Package com.marswars.swerve_lib

Interface ChassisRequest

All Known Implementing Classes:

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

public interface ChassisRequest

Container for all the Swerve Requests. Use this to find all applicable swerve drive requests.

This is also an interface common to all swerve drive control requests that allow the request to calculate the state to apply to the modules.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	ChassisRequest.ApplyChassisSpeeds	Accepts a generic ChassisSpeeds to apply to the drivetrain.
static class	ChassisRequest.ApplyFieldSpeeds	Accepts a generic Field Relative ChassisSpeeds to apply to the drivetrain.
static class	ChassisRequest.ChassisRequestParameters	Contains everything the control requests need to calculate the module state.
static class	ChassisRequest.FieldCentric	Drives the swerve drivetrain in a field-centric manner.
static class	ChassisRequest.FieldCentricFacingAngle	Drives the swerve drivetrain in a field-centric manner, maintaining a specified heading angle to ensure the robot is facing the desired direction
static class	ChassisRequest.Idle	Does nothing to the swerve module state.
static class	ChassisRequest.PointWheelsAt	Sets the swerve drive modules to point to a specified direction.
static class	ChassisRequest.RobotCentric	Drives the swerve drivetrain in a robot-centric manner.
static class	ChassisRequest.RobotCentricFacingAngle	Applies robot-relative chassis speeds while maintaining a field-centric facing angle.
static class	ChassisRequest.SwerveDriveBrake	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.
static enum	ChassisRequest.XPositiveReference	The reference for "forward" is sometimes different if you're talking about field relative.

Method Summary

Modifier and Type	Method	Description
void	apply(ChassisRequest.ChassisRequestParameters parameters, Module... modulesToApply)	Applies this swerve request to the given modules.

Method Details

apply

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

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

Parameters:

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

modulesToApply - Modules to which the control request is applied