Package com.pathplanner.lib.util.swerve

Record Class SwerveSetpoint

java.lang.Object

java.lang.Record

com.pathplanner.lib.util.swerve.SwerveSetpoint

Record Components:

robotRelativeSpeeds - Robot-relative chassis speeds

moduleStates - Array of individual swerve module states. These will be in FL, FR, BL, BR order.

feedforwards - Feedforwards for each module's drive motor. The arrays in this record will be in FL, FR, BL, BR order.

public record SwerveSetpoint(ChassisSpeeds robotRelativeSpeeds, SwerveModuleState[] moduleStates, DriveFeedforwards feedforwards)
extends Record

A setpoint for a swerve drivetrain, containing robot-relative chassis speeds and individual module states

Constructor Summary

Constructors

Constructor	Description
SwerveSetpoint(ChassisSpeeds robotRelativeSpeeds, SwerveModuleState[] moduleStates, DriveFeedforwards feedforwards)	Creates an instance of a SwerveSetpoint record class.

Method Summary

Modifier and Type	Method	Description
final boolean	equals(Object o)	Indicates whether some other object is "equal to" this one.
DriveFeedforwards	feedforwards()	Returns the value of the feedforwards record component.
final int	hashCode()	Returns a hash code value for this object.
SwerveModuleState[]	moduleStates()	Returns the value of the moduleStates record component.
ChassisSpeeds	robotRelativeSpeeds()	Returns the value of the robotRelativeSpeeds record component.
final String	toString()	Returns a string representation of this record class.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

SwerveSetpoint

public SwerveSetpoint(ChassisSpeeds robotRelativeSpeeds,
 SwerveModuleState[] moduleStates,
 DriveFeedforwards feedforwards)

Creates an instance of a SwerveSetpoint record class.

Parameters:

robotRelativeSpeeds - the value for the robotRelativeSpeeds record component

moduleStates - the value for the moduleStates record component

feedforwards - the value for the feedforwards record component

Method Details

toString

public final String toString()

Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.

Specified by:

toString in class Record

Returns:

a string representation of this object

hashCode

public final int hashCode()

Returns a hash code value for this object. The value is derived from the hash code of each of the record components.

Specified by:

hashCode in class Record

Returns:

a hash code value for this object

equals

public final boolean equals(Object o)

Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with Objects::equals(Object,Object).

Specified by:

equals in class Record

Parameters:

o - the object with which to compare

Returns:

true if this object is the same as the o argument; false otherwise.

robotRelativeSpeeds

public ChassisSpeeds robotRelativeSpeeds()

Returns the value of the robotRelativeSpeeds record component.

Returns:

the value of the robotRelativeSpeeds record component

moduleStates

public SwerveModuleState[] moduleStates()

Returns the value of the moduleStates record component.

Returns:

the value of the moduleStates record component

feedforwards

public DriveFeedforwards feedforwards()

Returns the value of the feedforwards record component.

Returns:

the value of the feedforwards record component