Package frc.RebeLib.subsystems.drive

Class PhoenixOdometryThread

java.lang.Object

java.lang.Thread

frc.RebeLib.subsystems.drive.PhoenixOdometryThread

All Implemented Interfaces:

Runnable

public class PhoenixOdometryThread
extends Thread

Provides an interface for asynchronously reading high-frequency measurements to a set of queues.

This version is intended for Phoenix 6 devices on both the RIO and CANivore buses. When using a CANivore, the thread uses the "waitForAll" blocking method to enable more consistent sampling. This also allows Phoenix Pro users to benefit from lower latency between devices using CANivore time synchronization.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

Thread.State, Thread.UncaughtExceptionHandler

Field Summary

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Method Summary

Modifier and Type	Method	Description
static PhoenixOdometryThread	getInstance()
Queue<Double>	makeTimestampQueue()	Returns a new queue that returns timestamp values for each sample.
Queue<Double>	registerSignal(com.ctre.phoenix6.StatusSignal<edu.wpi.first.units.measure.Angle> signal)	Registers a Phoenix signal to be read from the thread.
Queue<Double>	registerSignal(DoubleSupplier signal)	Registers a generic signal to be read from the thread.
void	run()
void	start()

Methods inherited from class java.lang.Thread

activeCount, checkAccess, clone, countStackFrames, currentThread, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, onSpinWait, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, stop, suspend, toString, yield

Methods inherited from class java.lang.Object

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

Method Details

getInstance

public static PhoenixOdometryThread getInstance()

start

public void start()

Overrides:

start in class Thread

registerSignal

public Queue<Double> registerSignal(com.ctre.phoenix6.StatusSignal<edu.wpi.first.units.measure.Angle> signal)

Registers a Phoenix signal to be read from the thread.

registerSignal

public Queue<Double> registerSignal(DoubleSupplier signal)

Registers a generic signal to be read from the thread.

makeTimestampQueue

public Queue<Double> makeTimestampQueue()

Returns a new queue that returns timestamp values for each sample.

run

public void run()

Specified by:

run in interface Runnable

Overrides:

run in class Thread