Package com.marswars.swerve_lib

Class ChassisRequest.ChassisRequestParameters

java.lang.Object

com.marswars.swerve_lib.ChassisRequest.ChassisRequestParameters

Enclosing interface:

ChassisRequest

public static class ChassisRequest.ChassisRequestParameters
extends Object

Contains everything the control requests need to calculate the module state.

Field Summary

Fields

Modifier and Type	Field	Description
ChassisSpeeds	currentChassisSpeed
Pose2d	currentPose
SwerveDriveKinematics	kinematics
Translation2d[]	moduleLocations
Rotation2d	operatorForwardDirection
double	timestamp
double	updatePeriod

Constructor Summary

Constructors

Constructor	Description
ChassisRequestParameters()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

kinematics

public SwerveDriveKinematics kinematics

currentChassisSpeed

public ChassisSpeeds currentChassisSpeed

currentPose

public Pose2d currentPose

timestamp

public double timestamp

moduleLocations

public Translation2d[] moduleLocations

operatorForwardDirection

public Rotation2d operatorForwardDirection

updatePeriod

public double updatePeriod

Constructor Details

ChassisRequestParameters

public ChassisRequestParameters()