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[docs] Make C++ example for advantagescope swerve states compilable #2599

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[docs] Make C++ example for advantagescope swerve states compilable #2599

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14 changes: 6 additions & 8 deletions source/docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -303,14 +303,12 @@ By recording a set of swerve module states using :ref:`NetworkTables <docs/softw

void Periodic() {
// Periodically send a set of module states
swervePublisher.Set(
std::vector{
frontLeftState,
frontRightState,
backLeftState,
backRightState
}
);
std::vector states_vec = {m_frontLeft.GetState(), m_frontRight.GetState(),
m_rearLeft.GetState(), m_rearRight.GetState()};
std::span<frc::SwerveModuleState, 4> states(states_vec.begin(),
states_vec.end());

publisher.Set(states);
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It shouldn't be necessary to explicitly create a std::span. It should work to just pass states_vec directly to the publisher, as there's an implicit conversion from std::vector to std::span.

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It should also be possible to simply use double-braces here, although I've not tested it:

swervePublisher.Set(
            {{
              frontLeftState,
              frontRightState,
              backLeftState,
              backRightState
            }}
          );

}
};

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