Package frc.robot.sim

Class SimulatedRobotState

java.lang.Object

frc.robot.sim.SimulatedRobotState

public class SimulatedRobotState
extends Object

Simulated state of the robot

Field Summary

Fields

Modifier and Type	Field	Description
final AdjustableHoodSim	adjustableHood
final ClimberSim	climber
final IndexerSim	indexer
final IntakeSim	intake
final ShooterSim	shooter
final SwerveSim	swerveDrive	Swerve state
final TurretSim	turret
final VisionSim	visionSim

Constructor Summary

Constructors

Constructor	Description
SimulatedRobotState(Pose2d initialPose)	Create new robot simulation

Method Summary

Modifier and Type	Method	Description
Pose3d	getGroundTruthPose()	Get the drivetrain pose.
void	update()	Update the simulation.

Methods inherited from class java.lang.Object

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

Field Details

swerveDrive

public final SwerveSim swerveDrive

Swerve state

turret

public final TurretSim turret

adjustableHood

public final AdjustableHoodSim adjustableHood

shooter

public final ShooterSim shooter

intake

public final IntakeSim intake

indexer

public final IndexerSim indexer

climber

public final ClimberSim climber

visionSim

public final VisionSim visionSim

Constructor Details

SimulatedRobotState

public SimulatedRobotState(Pose2d initialPose)

Create new robot simulation

Method Details

getGroundTruthPose

public Pose3d getGroundTruthPose()

Get the drivetrain pose.

update

public void update()

Update the simulation. Must be called once per iteration.