Index

A B C D E F G H I J K L M N O P R S T U V W Y _
All Classes and Interfaces|All Packages|Constant Field Values

A

a - Variable in class frc.robot.math.geometry.Line

a - Variable in class frc.robot.math.geometry.Triangle2d

absoluteAngleConnected - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

ACCELERATION - Static variable in class frc.robot.Constants.Climber.Pivot

Motion magic acceleration, in rotations per second squared.

active() - Method in class frc.robot.subsystems.swerve.util.MoveToPose

Returns a trigger that is true while this command is actively running.

activeHub - Static variable in class frc.robot.Constants.DashboardValues

activeHub - Static variable in class frc.robot.util.ActiveHub

ActiveHub - Class in frc.robot.util

Class for tracking which hub is active

ActiveHub() - Constructor for class frc.robot.util.ActiveHub

acute(Rotation2d, Rotation2d) - Static method in class frc.robot.math.geometry.RotationInterval

A one-dimensional range with wrapping on [-pi,pi].

addFuel() - Method in class frc.robot.subsystems.indexer.IndexerSim

Increment fuel counter by 1

addOdometryObservation(SwerveModulePosition[], Rotation2d, double) - Method in class frc.robot.RobotState

Updates odometry and pose estimates using swerve module encoders and an optional gyro measurement.

addVisionObservation(Pose3d, Transform3d, double, double, double) - Method in class frc.robot.RobotState

Adds a vision measurement using an externally computed camera pose.

addVisionObservation(CameraConstants, PhotonPipelineResult) - Method in class frc.robot.RobotState

Adds a vision measurement from PhotonVision.

adjustableHood - Variable in class frc.robot.sim.SimulatedRobotState

AdjustableHood - Class in frc.robot.subsystems.adjustable_hood

Adjustable Hood Subsystem

AdjustableHood() - Constructor for class frc.robot.Constants.AdjustableHood

AdjustableHood(AdjustableHoodIO) - Constructor for class frc.robot.subsystems.adjustable_hood.AdjustableHood

Creates a new Adjustable Hood subsystem.

AdjustableHoodInputs() - Constructor for class frc.robot.subsystems.adjustable_hood.AdjustableHoodIO.AdjustableHoodInputs

AdjustableHoodIO - Interface in frc.robot.subsystems.adjustable_hood

Hardware abstraction layer for the adjustable hood subsystem.

AdjustableHoodIO.AdjustableHoodInputs - Class in frc.robot.subsystems.adjustable_hood

Container for all adjustable hood sensor inputs.

AdjustableHoodReal - Class in frc.robot.subsystems.adjustable_hood

adjustable hood hardware

AdjustableHoodReal() - Constructor for class frc.robot.subsystems.adjustable_hood.AdjustableHoodReal

Real AdjustableHood Implementation

AdjustableHoodSim - Class in frc.robot.subsystems.adjustable_hood

Simulation implementation of AdjustableHoodIO.

AdjustableHoodSim() - Constructor for class frc.robot.subsystems.adjustable_hood.AdjustableHoodSim

advancePhysics(double) - Method in class frc.robot.sim.FuelSim

Advance physics by dt seconds.

AllianceFlipUtil - Class in frc.robot.util

Utilities for flipping based on alliance

AllianceFlipUtil() - Constructor for class frc.robot.util.AllianceFlipUtil

allianceZone - Static variable in class frc.robot.FieldConstants.LinesVertical

Alias for the alliance zone boundary line X.

alt() - Element in annotation interface frc.robot.util.typestate.OptionalField

Alternative build methods.

alt() - Element in annotation interface frc.robot.util.typestate.RequiredField

Alternative build methods.

AltMethod - Annotation Interface in frc.robot.util.typestate

Alternative builder step.

ANDYMARK - Enum constant in enum class frc.robot.FieldConstants.FieldType

Field built from AndyMark elements.

angleAbsolutePosition - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

angleAppliedVolts - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

angleConnected - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

angleCurrentLimit - Static variable in class frc.robot.Constants.Swerve

angleCurrentLowerLimit - Static variable in class frc.robot.Constants.Swerve

angleCurrentLowerTimeThreshold - Static variable in class frc.robot.Constants.Swerve

angleEnableCurrentLimit - Static variable in class frc.robot.Constants.Swerve

angleGearRatio - Variable in enum class frc.robot.util.tunable.ModuleConstants.ModuleKind

angleMotorId - Variable in class frc.robot.util.tunable.ModuleConstants

CAN ID for the angle motor

angleMotorInvert - Static variable in class frc.robot.Constants.Swerve

angleMotorPID - Static variable in class frc.robot.Constants.Swerve

angleNeutralMode - Static variable in class frc.robot.Constants.Swerve

Angle Motor Neutral Mode

angleOffset - Variable in class frc.robot.util.tunable.ModuleConstants

Reported angle when wheel is straight

anglePosition - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

angleStatorCurrentAmps - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

angleSupplyCurrentAmps - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

angleVelocityRadPerSec - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

apply(Slot0Configs) - Method in class frc.robot.util.tunable.PIDConstants

Write PID constants to TalonFX

apply(Slot1Configs) - Method in class frc.robot.util.tunable.PIDConstants

Write PID constants to TalonFX

apply(Pose2d) - Static method in class frc.robot.util.AllianceFlipUtil

Possibly flip

apply(Rotation2d) - Static method in class frc.robot.util.AllianceFlipUtil

Possibly flip

apply(Translation2d) - Static method in class frc.robot.util.AllianceFlipUtil

Possibly flip

applyX(double) - Static method in class frc.robot.util.AllianceFlipUtil

Possibly flip

applyY(double) - Static method in class frc.robot.util.AllianceFlipUtil

Possibly flip

aprilTagCount - Static variable in class frc.robot.FieldConstants

Number of AprilTags in the currently selected official layout.

aprilTagWidth - Static variable in class frc.robot.FieldConstants

Physical width of an AprilTag (edge length) in meters.

atSpeedDebounce - Variable in class frc.robot.util.tunable.FlywheelConstants

atSpeedThreshold - Static variable in class frc.robot.Constants.Shooter

Auto() - Constructor for class frc.robot.Constants.Auto

autoChooser - Static variable in class frc.robot.Constants.DashboardValues

AutoCommandFactory - Class in frc.robot

Auto Command Factory

AutoCommandFactory(AutoFactory, Swerve, AdjustableHood, Climber, Intake, Indexer, Shooter, Turret) - Constructor for class frc.robot.AutoCommandFactory

Auto Command Factory

autoFactory - Variable in class frc.robot.subsystems.swerve.Swerve

autoMaxSpeed - Static variable in class frc.robot.Constants.Swerve

Max Speed for Auto in Meters per Second

autonomousInit() - Method in class frc.robot.Robot

autonomousPeriodic() - Method in class frc.robot.Robot

Axis - Class in frc.robot.math.geometry

Represents an axis.

Axis(double, double) - Constructor for class frc.robot.math.geometry.Axis

Create new axis with a given direction.

B

b - Variable in class frc.robot.math.geometry.Line

b - Variable in class frc.robot.math.geometry.Triangle2d

backTiltLimit - Static variable in class frc.robot.Constants.Swerve

baumgarteBeta - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

baumgarteSlop - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

blinkLEDs(Color) - Method in class frc.robot.subsystems.LEDs

Blink LEDs

blinkLEDs(Color, double) - Method in class frc.robot.subsystems.LEDs

Blink LEDs for a certain timeout

blueAlliance - Static variable in class frc.robot.FieldConstants.Rectangles

The Blue Alliance zone.

blueAllianceClimber - Static variable in class frc.robot.FieldConstants.Rectangles

The Blue Alliance climber area.

blueAllianceLeft - Static variable in class frc.robot.FieldConstants.Passing

Left side of the blue alliance where it's one place the robot can feed to.

blueAllianceRight - Static variable in class frc.robot.FieldConstants.Passing

Right side of the blue alliance where it's one place the robot can feed to.

blueCloseCenterLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

blueCloseCenterRight - Static variable in class frc.robot.FieldConstants.RightTrench

blueDropper - Static variable in class frc.robot.FieldConstants.Rectangles

The Blue Alliance dropper area.

blueFarCenterLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

blueFarCenterRight - Static variable in class frc.robot.FieldConstants.RightTrench

blueTrenchCenterLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

blueTrenchCenterRight - Static variable in class frc.robot.FieldConstants.RightTrench

BREAK - Static variable in class frc.robot.Constants.Climber.Pivot

Neutral mode for the pivot motor (brake or coast).

BREAK - Static variable in class frc.robot.Constants.Climber.Telescope

Neutral mode for telescope motors (brake or coast).

BUILD_DATE - Static variable in class frc.robot.BuildConstants

BUILD_UNIX_TIME - Static variable in class frc.robot.BuildConstants

BuildConstants - Class in frc.robot

Automatically generated file containing build version information.

bumperFront - Static variable in class frc.robot.Constants.Swerve

Bumper to bumper length of the robot

bumperRight - Static variable in class frc.robot.Constants.Swerve

Bumper to bumper back of the robot

C

c - Variable in class frc.robot.math.geometry.Line

c - Variable in class frc.robot.math.geometry.Triangle2d

C_VELOCITY - Static variable in class frc.robot.Constants.Climber.Pivot

Motion magic cruise velocity, in rotations per second.

calibrationErrorMean - Variable in class frc.robot.subsystems.vision.CameraConstants

calibrationErrorStdDev - Variable in class frc.robot.subsystems.vision.CameraConstants

cameraConstants - Static variable in class frc.robot.Constants.Vision

CameraConstants - Class in frc.robot.subsystems.vision

Constants for a camera

CameraConstants(String, String, int, int, Rotation2d, Frequency, Time, Time, double, double, Transform3d, double, double, double, boolean) - Constructor for class frc.robot.subsystems.vision.CameraConstants

Constants for a camera

CameraInputs() - Constructor for class frc.robot.subsystems.vision.VisionIO.CameraInputs

cameraMatrix - Variable in class frc.robot.subsystems.vision.VisionIO.CameraInputs

cameras - Variable in class frc.robot.subsystems.vision.VisionReal

canCoder1Invert - Static variable in class frc.robot.Constants.Turret

canCoder2Invert - Static variable in class frc.robot.Constants.Turret

canCoderId - Variable in class frc.robot.util.tunable.ModuleConstants

CAN ID for the CANCoder

cancoderInvert - Static variable in class frc.robot.Constants.Swerve

ccdEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

ccdSpeedThreshold - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

center - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Field centerline Y (half the field width).

center - Static variable in class frc.robot.FieldConstants.LinesVertical

Field centerline X (half the field length).

centerDepth - Static variable in class frc.robot.FieldConstants.LeftTrench

Trench depth from center (meters)

centerDepth - Static variable in class frc.robot.FieldConstants.RightTrench

Trench depth from center

centerHub - Static variable in class frc.robot.FieldConstants.Hub

Translation 2d of the center of the Hub

centerPoint - Static variable in class frc.robot.FieldConstants.Outpost

Outpost center point (2D).

centerPoint - Static variable in class frc.robot.FieldConstants.Tower

Tower center point on the alliance side (2D).

centerWidth - Static variable in class frc.robot.FieldConstants.LeftTrench

Distance from the edge of the trench to the center of the trench

centerWidth - Static variable in class frc.robot.FieldConstants.RightTrench

Distance from the edge of the trench to the center of the trench

characterization() - Method in class frc.robot.subsystems.shooter.Shooter

Run characterization procedure

characterization() - Method in class frc.robot.subsystems.turret.Turret

Run characterization procedure

Circle - Class in frc.robot.math.geometry

Represents a circle with a known center and radius.

