Phoenix 6 SwerveDrivetrain state does not update

[Alan6458]

When using the .getState().Pose from Phoenix 6 SwerveDrivetrain, it always stays the same. This can also be seen in the Phoenix 6 SwerveWithPathPlanner example - when running in simulation, the robot moves in the 2026 version, but does not update its position when simulating the code in the 2027 branch. On my team's robot, it's causing problems by throwing off pose estimates.

Is there a solution for this? I'm currently considering using a separate pose estimator based off the cameras, but it'll take a while to code.

Thanks!

[daltzctr]

Hey @Alan6458

I cannot seem to reproduce your issue on our 2027_alpha7 phoenix6-examples branch with the SwerveWithPathPlanner project. I took the base project, made drivetrain in RobotContainer static, then logged drivetrain.getState().pose and I can see pose updates from my telemetry item in NT while driving the robot in simulation.

Please note that there are many changes between 2026 and 2027. We do not recommend manually modifying your existing code, but instead create a new project (you can base it on the example projects), and manually fix-up then and port your subsystems.

[Alan6458]

Hi, thank you so much for the response.
I did some more testing and found that my issue was that enabling the robot through the simulation dashboard doesn't actually enable the robot. Pose estimation worked when I used the real driverstation in simulation.

[bhall-ctre]

In the 2027 alpha, the enable/disable buttons in the sim GUI are separate from the mode selection: