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2024-10-20 09:14:32 -05:00
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu, class: CanandgyroSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
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</head>
<body class="class-declaration-page">
<script type="text/javascript">var evenRowColor = "even-row-color";
var oddRowColor = "odd-row-color";
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var pathtoroot = "../../";
loadScripts(document, 'script');</script>
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<div class="header">
<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.imu</a></div>
<h1 title="Class CanandgyroSwerve" class="title">Class CanandgyroSwerve</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance"><a href="SwerveIMU.html" title="class in swervelib.imu">swervelib.imu.SwerveIMU</a>
<div class="inheritance">swervelib.imu.CanandgyroSwerve</div>
</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">CanandgyroSwerve</span>
<span class="extends-implements">extends <a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></span></div>
<div class="block">SwerveIMU interface for the Boron Candandgyro by Redux Robotics</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>(package private) com.reduxrobotics.sensors.canandgyro.Canandgyro</code></div>
<div class="col-second even-row-color"><code><a href="#imu" class="member-name-link">imu</a></code></div>
<div class="col-last even-row-color">
<div class="block">Boron Canandgyro by Redux Robotics.</div>
</div>
<div class="col-first odd-row-color"><code>private boolean</code></div>
<div class="col-second odd-row-color"><code><a href="#invertedIMU" class="member-name-link">invertedIMU</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Inversion for the gyro</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color"><code><a href="#offset" class="member-name-link">offset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Offset for the Boron Canandgyro.</div>
</div>
<div class="col-first odd-row-color"><code>static double</code></div>
<div class="col-second odd-row-color"><code><a href="#STATUS_TIMEOUT_SECONDS" class="member-name-link">STATUS_TIMEOUT_SECONDS</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Wait time for status frames to show up.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(int)" class="member-name-link">CanandgyroSwerve</a><wbr>(int&nbsp;canid)</code></div>
<div class="col-last even-row-color">
<div class="block">Generate the SwerveIMU for <code>Canandgyro</code>.</div>
</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#clearStickyFaults()" class="member-name-link">clearStickyFaults</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Clear sticky faults on IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#factoryDefault()" class="member-name-link">factoryDefault</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Reset IMU to factory default.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getAccel()" class="member-name-link">getAccel</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getIMU()" class="member-name-link">getIMU</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Get the instantiated IMU object.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRate()" class="member-name-link">getRate</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the rotation rate from the IMU in degrees per second.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRawRotation3d()" class="member-name-link">getRawRotation3d</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU without any zeroing.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Rotation3d</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getRotation3d()" class="member-name-link">getRotation3d</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Fetch the <code>Rotation3d</code> from the IMU.</div>
</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setInverted(boolean)" class="member-name-link">setInverted</a><wbr>(boolean&nbsp;invertIMU)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the gyro to invert its default direction</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setOffset(edu.wpi.first.math.geometry.Rotation3d)" class="member-name-link">setOffset</a><wbr>(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Set the gyro offset.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="STATUS_TIMEOUT_SECONDS">
<h3>STATUS_TIMEOUT_SECONDS</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">STATUS_TIMEOUT_SECONDS</span></div>
<div class="block">Wait time for status frames to show up.</div>
</section>
</li>
<li>
<section class="detail" id="imu">
<h3>imu</h3>
<div class="member-signature"><span class="return-type">com.reduxrobotics.sensors.canandgyro.Canandgyro</span>&nbsp;<span class="element-name">imu</span></div>
<div class="block">Boron Canandgyro by Redux Robotics.</div>
</section>
</li>
<li>
<section class="detail" id="offset">
<h3>offset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">offset</span></div>
<div class="block">Offset for the Boron Canandgyro.</div>
</section>
</li>
<li>
<section class="detail" id="invertedIMU">
<h3>invertedIMU</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">boolean</span>&nbsp;<span class="element-name">invertedIMU</span></div>
<div class="block">Inversion for the gyro</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;(int)">
<h3>CanandgyroSwerve</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">CanandgyroSwerve</span><wbr><span class="parameters">(int&nbsp;canid)</span></div>
<div class="block">Generate the SwerveIMU for <code>Canandgyro</code>.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>canid</code> - CAN ID for the Boron Canandgyro</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="factoryDefault()">
<h3>factoryDefault</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">factoryDefault</span>()</div>
