Request structure for commanding a swerve drivetrain using chassis speeds. More...

#include <valkyrie/drivetrain/mecanum/Requests.h>

Public Attributes
frc::ChassisSpeeds	speeds
	Desired chassis-relative or field-relative motion.
frc::Translation2d	centerOfRotation = {}
	Center of rotation for the drivetrain motion.
BaseController::Output	frontLeftFF = 0
	Optional feedforward outputs for each swerve module.
BaseController::Output	frontRightFF = 0
BaseController::Output	rearLeftFF = 0
BaseController::Output	rearRightFF = 0
BaseController::Output	zeroOutput = 0
	Default output value used when speeds are below the given deadband.
OutputType	outputType = OutputType::Velocity
	Output control mode used when applying drive requests.
bool	discretize = true
	Whether to discretize the chassis speeds.
bool	desaturateWheelSpeeds = true
	Whether to desaturate wheel speeds.
bool	fieldRelative = true
	Whether the chassis speeds are field-relative.
units::meters_per_second_t	deadband = 0_mps
	Minimum wheel speed required before motion is applied.

Detailed Description

Request structure for commanding a swerve drivetrain using chassis speeds.

Contains the desired chassis motion, optional module feedforwards, and configuration flags controlling how the drivetrain request is processed before being applied to the modules.

Member Data Documentation

◆ centerOfRotation

frc::Translation2d valor::mecanum::requests::ApplyChassisSpeeds::centerOfRotation = {}

Center of rotation for the drivetrain motion.

Allows the robot to rotate around a point other than its geometric center.

◆ deadband

units::meters_per_second_t valor::mecanum::requests::ApplyChassisSpeeds::deadband = 0_mps

Minimum wheel speed required before motion is applied.

Speeds below this threshold are treated as zero to prevent unintended module movement or jitter.

◆ desaturateWheelSpeeds

bool valor::mecanum::requests::ApplyChassisSpeeds::desaturateWheelSpeeds = true

Whether to desaturate wheel speeds.

If enabled, wheel speeds are scaled proportionally to ensure no module exceeds the drivetrain's maximum achievable speed.

◆ discretize

bool valor::mecanum::requests::ApplyChassisSpeeds::discretize = true

Whether to discretize the chassis speeds.

Discretization compensates for loop timing to improve motion accuracy during simultaneous translation and rotation.

◆ fieldRelative

bool valor::mecanum::requests::ApplyChassisSpeeds::fieldRelative = true

Whether the chassis speeds are field-relative.

If enabled, the requested motion is interpreted relative to the field coordinate frame instead of the robot frame.

◆ frontLeftFF

BaseController::Output valor::mecanum::requests::ApplyChassisSpeeds::frontLeftFF = 0

Optional feedforward outputs for each swerve module.

Used to apply additional controller output alongside the calculated module states.

◆ outputType

OutputType valor::mecanum::requests::ApplyChassisSpeeds::outputType = OutputType::Velocity

Output control mode used when applying drive requests.

Determines how wheel speed commands are interpreted by the drive motor controllers, such as closed-loop velocity, direct voltage, or normalized duty cycle control.

◆ speeds

frc::ChassisSpeeds valor::mecanum::requests::ApplyChassisSpeeds::speeds

Desired chassis-relative or field-relative motion.

Represents the translational and angular velocity request for the robot.

◆ zeroOutput

BaseController::Output valor::mecanum::requests::ApplyChassisSpeeds::zeroOutput = 0

Default output value used when speeds are below the given deadband.

This is required when switching between brake and coast mode at different parts of the match given how some vendors' on-the-fly neutral mode switching works

The documentation for this struct was generated from the following file:

src/main/include/valkyrie/drivetrain/mecanum/Requests.h

Public Attributes