SwerveRequest.NativeSwerveRequest (var27 API)

All Superinterfaces:: SwerveRequest

All Known Implementing Classes:: SwerveRequest.ApplyFieldVelocity, SwerveRequest.ApplyRobotVelocity, SwerveRequest.FieldCentric, SwerveRequest.Idle, SwerveRequest.PointWheelsAt, SwerveRequest.RobotCentric, SwerveRequest.SwerveDriveBrake

Enclosing interface:: SwerveRequest

public static interface SwerveRequest.NativeSwerveRequest extends SwerveRequest

Swerve requests implemented in native code.

Nested Class Summary

Nested classes/interfaces inherited from interface SwerveRequest
SwerveRequest.ApplyFieldVelocity, SwerveRequest.ApplyRobotVelocity, 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
Method Summary

Modifier and Type

Method

Description

void

applyNative(int id)

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

Methods inherited from interface SwerveRequest
apply

Method Details
- applyNative
  
  void applyNative(int id)
  
  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.
  
  Parameters:
  
  id - ID of the native swerve drivetrain