Request structure for commanding a swerve drivetrain using explicit module states. More...

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

Public Attributes
frc::MecanumDriveWheelSpeeds	speeds
	Desired states for each swerve module.
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 no feedforward is provided.
OutputType	outputType = OutputType::Velocity
	Output control mode used when applying drive requests.
bool	desaturateWheelSpeeds = true
	Whether to desaturate wheel speeds.
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 explicit module states.

Contains desired swerve module states, optional feedforward outputs, and configuration flags controlling module optimization and speed limiting.

Member Data Documentation

◆ deadband

units::meters_per_second_t valor::mecanum::requests::ApplyWheelSpeeds::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::ApplyWheelSpeeds::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.

◆ frontLeftFF

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

Optional feedforward outputs for each swerve module.

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

◆ outputType

OutputType valor::mecanum::requests::ApplyWheelSpeeds::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::MecanumDriveWheelSpeeds valor::mecanum::requests::ApplyWheelSpeeds::speeds

Desired states for each swerve module.

Each state contains the target wheel speed and steering angle.

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

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