Package com.marswars.swerve_lib

Class ChassisRequest.SwerveDriveBrake

java.lang.Object

com.marswars.swerve_lib.ChassisRequest.SwerveDriveBrake

All Implemented Interfaces:

ChassisRequest

Enclosing interface:

ChassisRequest

public static class ChassisRequest.SwerveDriveBrake
extends Object
implements ChassisRequest

Sets the swerve drive module states to point inward on the robot in an "X" fashion, creating a natural brake which will oppose any motion.

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

Constructor Summary

Constructors

Constructor	Description
SwerveDriveBrake()

Method Summary

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

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

SwerveDriveBrake

public SwerveDriveBrake()

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

withDriveRequestType

public ChassisRequest.SwerveDriveBrake 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.SwerveDriveBrake 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