Package com.marslib.swerve

Class PhoenixOdometryThread.SyncData

java.lang.Object

com.marslib.swerve.PhoenixOdometryThread.SyncData

Enclosing class:

PhoenixOdometryThread

public static class PhoenixOdometryThread.SyncData
extends Object

Container for a batch of synchronized odometry samples from a single module.

Arrays are pre-allocated at fixed capacity (PhoenixOdometryThread.MAX_SAMPLES). Use validCount to determine how many entries are populated. Do not read beyond validCount - 1.

Field Summary

Fields

Modifier and Type	Field	Description
final double[]	drivePositions	Accumulated drive encoder positions (motor rotations) since the last drain.
final double[]	timestamps	FPGA timestamps corresponding to each position sample.
final double[]	turnPositions	Accumulated turn encoder positions (motor rotations) since the last drain.
int	validCount	Number of valid samples in this batch.

Constructor Summary

Constructors

Constructor	Description
SyncData()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

drivePositions

public final double[] drivePositions

Accumulated drive encoder positions (motor rotations) since the last drain.

turnPositions

public final double[] turnPositions

Accumulated turn encoder positions (motor rotations) since the last drain.

timestamps

public final double[] timestamps

FPGA timestamps corresponding to each position sample.

validCount

public int validCount

Number of valid samples in this batch. Only indices [0, validCount) are valid.

Constructor Details

SyncData

public SyncData()