<div class="block">Reset IMU to factory default.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#factoryDefault()">factoryDefault</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="clearStickyFaults()">
<h3>clearStickyFaults</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">clearStickyFaults</span>()</div>
<div class="block">Clear sticky faults on IMU.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#clearStickyFaults()">clearStickyFaults</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setOffset(edu.wpi.first.math.geometry.Rotation3d)">
<h3>setOffset</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setOffset</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation3d&nbsp;offset)</span></div>
<div class="block">Set the gyro offset.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setOffset(edu.wpi.first.math.geometry.Rotation3d)">setOffset</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>offset</code> - gyro offset as a <code>Rotation3d</code>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="setInverted(boolean)">
<h3>setInverted</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setInverted</span><wbr><span class="parameters">(boolean&nbsp;invertIMU)</span></div>
<div class="block">Set the gyro to invert its default direction</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#setInverted(boolean)">setInverted</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Parameters:</dt>
<dd><code>invertIMU</code> - invert gyro direction</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRawRotation3d()">
<h3>getRawRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRawRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU without any zeroing. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRawRotation3d()">getRawRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRotation3d()">
<h3>getRotation3d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation3d</span>&nbsp;<span class="element-name">getRotation3d</span>()</div>
<div class="block">Fetch the <code>Rotation3d</code> from the IMU. Robot relative.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRotation3d()">getRotation3d</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Rotation3d</code> from the IMU.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getAccel()">
<h3>getAccel</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link">Optional</a>&lt;edu.wpi.first.math.geometry.Translation3d&gt;</span>&nbsp;<span class="element-name">getAccel</span>()</div>
<div class="block">Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getAccel()">getAccel</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><code>Translation3d</code> of the acceleration as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getRate()">
<h3>getRate</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getRate</span>()</div>
<div class="block">Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getRate()">getRate</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Double.html" title="class or interface in java.lang" class="external-link"><code>Double</code></a> of the rotation rate as an <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/util/Optional.html" title="class or interface in java.util" class="external-link"><code>Optional</code></a>.</dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getIMU()">
<h3>getIMU</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span>&nbsp;<span class="element-name">getIMU</span>()</div>
<div class="block">Get the instantiated IMU object.</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code><a href="SwerveIMU.html#getIMU()">getIMU</a></code>&nbsp;in class&nbsp;<code><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></code></dd>
<dt>Returns:</dt>
<dd>IMU object.</dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
</main>
</div>
</div>
</body>
</html>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>IMUVelocity</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu, class: IMUVelocity">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>NavXSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu, class: NavXSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>Pigeon2Swerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu, class: Pigeon2Swerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>PigeonSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu, class: PigeonSwerve">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>SwerveIMU</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu, class: SwerveIMU">
<meta name="generator" content="javadoc/ClassWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -77,7 +77,7 @@ loadScripts(document, 'script');</script>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>Direct Known Subclasses:</dt>
<dd><code><a href="ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></code>, <code><a href="ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></code>, <code><a href="ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></code>, <code><a href="AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></code>, <code><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></code>, <code><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></code>, <code><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></code></dd>
<dd><code><a href="ADIS16448Swerve.html" title="class in swervelib.imu">ADIS16448Swerve</a></code>, <code><a href="ADIS16470Swerve.html" title="class in swervelib.imu">ADIS16470Swerve</a></code>, <code><a href="ADXRS450Swerve.html" title="class in swervelib.imu">ADXRS450Swerve</a></code>, <code><a href="AnalogGyroSwerve.html" title="class in swervelib.imu">AnalogGyroSwerve</a></code>, <code><a href="CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></code>, <code><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></code>, <code><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></code>, <code><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">SwerveIMU</span>

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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>swervelib.imu</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.imu">
