Package com.marswars.swerve_lib

Class ChassisRequest.ApplyFieldSpeeds

java.lang.Object

com.marswars.swerve_lib.ChassisRequest.ApplyFieldSpeeds

All Implemented Interfaces:

ChassisRequest

Enclosing interface:

ChassisRequest

public static class ChassisRequest.ApplyFieldSpeeds
extends Object
implements ChassisRequest

Accepts a generic Field Relative ChassisSpeeds to apply to the drivetrain.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marswars.swerve_lib.ChassisRequest

ChassisRequest.ApplyChassisSpeeds, ChassisRequest.ApplyFieldSpeeds, ChassisRequest.ChassisRequestParameters, ChassisRequest.FieldCentric, ChassisRequest.FieldCentricFacingAngle, ChassisRequest.Idle, ChassisRequest.PointWheelsAt, ChassisRequest.RobotCentric, ChassisRequest.RobotCentricFacingAngle, ChassisRequest.SwerveDriveBrake, ChassisRequest.XPositiveReference

Field Summary

Fields

Modifier and Type	Field	Description
Translation2d	CenterOfRotation	The center of rotation the robot should rotate around.
Module.DriveControlMode	DriveRequestType	The type of control request to use for the drive motor.
ChassisSpeeds	Speeds	The chassis speeds to apply to the drivetrain.
Module.SteerControlMode	SteerRequestType	The type of control request to use for the steer motor.

Constructor Summary

Constructors

Constructor	Description
ApplyFieldSpeeds()

Method Summary

Modifier and Type	Method	Description
void	apply(ChassisRequest.ChassisRequestParameters parameters, Module... modulesToApply)	Applies this swerve request to the given modules.
ChassisRequest.ApplyFieldSpeeds	withCenterOfRotation(Translation2d centerOfRotation)	Sets the center of rotation of the request
ChassisRequest.ApplyFieldSpeeds	withDriveRequestType(Module.DriveControlMode driveRequestType)	Sets the type of control request to use for the drive motor.
ChassisRequest.ApplyFieldSpeeds	withSpeeds(ChassisSpeeds speeds)	Sets the chassis speeds to apply to the drivetrain.
ChassisRequest.ApplyFieldSpeeds	withSteerRequestType(Module.SteerControlMode steerRequestType)	Sets the type of control request to use for the steer motor.

Methods inherited from class java.lang.Object

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

Field Details

Speeds

public ChassisSpeeds Speeds

The chassis speeds to apply to the drivetrain.

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 Module.DriveControlMode DriveRequestType

The type of control request to use for the drive motor.

SteerRequestType

public Module.SteerControlMode SteerRequestType

The type of control request to use for the steer motor.

Constructor Details

ApplyFieldSpeeds

public ApplyFieldSpeeds()

Method Details

apply

public void apply(ChassisRequest.ChassisRequestParameters parameters,
 Module... modulesToApply)

Applies this swerve request to the given modules. This is typically called by the SwerveDrivetrain.

Specified by:

apply in interface ChassisRequest

Parameters:

parameters - Parameters the control request needs to calculate the module state

modulesToApply - Modules to which the control request is applied

withSpeeds

public ChassisRequest.ApplyFieldSpeeds withSpeeds(ChassisSpeeds speeds)

Sets the chassis speeds to apply to the drivetrain.

Parameters:

speeds - Chassis speeds to apply to the drivetrain

Returns:

this request

withCenterOfRotation

public ChassisRequest.ApplyFieldSpeeds withCenterOfRotation(Translation2d centerOfRotation)

Sets the center of rotation of the request

Parameters:

centerOfRotation - The center of rotation the robot should rotate around.

Returns:

this request

withDriveRequestType

public ChassisRequest.ApplyFieldSpeeds withDriveRequestType(Module.DriveControlMode driveRequestType)

Sets the type of control request to use for the drive motor.

Parameters:

driveRequestType - The type of control request to use for the drive motor

Returns:

this request

withSteerRequestType

public ChassisRequest.ApplyFieldSpeeds withSteerRequestType(Module.SteerControlMode steerRequestType)

Sets the type of control request to use for the steer motor.

Parameters:

steerRequestType - The type of control request to use for the steer motor

Returns:

this request