Package swervelib.parser

Record Class SwerveParser.SwerveDriveDevices

java.lang.Object
java.lang.Record
swervelib.parser.SwerveParser.SwerveDriveDevices
Record Components:
swerveDrive - SwerveDrive built from these devices.
gyro - Raw gyro device (e.g. a Pigeon2 instance), or null if the configured gyro type is "custom" (the caller is expected to supply/own their own gyro in that case).
modules - Raw devices for each module, in the same order as SwerveDriveJson.modules.
Enclosing class:
SwerveParser
public static record SwerveParser.SwerveDriveDevices(yams.mechanisms.swerve.SwerveDrive swerveDrive, Object gyro, SwerveParser.SwerveModuleDevices[] modules) extends Record
Raw hardware devices created by SwerveParser.createSwerveDriveDevices(SwerveDriveConfig), alongside the SwerveDrive it built.

  • Constructor Details

    • SwerveDriveDevices

      public SwerveDriveDevices(yams.mechanisms.swerve.SwerveDrive swerveDrive, Object gyro, SwerveParser.SwerveModuleDevices[] modules)
      Creates an instance of a SwerveDriveDevices record class.
      Parameters:
      swerveDrive - the value for the swerveDrive record component
      gyro - the value for the gyro record component
      modules - the value for the modules 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.

    • swerveDrive

      public yams.mechanisms.swerve.SwerveDrive swerveDrive()
      Returns the value of the swerveDrive record component.
      Returns:
      the value of the swerveDrive record component

    • gyro

      public Object gyro()
      Returns the value of the gyro record component.
      Returns:
      the value of the gyro record component

    • modules

      public SwerveParser.SwerveModuleDevices[] modules()
      Returns the value of the modules record component.
      Returns:
      the value of the modules record component