Package frc.robot.subsystems.robotpose.io

Class RobotPoseIO.RobotPoseIOInputs

java.lang.Object

frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

Enclosing interface:

RobotPoseIO

public static class RobotPoseIO.RobotPoseIOInputs
extends Object

Container of robot pose telemetry fields that AdvantageKit will persist.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	enableVisionFusion	True when vision measurements are allowed to blend into the estimate.
edu.wpi.first.math.geometry.Pose2d	estimatedPose	Latest fused pose estimate in meters and radians.
boolean	hasVisionMeasurement	True when a vision measurement has been received.
edu.wpi.first.math.geometry.Pose2d	lastVisionPose	Most recent vision pose in meters and radians.
double	lastVisionTimestampSeconds	Timestamp of the last vision pose in seconds.
edu.wpi.first.math.geometry.Pose2d	odometryOnlyPose	Raw odometry-only pose from wheel encoders and gyro, without vision corrections.

Constructor Summary

Constructors

Constructor	Description
RobotPoseIOInputs()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

estimatedPose

public edu.wpi.first.math.geometry.Pose2d estimatedPose

Latest fused pose estimate in meters and radians.

odometryOnlyPose

public edu.wpi.first.math.geometry.Pose2d odometryOnlyPose

Raw odometry-only pose from wheel encoders and gyro, without vision corrections.

Useful as an AdvantageScope ghost bot to visualize odometry drift compared to the fused estimate.

lastVisionPose

public edu.wpi.first.math.geometry.Pose2d lastVisionPose

Most recent vision pose in meters and radians.

lastVisionTimestampSeconds

public double lastVisionTimestampSeconds

Timestamp of the last vision pose in seconds.

hasVisionMeasurement

public boolean hasVisionMeasurement

True when a vision measurement has been received.

enableVisionFusion

public boolean enableVisionFusion

True when vision measurements are allowed to blend into the estimate.

Constructor Details

RobotPoseIOInputs

public RobotPoseIOInputs()