SwerveDrive Class Reference

Inheritance diagram for SwerveDrive:

Public Member Functions
	SwerveDrive (IMessageCenter &message_center_ref, IMotors &motors_ref, float width_, float dt_)
void	init_impl ()
void	get_motor_feedback ()
void	calc_motor_outputs (float vx, float vy, float wz)
void	send_motor_messages ()
float	calc_power_consumption ()
Public Member Functions inherited from ChassisDrive< SwerveDrive >
void	init ()
void	drive (float vx, float vy, float wz)
float	get_power_consumption ()
void	set_max_power (float new_max_power)

Static Public Member Functions
static int32_t	pack_lk_motor_message (bool spin_ccw, uint16_t max_speed, uint32_t angle)

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The documentation for this class was generated from the following files:

• Core/Src/Applications/Swerve_Drive.h
• Core/Src/Applications/Swerve_Drive.cpp