRobotVelocity extends Object implements SwerveRequest.NativeSwerveRequest
Accepts a generic robot-centric ChassisVelocities to apply to the drivetrain. This request is optimized for autonomous or profiled control, which typically directly provides ChassisVelocities and optionally wheel force feedforwards.

Unlike the field-centric requests, this request does not automatically discretize the provided ChassisVelocities.

  • Field Details

    • Velocity

      public ChassisVelocities Velocity
      The robot-centric chassis velocity to apply to the drivetrain. Users must manually discretize the velocity if appropriate.

    • WheelForceFeedforwardsX

      public double[] WheelForceFeedforwardsX
      Robot-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
      Robot-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.

    • DesaturateWheelVelocities

      public boolean DesaturateWheelVelocities
      Whether to desaturate wheel velocities before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelVelocities(SwerveModuleVelocity[], double).

  • Constructor Details

    • ApplyRobotVelocity

      public ApplyRobotVelocity()

  • Method Details

    • withVelocity

      public final SwerveRequest.ApplyRobotVelocity withVelocity(ChassisVelocities newVelocity)
      Modifies the Velocity parameter and returns itself.

      The robot-centric chassis velocity to apply to the drivetrain. Users must manually discretize the velocity if appropriate.

      Parameters:
      newVelocity - Parameter to modify
      Returns:
      this object

    • withWheelForceFeedforwardsX

      public final SwerveRequest.ApplyRobotVelocity withWheelForceFeedforwardsX(double[] newWheelForceFeedforwardsX)
      Modifies the WheelForceFeedforwardsX parameter and returns itself.

      Robot-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 final SwerveRequest.ApplyRobotVelocity withWheelForceFeedforwardsX(Force[] newWheelForceFeedforwardsX)
      Modifies the WheelForceFeedforwardsX parameter and returns itself.

      Robot-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 final SwerveRequest.ApplyRobotVelocity withWheelForceFeedforwardsY(double[] newWheelForceFeedforwardsY)
      Modifies the WheelForceFeedforwardsY parameter and returns itself.

      Robot-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 final SwerveRequest.ApplyRobotVelocity withWheelForceFeedforwardsY(Force[] newWheelForceFeedforwardsY)
      Modifies the WheelForceFeedforwardsY parameter and returns itself.

      Robot-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 final SwerveRequest.ApplyRobotVelocity 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 final SwerveRequest.ApplyRobotVelocity 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 final SwerveRequest.ApplyRobotVelocity 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

    • withDesaturateWheelVelocities

      public final SwerveRequest.ApplyRobotVelocity withDesaturateWheelVelocities(boolean newDesaturateWheelVelocities)
      Modifies the DesaturateWheelVelocities parameter and returns itself.

      Whether to desaturate wheel velocities before applying. For more information, see the documentation of SwerveDriveKinematics.desaturateWheelVelocities(SwerveModuleVelocity[], double).

      Parameters:
      newDesaturateWheelVelocities - 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(SwerveDrivetrain.SwerveControlParameters, 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(SwerveDrivetrain.SwerveControlParameters, SwerveModule...), this function is called every time SwerveDrivetrain.setControl(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