Package com.ctre.phoenix6.swerve

Class SwerveDrivetrain.SwerveDriveState

java.lang.Object

com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState

All Implemented Interfaces:

Cloneable

Enclosing class:

SwerveDrivetrain<DriveMotorT extends CommonTalon,SteerMotorT extends CommonTalon,EncoderT extends ParentDevice>

public static class SwerveDrivetrain.SwerveDriveState
extends Object
implements Cloneable

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
SwerveModulePosition[]	ModulePositions	The current module positions
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
Rotation2d	RawHeading	The raw heading of the robot, unaffected by vision updates and odometry resets
ChassisSpeeds	Speeds	The current robot-centric velocity
int	SuccessfulDaqs	Number of successful data acquisitions
double	Timestamp	The timestamp of the state capture, in the timebase of Utils.getCurrentTimeSeconds()

Constructor Summary

Constructors

Constructor	Description
SwerveDriveState()

Method Summary

Modifier and Type	Method	Description
SwerveDrivetrain.SwerveDriveState	clone()	Creates a deep copy of this state object.
protected void	updateFromJni(SwerveJNI.DriveState driveState)

Methods inherited from class java.lang.Object

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

Field Details

Pose

public Pose2d Pose

The current pose of the robot

Speeds

public ChassisSpeeds Speeds

The current robot-centric velocity

ModuleStates

public SwerveModuleState[] ModuleStates

The current module states

ModuleTargets

public SwerveModuleState[] ModuleTargets

The target module states

ModulePositions

public SwerveModulePosition[] ModulePositions

The current module positions

RawHeading

public Rotation2d RawHeading

The raw heading of the robot, unaffected by vision updates and odometry resets

Timestamp

public double Timestamp

The timestamp of the state capture, in the timebase of Utils.getCurrentTimeSeconds()

OdometryPeriod

public double OdometryPeriod

The measured odometry update period, in seconds

SuccessfulDaqs

public int SuccessfulDaqs

Number of successful data acquisitions

FailedDaqs

public int FailedDaqs

Number of failed data acquisitions

Constructor Details

SwerveDriveState

public SwerveDriveState()

Method Details

clone

public SwerveDrivetrain.SwerveDriveState clone()

Creates a deep copy of this state object. This API is not thread-safe.

Overrides:

clone in class Object

updateFromJni

protected void updateFromJni(SwerveJNI.DriveState driveState)