Package frc.robot.viz

Class RobotViz

java.lang.Object

frc.robot.viz.RobotViz

@NullMarked
public class RobotViz
extends Object

Centralized visualization helper for publishing robot state to logging and visualization tools.

This class is responsible for publishing robot poses, mechanism transforms, and subsystem geometry to Logger for visualization tools such as AdvantageScope. It computes both estimated and (when available) ground-truth representations of the robot state.

Estimated vs Ground-Truth Data

• Estimated data is sourced from live subsystems (swerve, turret, hood, etc.) and reflects what the robot believes its state to be.
• Ground-truth data is sourced from SimulatedRobotState when running in simulation. When not simulating, ground-truth outputs are aliased to the estimated state.

All outputs are published via Logger and are intended strictly for debugging, analysis, and visualization (e.g., AdvantageScope). No control or decision-making logic should depend on this class.

Constructor Summary

Constructors

Constructor	Description
RobotViz(@Nullable SimulatedRobotState sim, Swerve swerve, Turret turret, AdjustableHood hood, Intake intake, Climber climber)	Creates a new visualization helper.

Method Summary

Modifier and Type	Method	Description
void	periodic()	Publishes visualization data for the current control loop iteration.

Methods inherited from class java.lang.Object

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

Constructor Details

RobotViz

public RobotViz(@Nullable SimulatedRobotState sim,
 Swerve swerve,
 Turret turret,
 AdjustableHood hood,
 Intake intake,
 Climber climber)

Creates a new visualization helper.

The visualization system automatically switches between estimated-only and estimated-plus-ground-truth modes depending on whether a simulation state is provided.

Parameters:

sim - simulation state used for ground-truth visualization; may be null

swerve - live swerve subsystem providing pose estimates

turret - live turret subsystem

hood - adjustable hood subsystem

intake - intake subsystem

climber - climber subsystem

Method Details

periodic

public void periodic()

Publishes visualization data for the current control loop iteration.

This method should be called periodically (e.g., from robotPeriodic).