<meta name="generator" content="javadoc/PackageWriterImpl">
<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -100,24 +100,28 @@ loadScripts(document, 'script');</script>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Creates a IMU for <code>AnalogGyro</code> devices, only uses yaw.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="CanandgyroSwerve.html" title="class in swervelib.imu">CanandgyroSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">SwerveIMU interface for the Boron Candandgyro by Redux Robotics</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="IMUVelocity.html" title="class in swervelib.imu">IMUVelocity</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Generic IMU Velocity filter.</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="NavXSwerve.html" title="class in swervelib.imu">NavXSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">Communicates with the NavX as the IMU.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="Pigeon2Swerve.html" title="class in swervelib.imu">Pigeon2Swerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">SwerveIMU interface for the Pigeon2</div>
</div>
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="PigeonSwerve.html" title="class in swervelib.imu">PigeonSwerve</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="block">SwerveIMU interface for the Pigeon.</div>
</div>
<div class="col-first even-row-color class-summary class-summary-tab2"><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last even-row-color class-summary class-summary-tab2">
<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="SwerveIMU.html" title="class in swervelib.imu">SwerveIMU</a></div>
<div class="col-last odd-row-color class-summary class-summary-tab2">
<div class="block">Swerve IMU abstraction to define a standard interface with a swerve drive.</div>
</div>
</div>

5
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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
<!-- Generated by javadoc (17) on Sun Oct 20 09:12:47 CDT 2024 -->
<title>swervelib.imu Class Hierarchy</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="tree: package: swervelib.imu">
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<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
@@ -66,6 +66,7 @@ loadScripts(document, 'script');</script>
<li class="circle">swervelib.imu.<a href="ADIS16470Swerve.html" class="type-name-link" title="class in swervelib.imu">ADIS16470Swerve</a></li>
<li class="circle">swervelib.imu.<a href="ADXRS450Swerve.html" class="type-name-link" title="class in swervelib.imu">ADXRS450Swerve</a></li>
<li class="circle">swervelib.imu.<a href="AnalogGyroSwerve.html" class="type-name-link" title="class in swervelib.imu">AnalogGyroSwerve</a></li>
<li class="circle">swervelib.imu.<a href="CanandgyroSwerve.html" class="type-name-link" title="class in swervelib.imu">CanandgyroSwerve</a></li>
<li class="circle">swervelib.imu.<a href="NavXSwerve.html" class="type-name-link" title="class in swervelib.imu">NavXSwerve</a></li>
<li class="circle">swervelib.imu.<a href="Pigeon2Swerve.html" class="type-name-link" title="class in swervelib.imu">Pigeon2Swerve</a></li>
<li class="circle">swervelib.imu.<a href="PigeonSwerve.html" class="type-name-link" title="class in swervelib.imu">PigeonSwerve</a></li>

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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
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<meta name="generator" content="javadoc/ClassWriterImpl">
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<title>Matter</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
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<meta name="dc.created" content="2024-10-20">
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<title>swervelib.math Class Hierarchy</title>
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<title>SparkFlexSwerve.SparkMAX_slotIdx</title>
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<title>SparkFlexSwerve</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
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<title>SparkMaxBrushedMotorSwerve</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="dc.created" content="2024-10-20">
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<title>SparkMaxSwerve.SparkMAX_slotIdx</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve, enum: SparkMAX_slotIdx">
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<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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<title>SparkMaxSwerve</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
<meta name="description" content="declaration: package: swervelib.motors, class: SparkMaxSwerve">
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<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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<title>SwerveMotor</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2024-10-14">
<meta name="dc.created" content="2024-10-20">
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<title>TalonFXSwerve</title>
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<title>swervelib.motors Class Hierarchy</title>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.telemetry</a></div>
<h1 title="Class SwerveDriveData.SwerveDriveDataStruct" class="title">Class SwerveDriveData.SwerveDriveDataStruct</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.telemetry.SwerveDriveData.SwerveDriveDataStruct</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
<dl class="notes">
<dt>Enclosing class:</dt>
<dd><a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public static class </span><span class="element-name type-name-label">SwerveDriveData.SwerveDriveDataStruct</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
implements edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</span></div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="inherited-list">
