Class TunerSwerveDrivetrain

ClassList > TunerSwerveDrivetrain

Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.

#include <TunerConstants.h>

Inherits the following classes: swerve::SwerveDrivetrain< hardware::TalonFX, hardware::TalonFX, hardware::CANcoder >

Inherited by the following classes: subsystems::CommandSwerveDrivetrain

Public Types

Type	Name
typedef swerve::SwerveModuleConstants< configs::TalonFXConfiguration, configs::TalonFXConfiguration, configs::CANcoderConfiguration >	SwerveModuleConstants

Public Functions

Type	Name
	TunerSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
	TunerSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, units::hertz_t odometryUpdateFrequency, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.
	TunerSwerveDrivetrain (swerve::SwerveDrivetrainConstants const & driveTrainConstants, units::hertz_t odometryUpdateFrequency, std::array< double, 3 > const & odometryStandardDeviation, std::array< double, 3 > const & visionStandardDeviation, ModuleConstants const &... modules) Constructs a CTRE SwerveDrivetrain using the specified constants.

Public Types Documentation

typedef SwerveModuleConstants

using TunerSwerveDrivetrain::SwerveModuleConstants =  swerve::SwerveModuleConstants<configs::TalonFXConfiguration, configs::TalonFXConfiguration, configs::CANcoderConfiguration>;

Public Functions Documentation

function TunerSwerveDrivetrain [1/3]

Constructs a CTRE SwerveDrivetrain using the specified constants.

template<std::same_as< SwerveModuleConstants >... ModuleConstants>
inline TunerSwerveDrivetrain::TunerSwerveDrivetrain (
    swerve::SwerveDrivetrainConstants const & driveTrainConstants,
    ModuleConstants const &... modules
)

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants Drivetrain-wide constants for the swerve drive
modules Constants for each specific module

function TunerSwerveDrivetrain [2/3]

Constructs a CTRE SwerveDrivetrain using the specified constants.

template<std::same_as< SwerveModuleConstants >... ModuleConstants>
inline TunerSwerveDrivetrain::TunerSwerveDrivetrain (
    swerve::SwerveDrivetrainConstants const & driveTrainConstants,
    units::hertz_t odometryUpdateFrequency,
    ModuleConstants const &... modules
)

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants Drivetrain-wide constants for the swerve drive
odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
modules Constants for each specific module

function TunerSwerveDrivetrain [3/3]

Constructs a CTRE SwerveDrivetrain using the specified constants.

template<std::same_as< SwerveModuleConstants >... ModuleConstants>
inline TunerSwerveDrivetrain::TunerSwerveDrivetrain (
    swerve::SwerveDrivetrainConstants const & driveTrainConstants,
    units::hertz_t odometryUpdateFrequency,
    std::array< double, 3 > const & odometryStandardDeviation,
    std::array< double, 3 > const & visionStandardDeviation,
    ModuleConstants const &... modules
)

This constructs the underlying hardware devices, so users should not construct the devices themselves. If they need the devices, they can access them through getters in the classes.

Parameters:

drivetrainConstants Drivetrain-wide constants for the swerve drive
odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
odometryStandardDeviation The standard deviation for odometry calculation in the form [x, y, theta]ᵀ, with units in meters and radians
visionStandardDeviation The standard deviation for vision calculation in the form [x, y, theta]ᵀ, with units in meters and radians
modules Constants for each specific module

The documentation for this class was generated from the following file src/main/include/generated/TunerConstants.h