Package com.ctre.phoenix6.swerve.jni

Class SwerveJNI.DriveState

java.lang.Object

com.ctre.phoenix6.swerve.jni.SwerveJNI.DriveState

All Implemented Interfaces:

Cloneable

Enclosing class:

SwerveJNI

public static class SwerveJNI.DriveState
extends Object
implements Cloneable

Field Summary

Fields

Modifier and Type	Field	Description
int	FailedDaqs	Number of failed data acquisitions
SwerveJNI.ModulePosition[]	ModulePositions	The current module positions
SwerveJNI.ModuleState[]	ModuleStates	The current module states
SwerveJNI.ModuleState[]	ModuleTargets	The target module states
double	OdometryPeriod	The measured odometry update period, in seconds
double	PoseTheta
double	PoseX	The current pose of the robot
double	PoseY
double	RawHeading	The raw heading of the robot, unaffected by vision updates and odometry resets
double	SpeedsOmega
double	SpeedsVx	The current velocity of the robot
double	SpeedsVy
int	SuccessfulDaqs	Number of successful data acquisitions
double	Timestamp	The timestamp of the state capture, in seconds

Constructor Summary

Constructors

Constructor	Description
DriveState()

Method Summary

Modifier and Type	Method	Description
SwerveJNI.DriveState	clone()

Methods inherited from class java.lang.Object

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

Field Details

PoseX

public double PoseX

The current pose of the robot

PoseY

public double PoseY

PoseTheta

public double PoseTheta

SpeedsVx

public double SpeedsVx

The current velocity of the robot

SpeedsVy

public double SpeedsVy

SpeedsOmega

public double SpeedsOmega

ModuleStates

public SwerveJNI.ModuleState[] ModuleStates

The current module states

ModuleTargets

public SwerveJNI.ModuleState[] ModuleTargets

The target module states

ModulePositions

public SwerveJNI.ModulePosition[] ModulePositions

The current module positions

RawHeading

public double 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 seconds

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

DriveState

public DriveState()

Method Details

clone

public SwerveJNI.DriveState clone()

Overrides:

clone in class Object