Circle(String, Translation2d, double) - Constructor for class frc.robot.math.geometry.Circle

Represents a circle with a known center and radius.

circleTangentAngles(Translation2d) - Method in class frc.robot.math.geometry.Circle

Get angles for points that are both tangent to the circle and colinear with a given point.

clearFuel() - Method in class frc.robot.sim.FuelSim

Remove every fuel from the sim.

climber - Variable in class frc.robot.sim.SimulatedRobotState

Climber - Class in frc.robot.subsystems.climber

Climber subsystem for controlling the robot's climbing mechanism.

Climber() - Constructor for class frc.robot.Constants.Climber

Climber(ClimberIO) - Constructor for class frc.robot.subsystems.climber.Climber

Constructs a new Climber subsystem.

ClimberInputs() - Constructor for class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

ClimberIO - Interface in frc.robot.subsystems.climber

Hardware abstraction interface for the climber subsystem.

ClimberIO.ClimberInputs - Class in frc.robot.subsystems.climber

Input container for climber sensor and state data.

ClimberReal - Class in frc.robot.subsystems.climber

Real hardware implementation of the climber subsystem.

ClimberReal() - Constructor for class frc.robot.subsystems.climber.ClimberReal

Constructs a new ClimberReal instance and configures all motors and sensors.

ClimberSim - Class in frc.robot.subsystems.climber

Simulation implementation of the climber subsystem.

ClimberSim() - Constructor for class frc.robot.subsystems.climber.ClimberSim

clone() - Method in class frc.robot.util.tunable.PIDConstants

closedLoopRamp - Static variable in class frc.robot.Constants.Swerve

closestPoint(Translation2d) - Method in class frc.robot.math.geometry.Triangle2d

Finds closest point on triangle to a query point.

ClosestPoint(Translation2d, double, double, double, boolean) - Constructor for record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Creates an instance of a ClosestPoint record class.

ColorDetection - Class in frc.robot.subsystems.vision.color

Color detector subsystem

ColorDetection(ColorDetectionIO) - Constructor for class frc.robot.subsystems.vision.color.ColorDetection

ColorDetectionIO - Interface in frc.robot.subsystems.vision.color

Color detector IO

ColorDetectionIO.ColorInputs - Class in frc.robot.subsystems.vision.color

Color detection inputs

ColorDetectionIO.Empty - Class in frc.robot.subsystems.vision.color

Empty IO layer for replay

ColorDetectionReal - Class in frc.robot.subsystems.vision.color

Color detector hardware layer

ColorDetectionReal() - Constructor for class frc.robot.subsystems.vision.color.ColorDetectionReal

class constructor

ColorInputs() - Constructor for class frc.robot.subsystems.vision.color.ColorDetectionIO.ColorInputs

CommandFactory - Class in frc.robot

Command Factory

CommandFactory() - Constructor for class frc.robot.CommandFactory

complement() - Method in class frc.robot.math.geometry.RotationInterval

Get the interval opposite this.

connected - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

conservationMonitor - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

constants - Static variable in class frc.robot.Constants.Indexer

constants - Static variable in class frc.robot.Constants.Shooter

Constants - Class in frc.robot

Constants file.

Constants() - Constructor for class frc.robot.Constants

Constants.AdjustableHood - Class in frc.robot

Adjustable Hood Constants

Constants.Auto - Class in frc.robot

Auto constants

Constants.Climber - Class in frc.robot

Climber subsystem constants.

Constants.Climber.Pivot - Class in frc.robot

Pivot rotation mechanism constants.

Constants.Climber.Telescope - Class in frc.robot

Telescope extension mechanism constants.

Constants.DashboardValues - Class in frc.robot

dashboard constants

Constants.DriverControls - Class in frc.robot

Constants for driver controls

Constants.Indexer - Class in frc.robot

Indexer Constants

Constants.IntakeConstants - Class in frc.robot

Intake Constants

Constants.LEDs - Class in frc.robot

leds constants class

Constants.Shooter - Class in frc.robot

Shooter Constants

Constants.Swerve - Class in frc.robot

Swerve Constants

Constants.SwerveTransformPID - Class in frc.robot

MoveToPos Constants

Constants.Trench - Class in frc.robot

Trench MoveToPose Constants

Constants.Turret - Class in frc.robot

Turret Constants

Constants.Vision - Class in frc.robot

Vision Constants

contains(Translation2d) - Method in class frc.robot.math.geometry.Circle

Get if a point is within the boundary of the circle.

contains(Translation2d) - Method in class frc.robot.math.geometry.Hexagon

Returns true if `p` is inside this hexagon.

contains(Interval) - Method in class frc.robot.math.geometry.Interval

Get if `other` is completely contained by this range.

ConvexShape - Interface in frc.robot.math.geometry

Represents a convex shape for the purpose of separating axis solving.

coProcessorName - Variable in class frc.robot.subsystems.vision.CameraConstants

copy() - Method in class frc.robot.sim.FuelSim.PhysicsConfig

Deep copy.

createSettingsUploadThread(String) - Method in class frc.robot.subsystems.vision.VisionReal

Create a thread to upload PV settings/April Tag field

current - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHoodIO.AdjustableHoodInputs

current - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

currentHubIsActive() - Static method in class frc.robot.util.ActiveHub

D

DashboardValues() - Constructor for class frc.robot.Constants.DashboardValues

defaultAprilTagType - Static variable in class frc.robot.FieldConstants

Default AprilTag layout to use for most robot code.

DEGREES_AT_TOP - Static variable in class frc.robot.Constants.Climber.Pivot

Pivot angle at the top position, in degrees.

DEGREES_AT_TOP - Static variable in class frc.robot.Constants.Climber.Telescope

Telescope length at the top position, in degrees.

Depot() - Constructor for class frc.robot.FieldConstants.Depot

depotCenter - Static variable in class frc.robot.FieldConstants.Depot

Depot center point (3D).

depth - Static variable in class frc.robot.FieldConstants.Depot

Depot depth (meters).

depth - Static variable in class frc.robot.FieldConstants.LeftBump

Left bump depth along the field X axis (meters).

depth - Static variable in class frc.robot.FieldConstants.LeftTrench

Trench depth (meters).

depth - Static variable in class frc.robot.FieldConstants.RightBump

Right bump depth along the field X axis (meters).

depth - Static variable in class frc.robot.FieldConstants.RightTrench

Trench depth (meters).

depth - Static variable in class frc.robot.FieldConstants.Tower

Tower depth (meters).

desiredSpeed() - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Returns the value of the desiredSpeed record component.

deterministic - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

deterministicSeed - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

DIRTY - Static variable in class frc.robot.BuildConstants

disabledInit() - Method in class frc.robot.Robot

disabledPeriodic() - Method in class frc.robot.Robot

disabledPeriodic() - Method in class frc.robot.RobotContainer

Runs during disabled

distanceFeet() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Returns the value of the distanceFeet record component.

distanceFromCenterY - Static variable in class frc.robot.FieldConstants.Depot

Lateral distance from field centerline to the depot center (meters).

distanceFromTarget - Variable in class frc.robot.util.tunable.ShotDataHelper

Distance from target in feet

distCoeffs - Variable in class frc.robot.subsystems.vision.VisionIO.CameraInputs

done() - Method in class frc.robot.subsystems.swerve.util.MoveToPose

Returns a trigger that becomes true once the command has completed successfully.

dot(Translation2d) - Method in class frc.robot.math.geometry.Axis

Get the dot product between this direction and a given point.

dragEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

draw(ToDoubleFunction<Translation2d>, double, double, double, double) - Static method in class frc.robot.viz.DrawColorMap

Draw colormap image.

DrawColorMap - Class in frc.robot.viz

Draw colormap images

DrawColorMap() - Constructor for class frc.robot.viz.DrawColorMap

driveAppliedVolts - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

driveConnected - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

driveCurrentLimit - Static variable in class frc.robot.Constants.Swerve

driveCurrentLowerLimit - Static variable in class frc.robot.Constants.Swerve

driveCurrentLowerTimeThreshold - Static variable in class frc.robot.Constants.Swerve

driveEnableCurrentLimit - Static variable in class frc.robot.Constants.Swerve

driveFieldRelative(Supplier<ChassisSpeeds>) - Method in class frc.robot.subsystems.swerve.Swerve

Drives the robot using the estimated global field heading.

driveGearRatio - Variable in enum class frc.robot.util.tunable.ModuleConstants.ModuleKind

driveMotorId - Variable in class frc.robot.util.tunable.ModuleConstants

CAN ID for the drive motor

driveMotorInvert - Static variable in class frc.robot.Constants.Swerve

driveMotorPID - Static variable in class frc.robot.Constants.Swerve

driveNeutralMode - Static variable in class frc.robot.Constants.Swerve

Drive Motor Neutral Mode

drivePositionRad - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

driver - Variable in class frc.robot.RobotContainer

DriverControls() - Constructor for class frc.robot.Constants.DriverControls

driveRobotRelative(Supplier<ChassisSpeeds>) - Method in class frc.robot.subsystems.swerve.Swerve

Drives the robot using robot-relative chassis speeds.

driverRotationalMaxSpeed - Static variable in class frc.robot.Constants.DriverControls

Maximum Rotational speed (in rad/s)

driverRotationalShootSpeed - Static variable in class frc.robot.Constants.DriverControls

Maximum Rotational speed while shooting (in rad/s)

driverTranslationalMaxSpeed - Static variable in class frc.robot.Constants.DriverControls

Maximum Translational speed (in m/s)

driverTranslationalShootSpeed - Static variable in class frc.robot.Constants.DriverControls

Maximum Translational speed while shooting (in m/s)

driveStatorCurrentAmps - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

driveSupplyCurrentAmps - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

driveUserRelative(Supplier<ChassisSpeeds>) - Method in class frc.robot.subsystems.swerve.Swerve

Drives the robot using a user-defined field reference heading.

driveVelocityRadPerSec - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

E

Elastic - Class in frc.robot.util

The Elastic class provides methods to interact with the Elastic dashboard.

