Class SwerveDrivetrain.OdometryThread

java.lang.Object

com.ctre.phoenix6.swerve.SwerveDrivetrain.OdometryThread

Enclosing class:

SwerveDrivetrain<DriveMotorT extends CommonTalon, SteerMotorT extends CommonTalon, EncoderT extends ParentDevice>

public class SwerveDrivetrain.OdometryThread
extends Object

Performs swerve module updates in a separate thread to minimize latency.

Constructor Summary

Constructors

Constructor	Description
OdometryThread()

Method Summary

Modifier and Type	Method	Description
boolean	isOdometryValid()	Check if the odometry is currently valid.
final void	setThreadPriority(int priority)	Sets the odometry thread priority to a real time priority under the specified priority level
final void	start()	Starts the odometry thread.
final void	stop()	Stops the odometry thread.

Methods inherited from class Object

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

Constructor Details

OdometryThread

public OdometryThread()

Method Details

start

public final void start()

Starts the odometry thread.

stop

public final void stop()

Stops the odometry thread.

isOdometryValid

public boolean isOdometryValid()

Check if the odometry is currently valid.

Returns:

True if odometry is valid

setThreadPriority

public final void setThreadPriority(int priority)

Sets the odometry thread priority to a real time priority under the specified priority level

Parameters:

priority - Priority level to set the odometry thread to. This is a value between 0 and 99, with 99 indicating higher priority and 0 indicating lower priority.