Package com.marswars.swerve_lib

Class PhoenixOdometryThread

java.lang.Object

java.lang.Thread

com.marswars.swerve_lib.PhoenixOdometryThread

All Implemented Interfaces:

Runnable

public class PhoenixOdometryThread
extends Thread

Provides an interface for asynchronously reading high-frequency measurements to a set of queues.

This version is intended for Phoenix 6 devices on both the RIO and CANivore buses. When using a CANivore, the thread uses the "waitForAll" blocking method to enable more consistent sampling. This also allows Phoenix Pro users to benefit from lower latency between devices using CANivore time synchronization.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Method Summary

Modifier and Type	Method	Description
static void	configure(String bus_name, double wheel_radius_m)	Configures the PhoenixOdometryThread singleton.
void	enqueueGyroSamples(double[] timestamps, Rotation2d[] samples)	Enqueues simulated gyro measurements (simulation only).
void	enqueueModuleSamples(int index, double[] stamps, Rotation2d[] steer_positions, double[] drive_positions)	Enqueues simulated module measurements (simulation only).
static PhoenixOdometryThread	getInstance()	Gets the configured PhoenixOdometryThread singleton.
List<SwerveMeasurements.SwerveMeasurement>	getSwerveSamples()	Drains the measurement queues and returns synchronized swerve samples.
void	registerGyro(StatusSignal<Angle> yaw_signal)	Registers a gyro yaw signal for odometry sampling.
void	registerModule(int module_index, StatusSignal<Angle> steer_signal, StatusSignal<Angle> drive_signal)	Registers a swerve module's steer and drive position signals for sampling.
protected void	registerSignal(BaseStatusSignal signal)	Adds a signal to the internal list for synchronized sampling.
void	run()
void	start()

Methods inherited from class java.lang.Thread

activeCount, checkAccess, clone, countStackFrames, currentThread, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, onSpinWait, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Method Details

configure

public static void configure(String bus_name,
 double wheel_radius_m)

Configures the PhoenixOdometryThread singleton.

Parameters:

bus_name - The CAN bus name the Phoenix devices are on

wheel_radius_m - The wheel radius in meters

getInstance

public static PhoenixOdometryThread getInstance()

Gets the configured PhoenixOdometryThread singleton.

Returns:

the configured PhoenixOdometryThread

start

public void start()

Overrides:

start in class Thread

registerGyro

public void registerGyro(StatusSignal<Angle> yaw_signal)

Registers a gyro yaw signal for odometry sampling.

Parameters:

yaw_signal - The yaw status signal to sample

registerModule

public void registerModule(int module_index,
 StatusSignal<Angle> steer_signal,
 StatusSignal<Angle> drive_signal)

Registers a swerve module's steer and drive position signals for sampling.

Parameters:

module_index - Index of the module (0-3)

steer_signal - Steer position signal

drive_signal - Drive position signal

registerSignal

protected void registerSignal(BaseStatusSignal signal)

Adds a signal to the internal list for synchronized sampling.

Parameters:

signal - The status signal to add

enqueueModuleSamples

public void enqueueModuleSamples(int index,
 double[] stamps,
 Rotation2d[] steer_positions,
 double[] drive_positions)

Enqueues simulated module measurements (simulation only).

Parameters:

index - Module index (0-3)

stamps - Timestamps in seconds

steer_positions - Steer positions in radians

drive_positions - Drive positions in radians

enqueueGyroSamples

public void enqueueGyroSamples(double[] timestamps,
 Rotation2d[] samples)

Enqueues simulated gyro measurements (simulation only).

Parameters:

timestamps - Timestamps in seconds

samples - Gyro yaw samples

getSwerveSamples

public List<SwerveMeasurements.SwerveMeasurement> getSwerveSamples()

Drains the measurement queues and returns synchronized swerve samples.

Returns:

list of combined swerve measurements

run

public void run()

Specified by:

run in interface Runnable

Overrides:

run in class Thread