Elastic() - Constructor for class frc.robot.util.Elastic

Elastic.Notification - Class in frc.robot.util

Represents an notification object to be sent to the Elastic dashboard.

Elastic.NotificationLevel - Enum Class in frc.robot.util

Represents the possible levels of notifications for the Elastic dashboard.

emergencyStop() - Method in class frc.robot.subsystems.swerve.Swerve

Creates a command that immediately commands zero chassis speeds to the drivetrain.

Empty() - Constructor for class frc.robot.subsystems.vision.color.ColorDetectionIO.Empty

end(boolean) - Method in class frc.robot.subsystems.swerve.util.MoveToPose

end(boolean) - Method in class frc.robot.subsystems.swerve.util.TurnToRotation

equals(Object) - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Indicates whether some other object is "equal to" this one.

ERROR - Enum constant in enum class frc.robot.util.Elastic.NotificationLevel

Error message

execute() - Method in class frc.robot.subsystems.swerve.util.MoveToPose

execute() - Method in class frc.robot.subsystems.swerve.util.TurnToRotation

exitAngle() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Exit angle in radians

exitSpeed() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Exit speed in m/s

extendHopper(double) - Method in class frc.robot.subsystems.intake.Intake

Extends hopper

F

farFace - Static variable in class frc.robot.FieldConstants.Hub

Pose of the hub "far" face (toward opposing side).

farLeftCorner - Static variable in class frc.robot.FieldConstants.Hub

Alliance-side hub far corner (away from alliance wall), left side.

farLeftCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Alliance-side left bump far-left corner point.

farLeftCorner - Static variable in class frc.robot.FieldConstants.RightBump

Alliance-side right bump far-left corner point.

farRightCorner - Static variable in class frc.robot.FieldConstants.Hub

Alliance-side hub far corner (away from alliance wall), right side.

farRightCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Alliance-side left bump far-right corner point (shared with hub).

farRightCorner - Static variable in class frc.robot.FieldConstants.RightBump

Alliance-side right bump far-right corner point (shared with hub).

feedforwardCharacterization() - Method in class frc.robot.subsystems.swerve.Swerve

Creates a SysId routine for drivetrain feedforward characterization.

feedforwardCharacterization(Swerve, DoubleConsumer, DoubleSupplier) - Static method in class frc.robot.subsystems.swerve.util.TuningCommands

Creates a command to characterize drivetrain feedforward constants.

feetPastCenter - Static variable in class frc.robot.Constants.DashboardValues

feetPastCenterDefault - Static variable in class frc.robot.Constants.DashboardValues

field - Static variable in class frc.robot.Constants.DashboardValues

FieldConstants - Class in frc.robot

Field geometry and reference points for path planning, vision, and alignment.

FieldConstants() - Constructor for class frc.robot.FieldConstants

FieldConstants.AprilTagLayoutType - Enum Class in frc.robot

Available AprilTag layouts for this project.

FieldConstants.Depot - Class in frc.robot

Depot geometry and reference points on the alliance side.

FieldConstants.FieldType - Enum Class in frc.robot

Identifies which set of field-measurement JSONs to load.

FieldConstants.Hub - Class in frc.robot

Hub geometry and reference points (center, corners, and faces).

FieldConstants.LeftBump - Class in frc.robot

Geometry for the left bump and common reference points.

FieldConstants.LeftTrench - Class in frc.robot

Left trench geometry and key opening reference points.

FieldConstants.LinesHorizontal - Class in frc.robot

Convenient Y positions for important horizontal (field-widthwise) lines.

FieldConstants.LinesVertical - Class in frc.robot

Convenient X positions for important vertical (field-lengthwise) lines.

FieldConstants.Outpost - Class in frc.robot

Outpost geometry and reference points on the alliance side.

FieldConstants.Passing - Class in frc.robot

Geometry and reference points on the alliance side for the autoPass command.

FieldConstants.Rectangles - Class in frc.robot

Defines commonly used rectangular field regions.

FieldConstants.RightBump - Class in frc.robot

Geometry for the right bump and common reference points.

FieldConstants.RightTrench - Class in frc.robot

Right trench geometry and key opening reference points.

FieldConstants.Tower - Class in frc.robot

Tower geometry and reference points (center and uprights).

fieldLayout - Static variable in class frc.robot.Constants.Vision

fieldLength - Static variable in class frc.robot.FieldConstants

Field length in meters as defined by the official AprilTag layout.

fieldLength - Static variable in class frc.robot.util.AllianceFlipUtil

fieldType - Static variable in class frc.robot.FieldConstants

Which physical field variant the geometry files correspond to.

fieldWidth - Static variable in class frc.robot.FieldConstants

Field width in meters as defined by the official AprilTag layout.

fieldWidth - Static variable in class frc.robot.util.AllianceFlipUtil

findReplayLog() - Static method in class frc.robot.Robot

Finds the path to a log file for replay, using the following priorities: 1.

flipY(Pose2d) - Static method in class frc.robot.util.AllianceFlipUtil

Flip along the Y-Axis

flywheel - Variable in class frc.robot.subsystems.shooter.ShooterSim

FlywheelConstants - Class in frc.robot.util.tunable

Constants for shooter flywheel

FlywheelConstants(String, double, double, boolean, double, double, PIDConstants) - Constructor for class frc.robot.util.tunable.FlywheelConstants

Create new Flywheel Constants

flywheelSpeed - Variable in class frc.robot.util.tunable.ShotDataHelper

Flywheel speed in rotations per second

flywheelSpeedRps() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Returns the value of the flywheelSpeedRps record component.

followHub(Turret, Swerve, DoubleSupplier) - Static method in class frc.robot.CommandFactory

Point turret at hub.

followTrajectory(SwerveSample) - Method in class frc.robot.subsystems.swerve.Swerve

Follow a Choreo Trajectory

forwardLimit - Static variable in class frc.robot.Constants.Swerve

forwardTiltLimit - Static variable in class frc.robot.Constants.Swerve

frc.robot - package frc.robot

frc.robot.math.geometry - package frc.robot.math.geometry

frc.robot.shotdata - package frc.robot.shotdata

frc.robot.sim - package frc.robot.sim

frc.robot.subsystems - package frc.robot.subsystems

frc.robot.subsystems.adjustable_hood - package frc.robot.subsystems.adjustable_hood

frc.robot.subsystems.climber - package frc.robot.subsystems.climber

frc.robot.subsystems.indexer - package frc.robot.subsystems.indexer

frc.robot.subsystems.intake - package frc.robot.subsystems.intake

frc.robot.subsystems.shooter - package frc.robot.subsystems.shooter

frc.robot.subsystems.swerve - package frc.robot.subsystems.swerve

frc.robot.subsystems.swerve.gyro - package frc.robot.subsystems.swerve.gyro

frc.robot.subsystems.swerve.mod - package frc.robot.subsystems.swerve.mod

frc.robot.subsystems.swerve.util - package frc.robot.subsystems.swerve.util

frc.robot.subsystems.turret - package frc.robot.subsystems.turret

frc.robot.subsystems.vision - package frc.robot.subsystems.vision

frc.robot.subsystems.vision.color - package frc.robot.subsystems.vision.color

frc.robot.util - package frc.robot.util

frc.robot.util.tunable - package frc.robot.util.tunable

frc.robot.util.typestate - package frc.robot.util.typestate

frc.robot.viz - package frc.robot.viz

frictionEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

fromLog(LogTable) - Method in class frc.robot.subsystems.vision.VisionIO.CameraInputs

fromLog(LogTable) - Method in class frc.robot.util.tunable.FlywheelConstants

fromLog(LogTable) - Method in class frc.robot.util.tunable.PIDConstants

fromRotation(Rotation2d) - Static method in class frc.robot.math.geometry.Axis

Create an axis with the same direction as the given rotation.

frontFaceX - Static variable in class frc.robot.FieldConstants.Tower

X coordinate of the tower front face (meters).

FuelSim - Class in frc.robot.sim

Full-field fuel physics simulation for FRC 2026 REBUILT.

FuelSim() - Constructor for class frc.robot.sim.FuelSim

Default constructor, publishes to "Sim/FuelPositions".

FuelSim(String) - Constructor for class frc.robot.sim.FuelSim

New sim with default physics config.

FuelSim(String, FuelSim.PhysicsConfig) - Constructor for class frc.robot.sim.FuelSim

New sim with custom physics config.

FuelSim.Fuel - Class in frc.robot.sim

One fuel in the simulation.

FuelSim.PhysicsConfig - Class in frc.robot.sim

Physics feature toggles.

FuelSim.ScoringTarget - Class in frc.robot.sim

A hub that can be scored in.

