Swerve Requests

Controlling the drivetrain is done using setControl(SwerveRequest request) (Java) which takes a given SwerveRequest (Java). There are multiple pre-defined SwerveRequest implementations, or users can define their own (only recommended for advanced scenarios).

Applying a Request

Requests are instantiated once and then mutated using various withX functions. In the below example, a FieldCentric (Java) request is created and given values from a joystick.

Java

SwerveDrivetrain m_drivetrain = TunerConstants.DriveTrain;
SwerveRequest.FieldCentric m_driveRequest = new SwerveRequest.FieldCentric()
   .withIsOpenLoop(true);

XboxController m_joystick = new XboxController(0);

@Override
public void teleopPeriodic() {
   m_drivetrain.setControl(
      m_driveRequest.withVelocityX(-joystick.getLeftY())
         .withVelocityY(-joystick.getLeftX())
         .withRotationalRate(-joystick.getRightX())
   );

Tip

Users can optionally make their own SwerveRequests by implementing the SwerveRequest interface.