Package frc.robot.subsystems.drivebase.io

Class DriveBaseIO.DriveBaseIOInputs

java.lang.Object
frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs
Enclosing interface:
DriveBaseIO
public static class DriveBaseIO.DriveBaseIOInputs extends Object
Container of all drive base telemetry fields that AdvantageKit will persist automatically.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    edu.wpi.first.math.kinematics.ChassisSpeeds
    chassisSpeeds
    Measured chassis speeds in meters per second and radians per second.
    edu.wpi.first.math.geometry.Rotation2d
    gyroYaw
    Current gyro yaw reading.
    edu.wpi.first.math.kinematics.SwerveModuleState[]
    moduleStates
    Measured swerve module states.
    edu.wpi.first.math.kinematics.SwerveModuleState[]
    moduleTargets
    Target swerve module states requested by the controller.
    edu.wpi.first.math.geometry.Pose2d
    odometryOnlyPose
    Raw odometry-only pose derived from wheel encoders and gyro, without any vision fusion.
    double
    odometryTimestampSeconds
    Timestamp for the latest odometry update in seconds.
    edu.wpi.first.math.geometry.Pose2d
    pose
    Current robot pose estimate in meters and radians.

  • Constructor Summary

    Constructors
    Constructor
    Description
    DriveBaseIOInputs()
     

  • Method Summary

    Methods inherited from class java.lang.Object

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

  • Field Details

    • pose

      public edu.wpi.first.math.geometry.Pose2d pose
      Current robot pose estimate in meters and radians.

    • odometryOnlyPose

      public edu.wpi.first.math.geometry.Pose2d odometryOnlyPose
      Raw odometry-only pose derived from wheel encoders and gyro, without any vision fusion.

      Use this to visualize how far odometry drifts from the vision-corrected estimate.

    • chassisSpeeds

      public edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds
      Measured chassis speeds in meters per second and radians per second.

    • moduleStates

      public edu.wpi.first.math.kinematics.SwerveModuleState[] moduleStates
      Measured swerve module states.

    • moduleTargets

      public edu.wpi.first.math.kinematics.SwerveModuleState[] moduleTargets
      Target swerve module states requested by the controller.

    • gyroYaw

      public edu.wpi.first.math.geometry.Rotation2d gyroYaw
      Current gyro yaw reading.

    • odometryTimestampSeconds

      public double odometryTimestampSeconds
      Timestamp for the latest odometry update in seconds.

  • Constructor Details

    • DriveBaseIOInputs

      public DriveBaseIOInputs()