G

gatherThenShootLeft() - Method in class frc.robot.AutoCommandFactory

Gather Fuel from the left side and then return and shoot

GEAR_RATIO - Static variable in class frc.robot.Constants.Climber.Pivot

Gear ratio for the pivot mechanism.

gear1AbsoluteAngle - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

gear1Gearing - Static variable in class frc.robot.Constants.Turret

gear2AbsoluteAngle - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

gear2Gearing - Static variable in class frc.robot.Constants.Turret

gearRatio - Static variable in class frc.robot.Constants.AdjustableHood

gearRatio - Static variable in class frc.robot.Constants.IntakeConstants

GenerateEmptyIO - Annotation Interface in frc.robot.util

Generate Empty IO implementation using RobotUtils

getAngle(Translation2d) - Method in class frc.robot.math.geometry.Circle

Get angle of a point with respect to the circle's center.

getAxes() - Method in class frc.robot.math.geometry.Circle

getAxes() - Method in interface frc.robot.math.geometry.ConvexShape

Get the axes of this ConvexShape.

getAxes() - Method in class frc.robot.math.geometry.Hexagon

getAxes() - Method in class frc.robot.math.geometry.Rectangle

getBlueHub() - Method in class frc.robot.sim.FuelSim

getBlueScore() - Method in class frc.robot.sim.FuelSim

getCenter() - Method in class frc.robot.math.geometry.Circle

getCenter() - Method in interface frc.robot.math.geometry.ConvexShape

Get the center of this ConvexShape.

getCenter() - Method in class frc.robot.math.geometry.Hexagon

getCenter() - Method in class frc.robot.math.geometry.Rectangle

getConfig() - Method in class frc.robot.sim.FuelSim

getDepth() - Method in class frc.robot.math.geometry.Penetration

Get penetration depth.

getDescription() - Method in class frc.robot.util.Elastic.Notification

getDisplayTimeMillis() - Method in class frc.robot.util.Elastic.Notification

Gets the display time of the notification in milliseconds

getDragAccelFactor() - Static method in class frc.robot.sim.FuelSim

getFFCharacterizationVelocity() - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Returns the module velocity in rotations/sec (Phoenix native units).

getFieldCOR() - Static method in class frc.robot.sim.FuelSim

getFieldLength() - Static method in class frc.robot.sim.FuelSim

getFieldRelativeSpeeds() - Method in class frc.robot.RobotState

getFieldWidth() - Static method in class frc.robot.sim.FuelSim

getFuelCount() - Method in class frc.robot.sim.FuelSim

Returns the number of fuels in the simulation.

getFuelFuelCOR() - Static method in class frc.robot.sim.FuelSim

getFuelMass() - Static method in class frc.robot.sim.FuelSim

getFuelOmegas() - Method in class frc.robot.sim.FuelSim

Returns a list of all fuel angular velocities.

getFuelPositions() - Method in class frc.robot.sim.FuelSim

Returns a list of all fuel positions.

getFuelRadius() - Static method in class frc.robot.sim.FuelSim

getFuelsInFlight() - Method in class frc.robot.sim.FuelSim

Returns the number of fuels currently in flight.

getFuelsOnGround() - Method in class frc.robot.sim.FuelSim

Returns the number of fuels on the ground.

getFuelVelocities() - Method in class frc.robot.sim.FuelSim

Returns a list of all fuel velocities.

getGlobalPoseEstimate() - Method in class frc.robot.RobotState

Returns the current best estimate of the robot's global field pose.

getGroundTruthPose() - Method in class frc.robot.sim.SimulatedRobotState

Get the drivetrain pose.

getHeight() - Method in class frc.robot.util.Elastic.Notification

Gets the height of the notification

getInstance() - Static method in class frc.robot.sim.FuelSim

Returns a singleton instance of FuelSim

getLastLaunchSpeed() - Method in class frc.robot.sim.FuelSim

getLayout() - Method in enum class frc.robot.FieldConstants.AprilTagLayoutType

Loads (if needed) and returns the AprilTagFieldLayout for this layout type.

getLayoutString() - Method in enum class frc.robot.FieldConstants.AprilTagLayoutType

Returns a JSON string representation of the loaded layout.

getLevel() - Method in class frc.robot.util.Elastic.Notification

getMagnusAccelFactor() - Static method in class frc.robot.sim.FuelSim

getMax() - Method in class frc.robot.math.geometry.Interval

Get upper extent of the range.

getMax() - Method in class frc.robot.math.geometry.RotationInterval

Get upper extent of the range.

getMin() - Method in class frc.robot.math.geometry.Interval

Get lower extent of the range.

getMin() - Method in class frc.robot.math.geometry.RotationInterval

Get lower extent of the range.

getMomentOfInertia() - Static method in class frc.robot.sim.FuelSim

getOdometryPosition(int) - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Get swerve module position at timestamp index i

getOverlap(Interval) - Method in class frc.robot.math.geometry.Interval

Get length of common subset.

getOverlap(RotationInterval) - Method in class frc.robot.math.geometry.RotationInterval

Get length of common subset.

getPose() - Method in class frc.robot.subsystems.swerve.Swerve

Get Position on field from Odometry

getPoseMeters() - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

getPosition() - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Get the current Swerve Module Position

getRadius() - Method in class frc.robot.math.geometry.Circle

Get the circle's radius

getRedHub() - Method in class frc.robot.sim.FuelSim

getRedScore() - Method in class frc.robot.sim.FuelSim

getScore() - Method in class frc.robot.sim.FuelSim.ScoringTarget

How many fuels have scored in this hub.

getShotParameters(double, double, boolean) - Static method in class frc.robot.shotdata.ShotData

Get parameters for a given shot situation.

getSleepingFuelCount() - Method in class frc.robot.sim.FuelSim

Returns the number of sleeping fuels.

getSpinRPM() - Method in class frc.robot.sim.FuelSim.Fuel

Get backspin in RPM (from the Y component of omega).

getState() - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Get the current Swerve Module State

getTitle() - Method in class frc.robot.util.Elastic.Notification

Gets the title of this notification

getTotalIntaked() - Method in class frc.robot.sim.FuelSim

getTotalKineticEnergy() - Method in class frc.robot.sim.FuelSim

getTotalLaunched() - Method in class frc.robot.sim.FuelSim

getTotalMomentum() - Method in class frc.robot.sim.FuelSim

getTotalPotentialEnergy() - Method in class frc.robot.sim.FuelSim

getTotalScored() - Method in class frc.robot.sim.FuelSim

getTurretCenterFieldFrame() - Method in class frc.robot.RobotState

getTurretHeading() - Method in class frc.robot.subsystems.turret.Turret

getUserRelativeHeading() - Method in class frc.robot.subsystems.swerve.Swerve

Returns the current user-relative heading used for driving.

getVertex(Rotation2d) - Method in class frc.robot.math.geometry.Circle

Get point on the circle with a given angle.

getVertex(Rotation2d, double) - Method in class frc.robot.math.geometry.Circle

Get point on the circle with a given angle and extra radius.

getWheelRadiusCharacterizationPosition() - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Returns the module position in radians.

getWidth() - Method in class frc.robot.util.Elastic.Notification

Gets the width of the notification

getX() - Method in class frc.robot.math.geometry.Axis

Get the X direction.

getXDir() - Method in class frc.robot.math.geometry.Penetration

Get penetration direction x component.

getY() - Method in class frc.robot.math.geometry.Axis

Get the Y direction.

getYaw() - Method in class frc.robot.subsystems.vision.color.ColorDetection

getYaw() - Method in class frc.robot.subsystems.vision.color.ColorDetectionReal

getYDir() - Method in class frc.robot.math.geometry.Penetration

Get penetration direction y component.

GIT_BRANCH - Static variable in class frc.robot.BuildConstants

GIT_DATE - Static variable in class frc.robot.BuildConstants

GIT_REVISION - Static variable in class frc.robot.BuildConstants

GIT_SHA - Static variable in class frc.robot.BuildConstants

goToAngleFieldRelative(Supplier<Rotation2d>) - Method in class frc.robot.subsystems.turret.Turret

Aim turret in field frame

goToAngleRobotRelative(Supplier<Rotation2d>) - Method in class frc.robot.subsystems.turret.Turret

Aim turret in robot frame

GyroInputs() - Constructor for class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

GyroIO - Interface in frc.robot.subsystems.swerve.gyro

IO for gyro

GyroIO.GyroInputs - Class in frc.robot.subsystems.swerve.gyro

Inputs for gyro

GyroNavX2 - Class in frc.robot.subsystems.swerve.gyro

NavX2 implementation for Gyro

GyroNavX2(PhoenixOdometryThread) - Constructor for class frc.robot.subsystems.swerve.gyro.GyroNavX2

NavX2 implementation for Gyro

gyroProvider(PhoenixOdometryThread) - Method in class frc.robot.subsystems.swerve.SwerveSim

Supplier passed into Swerve constructor

GyroSim - Class in frc.robot.subsystems.swerve.gyro

Simulation implementation for gyro

GyroSim(GyroSimulation) - Constructor for class frc.robot.subsystems.swerve.gyro.GyroSim

Simulation implementation for gyro

H

hashCode() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Returns a hash code value for this object.

height - Static variable in class frc.robot.FieldConstants.Depot

Depot height (meters).

height - Static variable in class frc.robot.FieldConstants.Hub

Outer hub height in meters (includes the catcher/top feature).

height - Static variable in class frc.robot.FieldConstants.LeftBump

Left bump height above the carpet (meters).

height - Static variable in class frc.robot.FieldConstants.LeftTrench

Trench height (meters).

height - Static variable in class frc.robot.FieldConstants.Outpost

Outpost height (meters).

height - Static variable in class frc.robot.FieldConstants.RightBump

Right bump height above the carpet (meters).

height - Static variable in class frc.robot.FieldConstants.RightTrench

Trench height (meters).

height - Static variable in class frc.robot.FieldConstants.Tower

Tower height (meters).

height - Variable in class frc.robot.subsystems.vision.CameraConstants

Hexagon - Class in frc.robot.math.geometry

A static hexagon shape.

