Package xbot.common.subsystems.pose

Class MockBasePoseSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.subsystems.pose.BasePoseSubsystem

xbot.common.subsystems.pose.MockBasePoseSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, IPropertySupport, ISwerveAdvisorPoseSupport

@Singleton
public class MockBasePoseSubsystem
extends BasePoseSubsystem

Field Summary

Fields inherited from class xbot.common.subsystems.pose.BasePoseSubsystem

classInstantiationTime, currentHeading, FACING_AWAY_FROM_DRIVERS, FACING_TOWARDS_DRIVERS, fieldXMidpointInMeters, firstUpdate, headingOffset, imu, INCHES_IN_A_METER, inherentRioPitch, inherentRioRoll, isNavXReady, lastSetHeadingTime, leftDriveDistance, previousLeftDistance, previousRightDistance, rightDriveDistance, rioRotated, totalDistanceX, totalDistanceY, totalDistanceYRobotPerspective, totalVelocity, velocityX, velocityY

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables, log

Constructor Summary

Constructors

Constructor	Description
MockBasePoseSubsystem(XGyro.XGyroFactory gyroFactory, PropertyFactory propManager)

Method Summary

Modifier and Type	Method	Description
void	forceTotalXandY(double x, double y)
protected double	getLeftDriveDistance()
protected double	getRightDriveDistance()
void	setDriveEncoderDistances(int left, int right)
void	setDriveMotors(XCANMotorController left, XCANMotorController right)

Methods inherited from class xbot.common.subsystems.pose.BasePoseSubsystem

calibrateInherentRioOrientation, convertBluetoRed, convertBlueToRed, convertBlueToRed, convertBlueToRedIfNeeded, convertBlueToRedIfNeeded, convertBlueToRedIfNeeded, getAlliance, getCompassHeading, getCurrentFieldPose, getCurrentHeading, getCurrentHeadingAngularVelocity, getCurrentPose2d, getCurrentVelocity, getFieldOrientedTotalDistanceTraveled, getHeadingResetRecently, getNavXReady, getRobotOrientedTotalDistanceTraveled, getRobotPitch, getRobotRoll, getRobotYaw, getSimulatedFieldPose, getTravelVector, getUntrimmedPitch, getUntrimmedRoll, getYawAngularVelocity, periodic, refreshDataFrame, resetDistanceTraveled, rotateAngleBasedOnAlliance, setCurrentHeading, setCurrentPosition, updateCurrentHeading, updateOdometry, updatePose

Methods inherited from class xbot.common.command.BaseSubsystem

getPrefix, registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

MockBasePoseSubsystem

@Inject
public MockBasePoseSubsystem(XGyro.XGyroFactory gyroFactory,
 PropertyFactory propManager)

Method Details

setDriveMotors

public void setDriveMotors(XCANMotorController left,
 XCANMotorController right)

getLeftDriveDistance

protected double getLeftDriveDistance()

Specified by:

getLeftDriveDistance in class BasePoseSubsystem

getRightDriveDistance

protected double getRightDriveDistance()

Specified by:

getRightDriveDistance in class BasePoseSubsystem

setDriveEncoderDistances

public void setDriveEncoderDistances(int left,
 int right)

forceTotalXandY

public void forceTotalXandY(double x,
 double y)