content: package org.firstinspires.ftc.teamcode.messages;
  
  import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
  
  import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
  import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  
  public final class MecanumLocalizerInputsMessage {
      public long timestamp;
      public PositionVelocityPair leftFront;
      public PositionVelocityPair leftBack;
      public PositionVelocityPair rightBack;
      public PositionVelocityPair rightFront;
      public double yaw;
      public double pitch;
      public double roll;
  
      public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
          this.timestamp = System.nanoTime();
          this.leftFront = leftFront;
          this.leftBack = leftBack;
          this.rightBack = rightBack;
          this.rightFront = rightFront;
          {
              this.yaw = angles.getYaw(AngleUnit.RADIANS);
              this.pitch = angles.getPitch(AngleUnit.RADIANS);
              this.roll = angles.getRoll(AngleUnit.RADIANS);
          }
      }
  }
  