Hexagon(String, Translation2d, double, Rotation2d) - Constructor for class frc.robot.math.geometry.Hexagon

A static hexagon shape.

highRungHeight - Static variable in class frc.robot.FieldConstants.Tower

High rung height above carpet (meters).

holdCurrent - Variable in class frc.robot.util.tunable.FlywheelConstants

holonomicDriveController - Static variable in class frc.robot.Constants.Swerve

hood - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHoodSim

hoodAngle - Variable in class frc.robot.util.tunable.ShotDataHelper

Hood angle in degrees

hoodAngleDeg() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Returns the value of the hoodAngleDeg record component.

hoodAngleDeg() - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Returns the value of the hoodAngleDeg record component.

hoodCANcoderDiscontinuity - Static variable in class frc.robot.Constants.AdjustableHood

hoodCANCoderInvert - Static variable in class frc.robot.Constants.AdjustableHood

hoodLocation - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHoodIO.AdjustableHoodInputs

HoodMotorID - Static variable in class frc.robot.Constants.AdjustableHood

hoodTolerence - Static variable in class frc.robot.Constants.AdjustableHood

hopperLeftID - Static variable in class frc.robot.Constants.IntakeConstants

hopperMaxDistance - Static variable in class frc.robot.Constants.IntakeConstants

hopperMinDistance - Static variable in class frc.robot.Constants.IntakeConstants

hopperOutDistance - Static variable in class frc.robot.Constants.IntakeConstants

hopperRightID - Static variable in class frc.robot.Constants.IntakeConstants

hopperTuckedDistance - Static variable in class frc.robot.Constants.IntakeConstants

horizontalFieldOfView - Variable in class frc.robot.subsystems.vision.CameraConstants

horizontalVelocity() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Horizontal exit velocity in m/s

Hub() - Constructor for class frc.robot.FieldConstants.Hub

hubCenter - Static variable in class frc.robot.FieldConstants.LinesVertical

Hub center X on the alliance side.

I

ID - Static variable in class frc.robot.Constants.Climber.Pivot

CAN ID for the pivot motor.

ifDirty(Consumer<FlywheelConstants>) - Method in class frc.robot.util.tunable.FlywheelConstants

Run function with constants if they've changed.

ifDirty(Consumer<PIDConstants>) - Method in class frc.robot.util.tunable.PIDConstants

Run function with constants if they've changed.

ifOk(SparkBase, DoubleSupplier[], Consumer<double[]>) - Static method in class frc.robot.util.SparkSignals

Retrieves multiple values from a Spark controller and processes them only if all values are valid.

ifOk(SparkBase, DoubleSupplier, DoubleConsumer) - Static method in class frc.robot.util.SparkSignals

Retrieves and processes a value from a Spark controller only if the underlying call completed successfully.

ifOkOrDefault(SparkBase, DoubleSupplier[], Function<double[], Double>, double) - Static method in class frc.robot.util.SparkSignals

Retrieves multiple values from a Spark controller and applies a transformation only if all values are valid.

ifOkOrDefault(SparkBase, DoubleSupplier, double) - Static method in class frc.robot.util.SparkSignals

Retrieves a value from a Spark controller, returning a default if the value is invalid.

indexer - Variable in class frc.robot.sim.SimulatedRobotState

Indexer - Class in frc.robot.subsystems.indexer

Indexer class

Indexer() - Constructor for class frc.robot.Constants.Indexer

Indexer(IndexerIO) - Constructor for class frc.robot.subsystems.indexer.Indexer

indexerID - Static variable in class frc.robot.Constants.Indexer

IndexerInputs() - Constructor for class frc.robot.subsystems.indexer.IndexerIO.IndexerInputs

IndexerIO - Interface in frc.robot.subsystems.indexer

indexer interface

IndexerIO.IndexerInputs - Class in frc.robot.subsystems.indexer

indexer inputs class

IndexerReal - Class in frc.robot.subsystems.indexer

real implementation of indexer

IndexerReal() - Constructor for class frc.robot.subsystems.indexer.IndexerReal

Real Indexer Implementation

IndexerSim - Class in frc.robot.subsystems.indexer

Indexer simulation class

IndexerSim() - Constructor for class frc.robot.subsystems.indexer.IndexerSim

indexerSpeed - Static variable in class frc.robot.Constants.Indexer

INFO - Enum constant in enum class frc.robot.util.Elastic.NotificationLevel

Informational Message

InitField - Annotation Interface in frc.robot.util.typestate

Marks this parameter as required to create the builder.

initialize() - Method in class frc.robot.subsystems.swerve.util.MoveToPose

initialize() - Method in class frc.robot.subsystems.swerve.util.TurnToRotation

innerCenterPoint - Static variable in class frc.robot.FieldConstants.Hub

Center point of the inner opening on the alliance side.

innerHeight - Static variable in class frc.robot.FieldConstants.Hub

Inner opening height in meters.

innerOpeningWidth - Static variable in class frc.robot.FieldConstants.Tower

Width of the inner opening (meters).

innerWidth - Static variable in class frc.robot.FieldConstants.Hub

Inner opening diameter/width in meters.

inputs - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHood

inputs - Variable in class frc.robot.subsystems.climber.Climber

inputs - Variable in class frc.robot.subsystems.intake.Intake

inputs - Variable in class frc.robot.subsystems.shooter.Shooter

inputs - Variable in class frc.robot.subsystems.swerve.mod.SwerveModule

inside() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns the value of the inside record component.

intake - Variable in class frc.robot.sim.SimulatedRobotState

Intake - Class in frc.robot.subsystems.intake

Intake subsystem

Intake(IntakeIO) - Constructor for class frc.robot.subsystems.intake.Intake

intakeBalls() - Method in class frc.robot.subsystems.intake.Intake

intakeBalls(double) - Method in class frc.robot.subsystems.intake.Intake

Run intake wheels

IntakeConstants() - Constructor for class frc.robot.Constants.IntakeConstants

intakeDutyCycle - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

intakeID - Static variable in class frc.robot.Constants.IntakeConstants

IntakeInputs() - Constructor for class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

IntakeIO - Interface in frc.robot.subsystems.intake

intake IO

IntakeIO.IntakeInputs - Class in frc.robot.subsystems.intake

inputs class

intakeMotorConnected - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

IntakeReal - Class in frc.robot.subsystems.intake

intake real implementation

IntakeReal() - Constructor for class frc.robot.subsystems.intake.IntakeReal

Real Intake Implementation

IntakeSim - Class in frc.robot.subsystems.intake

sim class

IntakeSim() - Constructor for class frc.robot.subsystems.intake.IntakeSim

intakeSpeed - Static variable in class frc.robot.Constants.IntakeConstants

intersection(Line) - Method in class frc.robot.math.geometry.Line

Get intersection of two lines.

Interval - Class in frc.robot.math.geometry

A one-dimensional range.

Interval(double, double) - Constructor for class frc.robot.math.geometry.Interval

A one-dimensional range.

invertGyro - Static variable in class frc.robot.Constants.Swerve

isArm - Variable in class frc.robot.util.tunable.PIDConstants

isCanviore - Static variable in class frc.robot.Constants.Swerve

If true, motors and absolute encoders are on canivore loop.

isFeeding - Variable in class frc.robot.subsystems.indexer.IndexerSim

isFinished() - Method in class frc.robot.subsystems.swerve.util.MoveToPose

isFinished() - Method in class frc.robot.subsystems.swerve.util.TurnToRotation

isInside(Rectangle) - Method in class frc.robot.math.geometry.Rectangle

sees if a rectangle is inside another

isIntaking - Variable in class frc.robot.subsystems.intake.IntakeSim

isOkayToShoot() - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Returns the value of the isOkayToShoot record component.

isReversed - Variable in class frc.robot.util.tunable.FlywheelConstants

isRunning() - Method in class frc.robot.sim.FuelSim

Is the sim running?

isTurret - Variable in class frc.robot.subsystems.vision.CameraConstants

J

JERK - Static variable in class frc.robot.Constants.Climber.Pivot

Motion magic jerk limit.

jerkIntake() - Method in class frc.robot.subsystems.intake.Intake

jsonFolder - Variable in enum class frc.robot.FieldConstants.FieldType

Deploy folder name containing JSON layouts for this field type.

justShoot - Static variable in class frc.robot.Constants.Auto

justShoot() - Method in class frc.robot.AutoCommandFactory

Move to a specified X,Y and shoot

K

kA - Variable in class frc.robot.util.tunable.PIDConstants

KA - Static variable in class frc.robot.Constants.AdjustableHood

Acceleration Characterization Value

KA - Static variable in class frc.robot.Constants.Climber.Pivot

Acceleration feedforward constant.

KA - Static variable in class frc.robot.Constants.Climber.Telescope

Acceleration feedforward constant.

kD - Variable in class frc.robot.util.tunable.PIDConstants

KD - Static variable in class frc.robot.Constants.AdjustableHood

Derivative PID Value for hood position control.

KD - Static variable in class frc.robot.Constants.Climber.Pivot

Derivative gain for pivot position control.

KD - Static variable in class frc.robot.Constants.Climber.Telescope

Derivative gain for pivot position control.

KD - Static variable in class frc.robot.Constants.IntakeConstants

key() - Static method in class frc.robot.viz.DrawColorMap

Draw colormap key

kG - Variable in class frc.robot.util.tunable.PIDConstants

KG - Static variable in class frc.robot.Constants.AdjustableHood

Gravity Characterization Value

KG - Static variable in class frc.robot.Constants.Climber.Pivot

Gravity feedforward constant for maintaining pivot angle.

KG - Static variable in class frc.robot.Constants.Climber.Telescope

Gravity feedforward constant for maintaining pivot angle.

kI - Variable in class frc.robot.util.tunable.PIDConstants

KI - Static variable in class frc.robot.Constants.AdjustableHood

Integral PID Value for hood position control.

KI - Static variable in class frc.robot.Constants.Climber.Pivot

Integral gain for pivot position control.

KI - Static variable in class frc.robot.Constants.Climber.Telescope

Integral gain for pivot position control.

KI - Static variable in class frc.robot.Constants.IntakeConstants

kind - Variable in class frc.robot.util.tunable.ModuleConstants

kP - Variable in class frc.robot.util.tunable.PIDConstants

KP - Static variable in class frc.robot.Constants.AdjustableHood

Proportional PID Value for hood position control.

KP - Static variable in class frc.robot.Constants.Climber.Pivot

Proportional gain for pivot position control.

KP - Static variable in class frc.robot.Constants.Climber.Telescope

Proportional gain for pivot position control.

KP - Static variable in class frc.robot.Constants.IntakeConstants

kReal - Enum constant in enum class frc.robot.Robot.RobotRunType

Real Robot.

kReplay - Enum constant in enum class frc.robot.Robot.RobotRunType

Replay runtime.

kS - Variable in class frc.robot.util.tunable.PIDConstants

KS - Static variable in class frc.robot.Constants.AdjustableHood

Static Characterization Value for overcoming friction.

