Package com.marswars.swerve_lib

Class ChassisRequest.PointWheelsAt

java.lang.Object

com.marswars.swerve_lib.ChassisRequest.PointWheelsAt

All Implemented Interfaces:

ChassisRequest

Enclosing interface:

ChassisRequest

public static class ChassisRequest.PointWheelsAt
extends Object
implements ChassisRequest

Sets the swerve drive modules to point to a specified direction.

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
Module.DriveControlMode	DriveRequestType	The type of control request to use for the drive motor.
Rotation2d	ModuleDirection	The direction to point the modules toward.
Module.SteerControlMode	SteerRequestType	The type of control request to use for the steer motor.

Constructor Summary

Constructors

Constructor	Description
PointWheelsAt()

Method Summary

Modifier and Type	Method	Description
void	apply(ChassisRequest.ChassisRequestParameters parameters, Module... modulesToApply)	Applies this swerve request to the given modules.
ChassisRequest.PointWheelsAt	withDriveRequestType(Module.DriveControlMode driveRequestType)	Sets the type of control request to use for the drive motor.
ChassisRequest.PointWheelsAt	withModuleDirection(Rotation2d moduleDirection)	Sets the direction to point the modules toward.
ChassisRequest.PointWheelsAt	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

ModuleDirection

public Rotation2d ModuleDirection

The direction to point the modules toward. This direction is still optimized to what the module was previously at.

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

PointWheelsAt

public PointWheelsAt()

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

withModuleDirection

public ChassisRequest.PointWheelsAt withModuleDirection(Rotation2d moduleDirection)

Sets the direction to point the modules toward. This direction is still optimized to what the module was previously at.

Parameters:

moduleDirection - Direction to point the modules toward

Returns:

this request

withDriveRequestType

public ChassisRequest.PointWheelsAt 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.PointWheelsAt 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