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

private final SwerveRequest.FieldCentric m_driveRequest = new SwerveRequest.FieldCentric()
   .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
   .withDriveRequestType(DriveRequestType.OpenLoopVoltage)
   .withSteerRequestType(SteerRequestType.MotionMagicExpo);

private final XboxController m_joystick = new XboxController(0);
public final SwerveDrivetrain m_drivetrain = TunerConstants.createDrivetrain();

@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.