KS - Static variable in class frc.robot.Constants.Climber.Pivot

Static feedforward constant for overcoming friction.

KS - Static variable in class frc.robot.Constants.Climber.Telescope

Static feedforward constant for overcoming friction.

kSimulation - Enum constant in enum class frc.robot.Robot.RobotRunType

Simulation runtime.

kV - Variable in class frc.robot.util.tunable.PIDConstants

KV - Static variable in class frc.robot.Constants.AdjustableHood

Velocity Characterization Value

KV - Static variable in class frc.robot.Constants.Climber.Pivot

Velocity feedforward constant.

KV - Static variable in class frc.robot.Constants.Climber.Telescope

Velocity feedforward constant.

L

lastSeenYellow() - Method in class frc.robot.subsystems.vision.color.ColorDetection

launchFuel(Translation3d, Translation3d, double) - Method in class frc.robot.sim.FuelSim

Shoot a fuel into the sim.

launchFuel(Translation3d, Translation3d, Translation3d) - Method in class frc.robot.sim.FuelSim

Shoot a fuel with full 3D spin control.

LED_LENGTH - Static variable in class frc.robot.Constants.LEDs

LED_PORT - Static variable in class frc.robot.Constants.LEDs

LEDs - Class in frc.robot.subsystems

LEDs subsystem

LEDs() - Constructor for class frc.robot.Constants.LEDs

LEDs() - Constructor for class frc.robot.subsystems.LEDs

constructor

LEFT_ID - Static variable in class frc.robot.Constants.Climber.Telescope

CAN ID for the left telescope motor.

LeftBump() - Constructor for class frc.robot.FieldConstants.LeftBump

leftBumpEnd - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the near edge of the left bump (closest to hub).

leftBumpStart - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the far edge of the left bump (away from hub).

leftCorner - Static variable in class frc.robot.FieldConstants.Depot

Depot left corner point (3D).

leftFace - Static variable in class frc.robot.FieldConstants.Hub

Pose of the hub left face (higher Y direction).

leftHopperPosition - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

leftHopperPositionRotations - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

leftTiltLimit - Static variable in class frc.robot.Constants.Swerve

LeftTrench() - Constructor for class frc.robot.FieldConstants.LeftTrench

leftTrenchOpenEnd - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the end of the open area adjacent to the left trench.

leftTrenchOpenStart - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the start of the left trench open segment (field boundary).

leftUpright - Static variable in class frc.robot.FieldConstants.Tower

Left upright position on the alliance side (2D).

length - Variable in class frc.robot.math.geometry.Rectangle

limit(ChassisSpeeds) - Method in class frc.robot.subsystems.swerve.util.SwerveRateLimiter

Limits a desired robot-relative chassis velocity based on physical acceleration, tilt, and skid constraints, producing a safe and achievable ChassisSpeeds.

limitSwitch - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

limitSwitchID - Static variable in class frc.robot.Constants.IntakeConstants

Line - Class in frc.robot.math.geometry

Represents a line in 2d space.

Line(String, double, double, double) - Constructor for class frc.robot.math.geometry.Line

Represents a line in 2d space.

linear() - Element in annotation interface frc.robot.util.typestate.TypeStateBuilder

If true, required fields must be specified in the same order as the constructor.

LinesHorizontal() - Constructor for class frc.robot.FieldConstants.LinesHorizontal

LinesVertical() - Constructor for class frc.robot.FieldConstants.LinesVertical

lowRungHeight - Static variable in class frc.robot.FieldConstants.Tower

Low rung height above carpet (meters).

M

magazine - Variable in class frc.robot.subsystems.indexer.IndexerReal

magazineConfig - Variable in class frc.robot.subsystems.indexer.IndexerReal

magazineMotorConnected - Variable in class frc.robot.subsystems.indexer.IndexerIO.IndexerInputs

magazineVelocity - Variable in class frc.robot.subsystems.indexer.IndexerIO.IndexerInputs

magnusEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

main(String...) - Static method in class frc.robot.Main

Main initialization function.

Main - Class in frc.robot

Do NOT add any static variables to this class, or any initialization at all.

makeTimestampQueue() - Method in class frc.robot.subsystems.swerve.util.PhoenixOdometryThread

Creates a queue that receives timestamps corresponding to each sampling cycle.

mapleSim - Variable in class frc.robot.subsystems.swerve.SwerveSim

MAVEN_GROUP - Static variable in class frc.robot.BuildConstants

MAVEN_NAME - Static variable in class frc.robot.BuildConstants

MAX_VELOCITY - Static variable in class frc.robot.Constants.Climber.Pivot

Maximum pivot velocity.

maxAngle - Static variable in class frc.robot.Constants.Turret

maxAngularAcceleration - Static variable in class frc.robot.Constants.SwerveTransformPID

maxAngularVelocity - Static variable in class frc.robot.Constants.Swerve

Max Angular Velocity in Radians per Second

maxAngularVelocity - Static variable in class frc.robot.Constants.SwerveTransformPID

maxDutyCycle - Variable in class frc.robot.util.tunable.FlywheelConstants

maxHoodAngleDeg - Static variable in class frc.robot.Constants.AdjustableHood

maxSpeed - Static variable in class frc.robot.Constants.Swerve

Max Speed in Meters per Second

midRungHeight - Static variable in class frc.robot.FieldConstants.Tower

Mid rung height above carpet (meters).

minAngle - Static variable in class frc.robot.Constants.Turret

Mk4i - Enum constant in enum class frc.robot.util.tunable.ModuleConstants.ModuleKind

Mk4n - Enum constant in enum class frc.robot.util.tunable.ModuleConstants.ModuleKind

MMAcceleration - Static variable in class frc.robot.Constants.AdjustableHood

MMCVelocity - Static variable in class frc.robot.Constants.AdjustableHood

MMJerk - Static variable in class frc.robot.Constants.AdjustableHood

mmVoltage - Variable in class frc.robot.subsystems.turret.TurretReal

ModuleConstants - Class in frc.robot.util.tunable

Per-module constants

ModuleConstants(ModuleConstants.ModuleKind, int, int, int, Rotation2d) - Constructor for class frc.robot.util.tunable.ModuleConstants

Per-module constants

ModuleConstants.ModuleKind - Enum Class in frc.robot.util.tunable

Constants for vendor swerve modules

moduleProvider(int, PhoenixOdometryThread) - Method in class frc.robot.subsystems.swerve.SwerveSim

Supplier passed into Swerve constructor

modules - Variable in class frc.robot.subsystems.swerve.Swerve

modulesConstants - Static variable in class frc.robot.Constants.Swerve

motor1ID - Static variable in class frc.robot.Constants.Shooter

ID for Shooter Motor 1

motor2ID - Static variable in class frc.robot.Constants.Shooter

ID for Shooter Motor 2

motorCurrentPivot - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

motorCurrentTelescope - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

motorGearing - Static variable in class frc.robot.Constants.Turret

moveTo(Supplier<Tuples.Tuple2<Angle, Distance>>) - Method in class frc.robot.subsystems.climber.Climber

Set target climber state.

moveToPose() - Method in class frc.robot.subsystems.swerve.Swerve

Creates a command builder for driving the robot to a target global pose.

MoveToPose - Class in frc.robot.subsystems.swerve.util

Command that drives a swerve drivetrain to a specified field-relative pose using a HolonomicDriveController.

MoveToPose(Swerve, Consumer<ChassisSpeeds>, Supplier<Pose2d>, AutoRoutine, DoubleSupplier, boolean, double, double, boolean) - Constructor for class frc.robot.subsystems.swerve.util.MoveToPose

Constructs a command that drives the robot to a target pose.

moveWithVoltage(double) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHood

N

name - Variable in class frc.robot.math.geometry.Circle

name - Variable in class frc.robot.math.geometry.Line

name - Variable in class frc.robot.subsystems.vision.CameraConstants

navXID - Static variable in class frc.robot.Constants.Swerve

nearFace - Static variable in class frc.robot.FieldConstants.Hub

Pose of the hub "near" face (alliance side).

nearLeftCorner - Static variable in class frc.robot.FieldConstants.Hub

Alliance-side hub corner closest to the alliance wall, left side.

nearLeftCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Alliance-side left bump near-left corner point.

nearLeftCorner - Static variable in class frc.robot.FieldConstants.RightBump

Alliance-side right bump near-left corner point.

nearRightCorner - Static variable in class frc.robot.FieldConstants.Hub

Alliance-side hub corner closest to the alliance wall, right side.

nearRightCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Alliance-side left bump near-right corner point (shared with hub).

nearRightCorner - Static variable in class frc.robot.FieldConstants.RightBump

Alliance-side right bump near-right corner point (shared with hub).

neutralZone - Static variable in class frc.robot.FieldConstants.Rectangles

The neutral zone.

neutralZoneFar - Static variable in class frc.robot.FieldConstants.LinesVertical

Far edge of the neutral zone (toward red).

neutralZoneNear - Static variable in class frc.robot.FieldConstants.LinesVertical

Near edge of the neutral zone (toward blue).

NONE - Enum constant in enum class frc.robot.FieldConstants.AprilTagLayoutType

Empty layout intended for tests/simulation without tags.

Notification() - Constructor for class frc.robot.util.Elastic.Notification

Creates a new Notification with all default parameters.

Notification(Elastic.NotificationLevel, String, String) - Constructor for class frc.robot.util.Elastic.Notification

Creates a new Notification with default display time and dimensions.

Notification(Elastic.NotificationLevel, String, String, double, double) - Constructor for class frc.robot.util.Elastic.Notification

Creates a new Notification with specified dimensions and default display time.

Notification(Elastic.NotificationLevel, String, String, int) - Constructor for class frc.robot.util.Elastic.Notification

Creates a new Notification with a specified display time and default dimensions.

