Package com.ctre.phoenix6.mechanisms.swerve

Class LegacySwerveDrivetrain.OdometryThread

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.LegacySwerveDrivetrain.OdometryThread

Enclosing class:

LegacySwerveDrivetrain

public class LegacySwerveDrivetrain.OdometryThread
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
protected double	averageLoopTime
protected double	currentTime
protected int	FailedDaqs
protected int	lastThreadPriority
protected double	lastTime
protected final LinearFilter	lowPass
protected final BaseStatusSignal[]	m_allSignals
protected boolean	m_running
protected final Thread	m_thread
protected final MedianFilter	peakRemover
protected static final int	START_THREAD_PRIORITY
protected int	SuccessfulDaqs
protected int	threadPriorityToSet

Constructor Summary

Constructors

Constructor	Description
OdometryThread()

Method Summary

Modifier and Type	Method	Description
boolean	odometryIsValid()
void	run()
void	setThreadPriority(int priority)	Sets the DAQ thread priority to a real time priority under the specified priority level
void	start()	Starts the odometry thread.
void	stop()	Stops the odometry thread.
void	stop(long millis)	Stops the odometry thread with a timeout.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

START_THREAD_PRIORITY

protected static final int START_THREAD_PRIORITY

See Also:

• Constant Field Values

m_thread

protected final Thread m_thread

m_running

protected volatile boolean m_running

m_allSignals

protected final BaseStatusSignal[] m_allSignals

peakRemover

protected final MedianFilter peakRemover

lowPass

protected final LinearFilter lowPass

lastTime

protected double lastTime

currentTime

protected double currentTime

averageLoopTime

protected double averageLoopTime

SuccessfulDaqs

protected int SuccessfulDaqs

FailedDaqs

protected int FailedDaqs

lastThreadPriority

protected int lastThreadPriority

threadPriorityToSet

protected volatile int threadPriorityToSet

Constructor Details

OdometryThread

public OdometryThread()

Method Details

start

public void start()

Starts the odometry thread.

stop

public void stop()

Stops the odometry thread.

stop

public void stop(long millis)

Stops the odometry thread with a timeout.

Parameters:

millis - The time to wait in milliseconds

run

public void run()

odometryIsValid

public boolean odometryIsValid()

setThreadPriority

public void setThreadPriority(int priority)

Sets the DAQ thread priority to a real time priority under the specified priority level

Parameters:

priority - Priority level to set the DAQ thread to. This is a value between 0 and 99, with 99 indicating higher priority and 0 indicating lower priority.