Package frc.robot.subsystems.swerve

Interface SwerveIO

All Known Implementing Classes:
SwerveReal, SwerveSim
@NullMarked public interface SwerveIO
IO for swerve timestamps

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    SwerveIO.SwerveInputs
    Inputs for swerve timestamps

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    resetPose(Pose2d pose)
    Set the ground truth pose.
    void
    updateInputs(SwerveIO.SwerveInputs inputs)
    Update inputs

  • Method Details

    • updateInputs

      void updateInputs(SwerveIO.SwerveInputs inputs)
      Update inputs

    • resetPose

      void resetPose(Pose2d pose)
      Set the ground truth pose. Only useful in sim.