<h3 id="fields-inherited-from-class-edu.wpi.first.util.struct.Struct">Fields inherited from interface&nbsp;edu.wpi.first.util.struct.Struct</h3>
<code>kSizeBool, kSizeDouble, kSizeFloat, kSizeInt16, kSizeInt32, kSizeInt64, kSizeInt8</code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveDriveDataStruct</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div id="method-summary-table">
<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
<div id="method-summary-table.tabpanel" role="tabpanel">
<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Method</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.util.struct.Struct&lt;?&gt;[]</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getNested()" class="member-name-link">getNested</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSchema()" class="member-name-link">getSchema</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>int</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getSize()" class="member-name-link">getSize</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Class.html" title="class or interface in java.lang" class="external-link">Class</a>&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getTypeClass()" class="member-name-link">getTypeClass</a>()</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getTypeString()" class="member-name-link">getTypeString</a>()</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#pack(java.nio.ByteBuffer,swervelib.telemetry.SwerveDriveData)" class="member-name-link">pack</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/nio/ByteBuffer.html" title="class or interface in java.nio" class="external-link">ByteBuffer</a>&nbsp;byteBuffer,
<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&nbsp;swerveDriveData)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a></code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#unpack(java.nio.ByteBuffer)" class="member-name-link">unpack</a><wbr>(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/nio/ByteBuffer.html" title="class or interface in java.nio" class="external-link">ByteBuffer</a>&nbsp;byteBuffer)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#unpackInto(swervelib.telemetry.SwerveDriveData,java.nio.ByteBuffer)" class="member-name-link">unpackInto</a><wbr>(<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&nbsp;out,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/nio/ByteBuffer.html" title="class or interface in java.nio" class="external-link">ByteBuffer</a>&nbsp;bb)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>SwerveDriveDataStruct</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveDataStruct</span>()</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ============ METHOD DETAIL ========== -->
<li>
<section class="method-details" id="method-detail">
<h2>Method Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="getTypeClass()">
<h3>getTypeClass</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Class.html" title="class or interface in java.lang" class="external-link">Class</a>&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</span>&nbsp;<span class="element-name">getTypeClass</span>()</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>getTypeClass</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getTypeString()">
<h3>getTypeString</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span>&nbsp;<span class="element-name">getTypeString</span>()</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>getTypeString</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getSize()">
<h3>getSize</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">getSize</span>()</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>getSize</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getSchema()">
<h3>getSchema</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/String.html" title="class or interface in java.lang" class="external-link">String</a></span>&nbsp;<span class="element-name">getSchema</span>()</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>getSchema</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="getNested()">
<h3>getNested</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.util.struct.Struct&lt;?&gt;[]</span>&nbsp;<span class="element-name">getNested</span>()</div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>getNested</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="unpack(java.nio.ByteBuffer)">
<h3>unpack</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a></span>&nbsp;<span class="element-name">unpack</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/nio/ByteBuffer.html" title="class or interface in java.nio" class="external-link">ByteBuffer</a>&nbsp;byteBuffer)</span></div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>unpack</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="pack(java.nio.ByteBuffer,swervelib.telemetry.SwerveDriveData)">
<h3>pack</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">pack</span><wbr><span class="parameters">(<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/nio/ByteBuffer.html" title="class or interface in java.nio" class="external-link">ByteBuffer</a>&nbsp;byteBuffer,
<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&nbsp;swerveDriveData)</span></div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>pack</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
<li>
<section class="detail" id="unpackInto(swervelib.telemetry.SwerveDriveData,java.nio.ByteBuffer)">
<h3>unpackInto</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">unpackInto</span><wbr><span class="parameters">(<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&nbsp;out,
<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/nio/ByteBuffer.html" title="class or interface in java.nio" class="external-link">ByteBuffer</a>&nbsp;bb)</span></div>
<dl class="notes">
<dt>Specified by:</dt>
<dd><code>unpackInto</code>&nbsp;in interface&nbsp;<code>edu.wpi.first.util.struct.Struct&lt;<a href="SwerveDriveData.html" title="class in swervelib.telemetry">SwerveDriveData</a>&gt;</code></dd>
