Package frc.robot.subsystems.drivebase.io

Class DriveBaseIOYagsl

java.lang.Object

frc.robot.subsystems.drivebase.io.DriveBaseIOYagsl

All Implemented Interfaces:

DriveBaseIO

public class DriveBaseIOYagsl
extends Object
implements DriveBaseIO

YAGSL-backed implementation that pulls pose, module states, and gyro data from the configured swerve drive.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.drivebase.io.DriveBaseIO

DriveBaseIO.DriveBaseIOInputs

Constructor Summary

Constructors

Constructor	Description
DriveBaseIOYagsl(swervelib.SwerveDrive swerveDrive)	Creates an IO bridge that mirrors telemetry from the provided YAGSL swerve drive into AdvantageKit.

Method Summary

Modifier and Type	Method	Description
void	resetRawOdometry(edu.wpi.first.math.geometry.Pose2d pose)	Resets the raw odometry tracker to a given pose.
void	updateInputs(DriveBaseIO.DriveBaseIOInputs inputs)	Refreshes the inputs structure with the latest state from the drive base sensors.

Methods inherited from class java.lang.Object

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

Constructor Details

DriveBaseIOYagsl

public DriveBaseIOYagsl(swervelib.SwerveDrive swerveDrive)

Creates an IO bridge that mirrors telemetry from the provided YAGSL swerve drive into AdvantageKit.

Parameters:

swerveDrive - active YAGSL swerve drive instance supplying sensor data

Method Details

updateInputs

public void updateInputs(DriveBaseIO.DriveBaseIOInputs inputs)

Description copied from interface: DriveBaseIO

Refreshes the inputs structure with the latest state from the drive base sensors.

Specified by:

updateInputs in interface DriveBaseIO

Parameters:

inputs - mutable inputs container to populate for logging

resetRawOdometry

public void resetRawOdometry(edu.wpi.first.math.geometry.Pose2d pose)

Resets the raw odometry tracker to a given pose.

Call this whenever the main odometry is reset so the two trackers stay in sync at the start.

Parameters:

pose - pose to reset the raw odometry to in meters and radians