Notification(Elastic.NotificationLevel, String, String, int, double, double) - Constructor for class frc.robot.util.Elastic.Notification

Creates a new Notification with all properties specified.

numFuel - Variable in class frc.robot.subsystems.indexer.IndexerSim

O

odometryAnglePositions - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

odometryDrivePositionsRad - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

odometryDriveVelocityRadsPerSec - Variable in class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

odometryFrequency - Static variable in class frc.robot.Constants.Swerve

OFFICIAL - Enum constant in enum class frc.robot.FieldConstants.AprilTagLayoutType

Official season layout.

openingDistanceFromFloor - Static variable in class frc.robot.FieldConstants.Outpost

Height of the opening bottom from the floor (meters).

openingHeight - Static variable in class frc.robot.FieldConstants.LeftTrench

Height of the trench opening (meters).

openingHeight - Static variable in class frc.robot.FieldConstants.RightTrench

Height of the trench opening (meters).

openingTopLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

Alliance-side opening top-left corner point (3D).

openingTopLeft - Static variable in class frc.robot.FieldConstants.RightTrench

Alliance-side opening top-left corner point (3D).

openingTopRight - Static variable in class frc.robot.FieldConstants.LeftTrench

Alliance-side opening top-right corner point (3D).

openingTopRight - Static variable in class frc.robot.FieldConstants.RightTrench

Alliance-side opening top-right corner point (3D).

openingWidth - Static variable in class frc.robot.FieldConstants.LeftTrench

Width of the trench opening (meters).

openingWidth - Static variable in class frc.robot.FieldConstants.RightTrench

Width of the trench opening (meters).

openLoopRamp - Static variable in class frc.robot.Constants.Swerve

operator - Variable in class frc.robot.RobotContainer

oppAllianceZone - Static variable in class frc.robot.FieldConstants.LinesVertical

Opposing alliance zone boundary line X (near the far wall).

oppCenterPoint - Static variable in class frc.robot.FieldConstants.Tower

Tower center point on the opposing side (2D).

oppFarLeftCorner - Static variable in class frc.robot.FieldConstants.Hub

Opposing-side hub far corner (toward field center), left side.

oppFarLeftCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Opposing-side left bump far-left corner point.

oppFarLeftCorner - Static variable in class frc.robot.FieldConstants.RightBump

Opposing-side right bump far-left corner point.

oppFarRightCorner - Static variable in class frc.robot.FieldConstants.Hub

Opposing-side hub far corner (toward field center), right side.

oppFarRightCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Opposing-side left bump far-right corner point (shared with hub).

oppFarRightCorner - Static variable in class frc.robot.FieldConstants.RightBump

Opposing-side right bump far-right corner point (shared with hub).

oppHubCenter - Static variable in class frc.robot.FieldConstants.LinesVertical

Hub center X on the opposing side.

oppLeftUpright - Static variable in class frc.robot.FieldConstants.Tower

Left upright position on the opposing side (2D).

oppNearLeftCorner - Static variable in class frc.robot.FieldConstants.Hub

Opposing-side hub corner closest to the far wall, left side.

oppNearLeftCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Opposing-side left bump near-left corner point.

oppNearLeftCorner - Static variable in class frc.robot.FieldConstants.RightBump

Opposing-side right bump near-left corner point.

oppNearRightCorner - Static variable in class frc.robot.FieldConstants.Hub

Opposing-side hub corner closest to the far wall, right side.

oppNearRightCorner - Static variable in class frc.robot.FieldConstants.LeftBump

Opposing-side left bump near-right corner point (shared with hub).

oppNearRightCorner - Static variable in class frc.robot.FieldConstants.RightBump

Opposing-side right bump near-right corner point (shared with hub).

oppOpeningTopLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

Opposing-side opening top-left corner point (3D).

oppOpeningTopLeft - Static variable in class frc.robot.FieldConstants.RightTrench

Opposing-side opening top-left corner point (3D).

oppOpeningTopRight - Static variable in class frc.robot.FieldConstants.LeftTrench

Opposing-side opening top-right corner point (3D).

oppOpeningTopRight - Static variable in class frc.robot.FieldConstants.RightTrench

Opposing-side opening top-right corner point (3D).

oppRightUpright - Static variable in class frc.robot.FieldConstants.Tower

Right upright position on the opposing side (2D).

oppTopCenterPoint - Static variable in class frc.robot.FieldConstants.Hub

Center point of the top of the hub on the opposing side.

OptionalField - Annotation Interface in frc.robot.util.typestate

Marks this parameter as optional.

Outpost() - Constructor for class frc.robot.FieldConstants.Outpost

outputVoltagePivot - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

outputVoltageTelescope - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

overlaps(Interval) - Method in class frc.robot.math.geometry.Interval

Get if two intervals share some common subset.

overlaps(RotationInterval) - Method in class frc.robot.math.geometry.RotationInterval

Get if two intervals share some angles.

overrideInit(Pose2d) - Method in class frc.robot.RobotState

Forcibly initializes the pose estimator using a known robot pose.

overridePose(Supplier<Pose2d>) - Method in class frc.robot.subsystems.swerve.Swerve

Immediately sets the robot's pose to a new value, updating both the odometry estimator and the underlying simulation state (if any).

P

parameter_name() - Element in annotation interface frc.robot.util.typestate.AltMethod

If specified, this parameter name is used instead of the constructor parameter name.

Passing() - Constructor for class frc.robot.FieldConstants.Passing

passingAngle - Static variable in class frc.robot.Constants.AdjustableHood

passingSpeed - Static variable in class frc.robot.Constants.Shooter

Penetration - Class in frc.robot.math.geometry

Result type for SeparatingAxis.

Penetration(String) - Constructor for class frc.robot.math.geometry.Penetration

Result type for SeparatingAxis.

periodic() - Method in class frc.robot.RobotContainer

Runs once per 0.02 seconds after subsystems and commands.

periodic() - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHood

periodic() - Method in class frc.robot.subsystems.climber.Climber

Periodic method called regularly by the command scheduler.

periodic() - Method in class frc.robot.subsystems.indexer.Indexer

periodic() - Method in class frc.robot.subsystems.intake.Intake

periodic() - Method in class frc.robot.subsystems.LEDs

periodic() - Method in class frc.robot.subsystems.shooter.Shooter

periodic() - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Periodic function (doesn't update inputs)

periodic() - Method in class frc.robot.subsystems.swerve.Swerve

periodic() - Method in class frc.robot.subsystems.turret.Turret

periodic() - Method in class frc.robot.subsystems.vision.color.ColorDetection

periodic() - Method in class frc.robot.subsystems.vision.Vision

periodic() - Method in class frc.robot.viz.RobotViz

Publishes visualization data for the current control loop iteration.

PhoenixOdometryThread - Class in frc.robot.subsystems.swerve.util

Background thread responsible for sampling odometry-related signals at a higher frequency than the main robot loop.

PhoenixOdometryThread(Lock) - Constructor for class frc.robot.subsystems.swerve.util.PhoenixOdometryThread

Creates a new odometry sampling thread.

PhoenixSignals - Class in frc.robot.util

Utility class that centralizes registration and synchronized refreshing of CTRE Phoenix BaseStatusSignals.

PhysicsConfig() - Constructor for class frc.robot.sim.FuelSim.PhysicsConfig

Default: everything on.

pid - Static variable in class frc.robot.Constants.AdjustableHood

pid - Static variable in class frc.robot.Constants.Turret

pid - Variable in class frc.robot.util.tunable.FlywheelConstants

PIDConstants - Class in frc.robot.util.tunable

Tunable constants for PID controllers

PIDConstants(String, GravityTypeValue, double, double, double, double, double, double, double) - Constructor for class frc.robot.util.tunable.PIDConstants

Create new PID Constants

pinionDiameter - Static variable in class frc.robot.Constants.IntakeConstants

pit - Variable in class frc.robot.RobotContainer

pitch - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

pitchVelocityRadPerSec - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

Pivot() - Constructor for class frc.robot.Constants.Climber.Pivot

point() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns the value of the point record component.

position - Variable in class frc.robot.sim.SimPosition

Current simulated position.

positionPivot - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

positionTelescope - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

positionValue - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

preShoot(Supplier<Pose2d>, Supplier<Translation2d>, Turret, Shooter, DoubleSupplier, DoubleSupplier) - Static method in class frc.robot.CommandFactory

Prepare flywheel and turret for shooting from a given robot pose.

project(Translation2d[]) - Method in class frc.robot.math.geometry.Axis

Project multiple points onto this axis.

project(Axis) - Method in class frc.robot.math.geometry.Circle

project(Axis) - Method in interface frc.robot.math.geometry.ConvexShape

Get the Interval of this ConvexShape projected onto the given Axis.

project(Axis) - Method in class frc.robot.math.geometry.Hexagon

project(Axis) - Method in class frc.robot.math.geometry.Rectangle

publishPositions() - Method in class frc.robot.sim.FuelSim

Push fuel positions and sim stats to NetworkTables for visualization.

R

range() - Method in class frc.robot.math.geometry.RotationInterval

Get distance from min to max.

Rectangle - Class in frc.robot.math.geometry

Rotating Rectangle Shape

Rectangle(String, Pose2d, double, double) - Constructor for class frc.robot.math.geometry.Rectangle

Rotating Rectangle Shape

Rectangles() - Constructor for class frc.robot.FieldConstants.Rectangles

redAlliance - Static variable in class frc.robot.FieldConstants.Rectangles

The Red Alliance zone.

redAllianceClimber - Static variable in class frc.robot.FieldConstants.Rectangles

The Red Alliance climber area.

redCloseCenterLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

redCloseCenterRight - Static variable in class frc.robot.FieldConstants.RightTrench

redDropper - Static variable in class frc.robot.FieldConstants.Rectangles

The Red Alliance dropper area.

redFarCenterLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

redFarCenterRight - Static variable in class frc.robot.FieldConstants.RightTrench

redTrenchCenterLeft - Static variable in class frc.robot.FieldConstants.LeftTrench

Center Trench for Pose

redTrenchCenterRight - Static variable in class frc.robot.FieldConstants.RightTrench

Center of the Trench for Pose

refreshAll() - Static method in class frc.robot.util.PhoenixSignals

Refreshes all registered Phoenix signals.

registerIntake(double, double, double, double, BooleanSupplier) - Method in class frc.robot.sim.FuelSim

Add an intake zone without a callback.

registerIntake(double, double, double, double, BooleanSupplier, Runnable) - Method in class frc.robot.sim.FuelSim

Add an intake zone.

registerRobot(double, double, double, Supplier<Pose2d>, Supplier<ChassisSpeeds>) - Method in class frc.robot.sim.FuelSim

