Package com.ctre.phoenix6.mechanisms.swerve

Class LegacySwerveDrivetrain.LegacySwerveDriveState

java.lang.Object

com.ctre.phoenix6.mechanisms.swerve.LegacySwerveDrivetrain.LegacySwerveDriveState

Enclosing class:

LegacySwerveDrivetrain

public static class LegacySwerveDrivetrain.LegacySwerveDriveState
extends Object

Plain-Old-Data class holding the state of the swerve drivetrain. This encapsulates most data that is relevant for telemetry or decision-making from the Swerve Drive.

Field Summary

Fields

Modifier and Type	Field	Description
int	FailedDaqs	Number of failed data acquisitions
SwerveModuleState[]	ModuleStates	The current module states
SwerveModuleState[]	ModuleTargets	The target module states
double	OdometryPeriod	The measured odometry update period, in seconds
Pose2d	Pose	The current pose of the robot
ChassisSpeeds	speeds	The current velocity of the robot
int	SuccessfulDaqs	Number of successful data acquisitions

Constructor Summary

Constructors

Constructor	Description
LegacySwerveDriveState()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

SuccessfulDaqs

public int SuccessfulDaqs

Number of successful data acquisitions

FailedDaqs

public int FailedDaqs

Number of failed data acquisitions

Pose

public Pose2d Pose

The current pose of the robot

speeds

public ChassisSpeeds speeds

The current velocity of the robot

ModuleStates

public SwerveModuleState[] ModuleStates

The current module states

ModuleTargets

public SwerveModuleState[] ModuleTargets

The target module states

OdometryPeriod

public double OdometryPeriod

The measured odometry update period, in seconds

Constructor Details

LegacySwerveDriveState

public LegacySwerveDriveState()