</dl>
</section>
</li>
</ul>
</section>
</li>
</ul>
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.telemetry</a></div>
<h1 title="Class SwerveDriveData" class="title">Class SwerveDriveData</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.telemetry.SwerveDriveData</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code>edu.wpi.first.util.struct.StructSerializable</code>, <code>edu.wpi.first.util.WPISerializable</code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveDriveData</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
implements edu.wpi.first.util.struct.StructSerializable</span></div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- ======== NESTED CLASS SUMMARY ======== -->
<li>
<section class="nested-class-summary" id="nested-class-summary">
<h2>Nested Class Summary</h2>
<div class="caption"><span>Nested Classes</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Class</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>static class&nbsp;</code></div>
<div class="col-second even-row-color"><code><a href="SwerveDriveData.SwerveDriveDataStruct.html" class="type-name-link" title="class in swervelib.telemetry">SwerveDriveData.SwerveDriveDataStruct</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color"><code><a href="#desiredVelocity" class="member-name-link">desiredVelocity</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second odd-row-color"><code><a href="#maxVelocity" class="member-name-link">maxVelocity</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color"><code><a href="#measuredVelocity" class="member-name-link">measuredVelocity</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
<div class="col-first odd-row-color"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second odd-row-color"><code><a href="#rawRotation" class="member-name-link">rawRotation</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#rotation" class="member-name-link">rotation</a></code></div>
<div class="col-last even-row-color">&nbsp;</div>
<div class="col-first odd-row-color"><code>static <a href="SwerveDriveData.SwerveDriveDataStruct.html" title="class in swervelib.telemetry">SwerveDriveData.SwerveDriveDataStruct</a></code></div>
<div class="col-second odd-row-color"><code><a href="#struct" class="member-name-link">struct</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveDriveData</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="measuredVelocity">
<h3>measuredVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">measuredVelocity</span></div>
</section>
</li>
<li>
<section class="detail" id="desiredVelocity">
<h3>desiredVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">desiredVelocity</span></div>
</section>
</li>
<li>
<section class="detail" id="maxVelocity">
<h3>maxVelocity</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">maxVelocity</span></div>
</section>
</li>
<li>
<section class="detail" id="rawRotation">
<h3>rawRotation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">rawRotation</span></div>
</section>
</li>
<li>
<section class="detail" id="rotation">
<h3>rotation</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">rotation</span></div>
</section>
</li>
<li>
<section class="detail" id="struct">
<h3>struct</h3>
<div class="member-signature"><span class="modifiers">public static</span>&nbsp;<span class="return-type"><a href="SwerveDriveData.SwerveDriveDataStruct.html" title="class in swervelib.telemetry">SwerveDriveData.SwerveDriveDataStruct</a></span>&nbsp;<span class="element-name">struct</span></div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>SwerveDriveData</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveDriveData</span>()</div>
</section>
</li>
</ul>
</section>
</li>
</ul>
</section>
<!-- ========= END OF CLASS DATA ========= -->
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</div>
</div>
</body>
</html>

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<head>
<!-- Generated by javadoc (17) on Mon Oct 14 13:19:32 CDT 2024 -->
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<title>SwerveDriveTelemetry</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta name="dc.created" content="2024-10-14">
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<head>
<!-- Generated by javadoc (17) on Sun Oct 20 08:59:46 CDT 2024 -->
<title>SwerveModuleData</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">swervelib.telemetry</a></div>
<h1 title="Class SwerveModuleData" class="title">Class SwerveModuleData</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">swervelib.telemetry.SwerveModuleData</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code>edu.wpi.first.util.struct.StructSerializable</code>, <code>edu.wpi.first.util.WPISerializable</code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveModuleData</span>
<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a>
implements edu.wpi.first.util.struct.StructSerializable</span></div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
<h2>Constructor Summary</h2>
<div class="caption"><span>Constructors</span></div>
<div class="summary-table two-column-summary">
<div class="table-header col-first">Constructor</div>
<div class="table-header col-last">Description</div>
<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">SwerveModuleData</a>()</code></div>
<div class="col-last even-row-color">&nbsp;</div>
</div>
</section>
</li>
<!-- ========== METHOD SUMMARY =========== -->
<li>
<section class="method-summary" id="method-summary">
<h2>Method Summary</h2>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
</section>
</li>
</ul>
</section>
<section class="details">
<ul class="details-list">
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
<h2>Constructor Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="&lt;init&gt;()">
<h3>SwerveModuleData</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveModuleData</span>()</div>
</section>
</li>
</ul>
</section>
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