Package frc.robot

Class RobotState

java.lang.Object

frc.robot.RobotState

public class RobotState
extends Object

Primary Drivetrain State Estimator

Constructor Summary

Constructors

Constructor	Description
RobotState(Viz2025 vis)

Method Summary

Modifier and Type	Method	Description
void	addSwerveObservation(SwerveModulePosition[] positions, Rotation2d gyroYaw)	Add information from swerve drive.
void	addVisionObservation(org.photonvision.targeting.PhotonPipelineResult result, Transform3d robotToCamera, int whichCamera)	Add information from cameras.
Pose2d	getGlobalPoseEstimate()	Get the current pose estimate using the global solver.
void	init(SwerveModulePosition[] positions, Rotation2d gyroYaw)	Initialize this RobotState.
boolean	isInitialized()
void	resetPose(Pose2d pose, SwerveModulePosition[] positions, Rotation2d gyroYaw)	Use prior information to set the pose.

Methods inherited from class java.lang.Object

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

Constructor Details

RobotState

public RobotState(Viz2025 vis)

Method Details

init

public void init(SwerveModulePosition[] positions,
 Rotation2d gyroYaw)

Initialize this RobotState. Should only be called once (usually from the Swerve constructor).

resetPose

public void resetPose(Pose2d pose,
 SwerveModulePosition[] positions,
 Rotation2d gyroYaw)

Use prior information to set the pose. Should only be used at the start of the program, or start of individual autonomous routines.

getGlobalPoseEstimate

public Pose2d getGlobalPoseEstimate()

Get the current pose estimate using the global solver.

addVisionObservation

public void addVisionObservation(org.photonvision.targeting.PhotonPipelineResult result,
 Transform3d robotToCamera,
 int whichCamera)

Add information from cameras.

addSwerveObservation

public void addSwerveObservation(SwerveModulePosition[] positions,
 Rotation2d gyroYaw)

Add information from swerve drive.

isInitialized

public boolean isInitialized()