Package frc.robot.subsystems.swerve

Class SwerveReal

java.lang.Object

frc.robot.subsystems.swerve.SwerveReal

All Implemented Interfaces:

SwerveIO

@NullMarked
public final class SwerveReal
extends Object
implements SwerveIO

Real Swerve Implementation

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.swerve.SwerveIO

SwerveIO.SwerveInputs

Constructor Summary

Constructors

Constructor	Description
SwerveReal(PhoenixOdometryThread odometryThread)	Real Swerve Implementation

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

SwerveReal

public SwerveReal(PhoenixOdometryThread odometryThread)

Real Swerve Implementation

Method Details

updateInputs

public void updateInputs(SwerveIO.SwerveInputs inputs)

Description copied from interface: SwerveIO

Update inputs

Specified by:

updateInputs in interface SwerveIO

resetPose

public void resetPose(Pose2d pose)

Description copied from interface: SwerveIO

Set the ground truth pose. Only useful in sim.

Specified by:

resetPose in interface SwerveIO