Package frc.robot.subsystems.robotpose.config

Class RobotPoseSubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.subsystems.robotpose.config.RobotPoseSubsystemConfig

public class RobotPoseSubsystemConfig
extends AbstractSubsystemConfig

Configuration bundle for the Robot Pose subsystem.

Pose fusion is delegated to the drivebase's internal YAGSL pose estimator, so these settings control only high-level gating. The enableVisionFusion toggle lets operators disable all vision input for debugging without a redeploy.

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.config.AbstractConfig

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
boolean	enableVisionFusion	Enables or disables vision fusion in the Robot Pose subsystem.

Fields inherited from class frc.robot.shared.config.AbstractSubsystemConfig

enabled, verbose

Constructor Summary

Constructors

Constructor	Description
RobotPoseSubsystemConfig()

Method Summary

Modifier and Type	Method	Description
boolean	getEnableVisionFusion()	Returns whether vision fusion should be enabled.

Methods inherited from class frc.robot.shared.config.AbstractSubsystemConfig

getVerbose

Methods inherited from class frc.robot.shared.config.AbstractConfig

getDashboardPrefix, initializeNestedDashboardPrefixes, readTunableBoolean, readTunableDegrees, readTunableDegreesAsRadians, readTunableNumber, readTunableString, setDashboardPrefix

Methods inherited from class java.lang.Object

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

Field Details

enableVisionFusion

public boolean enableVisionFusion

Enables or disables vision fusion in the Robot Pose subsystem.

Constructor Details

RobotPoseSubsystemConfig

public RobotPoseSubsystemConfig()

Method Details

getEnableVisionFusion

public boolean getEnableVisionFusion()

Returns whether vision fusion should be enabled.

Disable this when running without cameras or while diagnosing vision issues. When disabled, vision measurements are still recorded for logging but not forwarded to the pose estimator.

Returns:

true when vision fusion is enabled