Enum Class SwerveRequest.TargetDirectionPerspectiveValue

java.lang.Object

java.lang.Enum<SwerveRequest.TargetDirectionPerspectiveValue>

com.ctre.phoenix6.swerve.SwerveRequest.TargetDirectionPerspectiveValue

All Implemented Interfaces:

Serializable, Comparable<SwerveRequest.TargetDirectionPerspectiveValue>, Constable

Enclosing interface:

SwerveRequest

public static enum SwerveRequest.TargetDirectionPerspectiveValue
extends Enum<SwerveRequest.TargetDirectionPerspectiveValue>

In field-centric control, the direction of "forward" for the target direction sometimes differs from "forward" for translation. This addresses which forward to use.

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
BlueAlliance	"Forward" (0 deg) is always from the perspective of the blue alliance (i.e.
UseForwardPerspective	Match the ForwardPerspective parameter for heading control.

Field Summary

Fields

Modifier and Type	Field	Description
final int	value

Method Summary

Modifier and Type	Method	Description
static SwerveRequest.TargetDirectionPerspectiveValue	valueOf(int value)	Gets TargetDirectionPerspectiveValue from specified value
static SwerveRequest.TargetDirectionPerspectiveValue	valueOf(String name)	Returns the enum constant of this class with the specified name.
static SwerveRequest.TargetDirectionPerspectiveValue[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

UseForwardPerspective

public static final SwerveRequest.TargetDirectionPerspectiveValue UseForwardPerspective

Match the ForwardPerspective parameter for heading control.

BlueAlliance

public static final SwerveRequest.TargetDirectionPerspectiveValue BlueAlliance

"Forward" (0 deg) is always from the perspective of the blue alliance (i.e. towards the red alliance). This can be used to allow for the robot rotation to track vision targets while using operator-perspective joystick control for translation.

Field Details

value

public final int value

Method Details

values

public static SwerveRequest.TargetDirectionPerspectiveValue[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static SwerveRequest.TargetDirectionPerspectiveValue valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null

valueOf

public static SwerveRequest.TargetDirectionPerspectiveValue valueOf(int value)

Gets TargetDirectionPerspectiveValue from specified value

Parameters:

value - Value of TargetDirectionPerspectiveValue

Returns:

TargetDirectionPerspectiveValue of specified value