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Exposing more swerve drive members

This commit is contained in:
Tyler Wilcox 2026-03-22 21:14:12 -04:00
parent 30421c381a
commit ad53b44e2f
1 changed files with 9 additions and 0 deletions
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9
lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java
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@ -6,6 +6,7 @@ import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.Pigeon2; import com.ctre.phoenix6.hardware.Pigeon2;
import edu.wpi.first.math.estimator.PoseEstimator;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator3d; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator3d;
import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Pose3d;
@ -223,6 +224,14 @@ public class SwerveDriveSystem implements Subsystem{
poseEstimator.resetPose(pose); poseEstimator.resetPose(pose);
} }
/**
* Get the pose estimator instance
* @return pose estimator instance
*/
public SwerveDrivePoseEstimator3d getPoseEstimator(){
return poseEstimator;
}
/** /**
* Set pose estimation to a specific pose * Set pose estimation to a specific pose
* @param pose The new pose as a Pose2d * @param pose The new pose as a Pose2d