Package frc.lib.util.viz

Class Viz2025

java.lang.Object
frc.lib.util.viz.Viz2025
All Implemented Interfaces:
Drawable
public class Viz2025 extends Object implements Drawable
Visualization of the 2025 Robot

  • Constructor Details

    • Viz2025

      public Viz2025(FieldViz fieldViz, String prefix)
      Visualization of the 2025 Robot

  • Method Details

    • setClimberAngle

      public void setClimberAngle(Angle angle)
      Set the angle of the climber, with 0 being straight up and down.

    • setHasCoral

      public void setHasCoral(boolean hasCoral)
      Show coral in the coral scorer.

    • setHasAlgae

      public void setHasAlgae(boolean hasAlgae)
      Show algae in the algae scorer.

    • setDrivetrainState

      public void setDrivetrainState(Pose2d estimatedPose, Rotation2d[] states)
      Set the estimated drivetrain state, including swerve drive poses.`

    • setActualPose

      public void setActualPose(Pose2d pose)
      Set the actual pose (only different for sim)

    • setElevatorHeight

      public void setElevatorHeight(Distance height)
      Set the elevator height relative to its lowest point.

    • reset

      public void reset(Pose2d pose)
      Reset all values, getting ready for auto.

    • drawImpl

      public void drawImpl()
      Publish all values to Logger
      Specified by:
      drawImpl in interface Drawable

    • setAlgaeAngle

      public void setAlgaeAngle(Angle angle)