Tell the sim about your robot so it can handle bumper collisions and intake pickup.

registerSignal(StatusSignal<?>) - Method in class frc.robot.subsystems.swerve.util.PhoenixOdometryThread

Registers a Phoenix StatusSignal to be sampled by the thread.

registerSignal(DoubleSupplier) - Method in class frc.robot.subsystems.swerve.util.PhoenixOdometryThread

Registers a generic value supplier to be sampled at the odometry rate.

registerSignals(boolean, BaseStatusSignal...) - Static method in class frc.robot.util.PhoenixSignals

Registers one or more Phoenix signals for synchronized refreshing.

relativeAngle - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHoodIO.AdjustableHoodInputs

relativeAngle - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

RequiredField - Annotation Interface in frc.robot.util.typestate

Field required to be specified before finishing.

resetCounters() - Method in class frc.robot.sim.FuelSim

Resets all counters to their initial values.

resetFieldRelativeOffsetBasedOnPose() - Method in class frc.robot.subsystems.swerve.Swerve

Sets a user-defined field-relative heading offset.

resetInit() - Method in class frc.robot.RobotState

resetInit(Swerve, Turret) - Static method in class frc.robot.CommandFactory

Reset the init

resetPose(Pose2d) - Method in class frc.robot.RobotState

Resets the internal pose estimate to a known field pose.

resetPose(Pose2d) - Method in interface frc.robot.subsystems.swerve.SwerveIO

Set the ground truth pose.

resetPose(Pose2d) - Method in class frc.robot.subsystems.swerve.SwerveReal

resetPose(Pose2d) - Method in class frc.robot.subsystems.swerve.SwerveSim

resetPose(Pose2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

resetPosition(Rotation2d, SwerveModulePosition[], Pose2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

resetPosition(Angle) - Method in interface frc.robot.subsystems.turret.TurretIO

resetPosition(Angle) - Method in class frc.robot.subsystems.turret.TurretReal

resetPosition(Angle) - Method in class frc.robot.subsystems.turret.TurretSim

resetRotation(Rotation2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

resetTranslation(Translation2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

resetTurret() - Method in class frc.robot.subsystems.turret.Turret

results - Variable in class frc.robot.subsystems.vision.VisionIO.CameraInputs

retractHopper(double) - Method in class frc.robot.subsystems.intake.Intake

Retracts hopper

RIGHT_ID - Static variable in class frc.robot.Constants.Climber.Telescope

CAN ID for the right telescope motor.

RightBump() - Constructor for class frc.robot.FieldConstants.RightBump

rightBumpEnd - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the far edge of the right bump (away from hub).

rightBumpStart - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the near edge of the right bump (closest to hub).

rightCorner - Static variable in class frc.robot.FieldConstants.Depot

Depot right corner point (3D).

rightFace - Static variable in class frc.robot.FieldConstants.Hub

Pose of the hub right face (lower Y direction).

rightHopperPosition - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

rightHopperPositionRotations - Variable in class frc.robot.subsystems.intake.IntakeIO.IntakeInputs

rightTiltLimit - Static variable in class frc.robot.Constants.Swerve

RightTrench() - Constructor for class frc.robot.FieldConstants.RightTrench

rightTrenchOpenEnd - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the end of the right trench open segment (field boundary).

rightTrenchOpenStart - Static variable in class frc.robot.FieldConstants.LinesHorizontal

Y at the start of the open area adjacent to the right trench.

rightUpright - Static variable in class frc.robot.FieldConstants.Tower

Right upright position on the alliance side (2D).

Robot - Class in frc.robot

Runs tasks on Roborio in this file.

Robot() - Constructor for class frc.robot.Robot

Robot.RobotRunType - Enum Class in frc.robot

Robnot Run type

RobotContainer - Class in frc.robot

This class is where the bulk of the robot should be declared.

RobotContainer(Robot.RobotRunType) - Constructor for class frc.robot.RobotContainer

Robot Container

robotInit() - Method in class frc.robot.Robot

This function is run when the robot is first started up and should be used for any initialization code.

robotPeriodic() - Method in class frc.robot.Robot

robotRunType - Variable in class frc.robot.Robot

RobotState - Class in frc.robot

Maintains and updates the robot's estimated global pose for a swerve drive by fusing wheel odometry, gyro measurements, and delayed vision updates.

RobotState(SwerveModulePosition[], Rotation2d) - Constructor for class frc.robot.RobotState

Creates a new swerve state estimator.

robotToCamera - Variable in class frc.robot.subsystems.vision.CameraConstants

RobotViz - Class in frc.robot.viz

Centralized visualization helper for publishing robot state to logging and visualization tools.

RobotViz(SimulatedRobotState, Swerve, Turret, AdjustableHood, Intake, Climber, Shooter) - Constructor for class frc.robot.viz.RobotViz

Creates a new visualization helper.

roll - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

rollVelocityRadPerSec - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

ROSBOT - Enum constant in enum class frc.robot.FieldConstants.FieldType

Field built at shop for testing

rotationD - Static variable in class frc.robot.Constants.SwerveTransformPID

rotationError - Variable in class frc.robot.subsystems.vision.CameraConstants

rotationI - Static variable in class frc.robot.Constants.SwerveTransformPID

RotationInterval - Class in frc.robot.math.geometry

A one-dimensional range with wrapping on [-pi,pi].

RotationInterval(Rotation2d, Rotation2d) - Constructor for class frc.robot.math.geometry.RotationInterval

A one-dimensional range with wrapping on [-pi,pi].

rotationP - Static variable in class frc.robot.Constants.SwerveTransformPID

ROTATIONS_AT_TOP - Static variable in class frc.robot.Constants.Climber.Pivot

Pivot angle at the top position, in radians.

ROTATIONS_AT_TOP - Static variable in class frc.robot.Constants.Climber.Telescope

Telescope length at the top position, in Meters.

run() - Method in class frc.robot.subsystems.swerve.util.PhoenixOdometryThread

Main sampling loop.

runAngleOpenLoop(double) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set voltage on angle motor

runAngleOpenLoop(double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

runAngleOpenLoop(double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

runAnglePosition(Rotation2d) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set angle setpoint

runAnglePosition(Rotation2d) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

runAnglePosition(Rotation2d) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

runCharacterization(double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Run motor at given voltage with angle motor pointing forward

runDriveOpenLoop(double) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set voltage on drive motor

runDriveOpenLoop(double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

runDriveOpenLoop(double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

runDriveVelocity(double, double) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set velocity setpoint

runDriveVelocity(double, double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

runDriveVelocity(double, double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

runIntakeMotor(double) - Method in interface frc.robot.subsystems.intake.IntakeIO

runIntakeMotor(double) - Method in class frc.robot.subsystems.intake.IntakeReal

runIntakeMotor(double) - Method in class frc.robot.subsystems.intake.IntakeSim

runIntakeOnly(double) - Method in class frc.robot.subsystems.intake.Intake

runVelocity(double) - Method in interface frc.robot.subsystems.shooter.ShooterIO

runVelocity(double) - Method in class frc.robot.subsystems.shooter.ShooterReal

runVelocity(double) - Method in class frc.robot.subsystems.shooter.ShooterSim

runVolts(double) - Method in interface frc.robot.subsystems.shooter.ShooterIO

runVolts(double) - Method in class frc.robot.subsystems.shooter.ShooterReal

runVolts(double) - Method in class frc.robot.subsystems.shooter.ShooterSim

S

sdf(Translation2d) - Method in class frc.robot.math.geometry.Circle

Get the signed distance of a point with respect to the circle.

sdf(Translation2d) - Method in class frc.robot.math.geometry.Triangle2d

Evaluate signed distance function at a given point

seesTwoAprilTags - Variable in class frc.robot.subsystems.vision.Vision

selectTab(int) - Static method in class frc.robot.util.Elastic

Selects the tab of the dashboard at the given index.

selectTab(String) - Static method in class frc.robot.util.Elastic

Selects the tab of the dashboard with the given name.

sendNotification(Elastic.Notification) - Static method in class frc.robot.util.Elastic

Sends an notification to the Elastic dashboard.

SENSOR_TO_MECHANISM_RATIO - Static variable in class frc.robot.Constants.Climber.Pivot

Sensor to mechanism ratio for converting encoder rotations to mechanism angle.

SENSOR_TO_MECHANISM_RATIO - Static variable in class frc.robot.Constants.Climber.Telescope

S Sensor to mechanism ratio for converting encoder rotations to mechanism angle.

SeparatingAxis - Class in frc.robot.math.geometry

Implementation of Separating Axis Theorem solver.

setAdjustableHoodVoltage(double) - Method in interface frc.robot.subsystems.adjustable_hood.AdjustableHoodIO

setAdjustableHoodVoltage(double) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHoodReal

setAdjustableHoodVoltage(double) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHoodSim

setAngleBrakeMode(boolean) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set angle brake mode

setAngleBrakeMode(boolean) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

setAngleBrakeMode(boolean) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

setAnglePID(double, double, double) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set PID constants for angle motor

setAnglePID(double, double, double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

setAnglePID(double, double, double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

setAnglePivot(Angle) - Method in interface frc.robot.subsystems.climber.ClimberIO

setAnglePivot(Angle) - Method in class frc.robot.subsystems.climber.ClimberReal

Sets the target angle for the pivot mechanism using motion magic control.

setAnglePivot(Angle) - Method in class frc.robot.subsystems.climber.ClimberSim

Sets the target angle for the pivot mechanism.

setBrakeMode(boolean) - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Set drive motor brake mode

setCenter(Translation2d) - Method in class frc.robot.math.geometry.Circle

Set the circle's center

setConfig(FuelSim.PhysicsConfig) - Method in class frc.robot.sim.FuelSim

Update physics config (e.g.

setConstants(FlywheelConstants) - Method in interface frc.robot.subsystems.indexer.IndexerIO

setConstants(FlywheelConstants) - Method in class frc.robot.subsystems.indexer.IndexerReal

setConstants(FlywheelConstants) - Method in class frc.robot.subsystems.indexer.IndexerSim

setConstants(FlywheelConstants) - Method in interface frc.robot.subsystems.shooter.ShooterIO

setConstants(FlywheelConstants) - Method in class frc.robot.subsystems.shooter.ShooterReal

setConstants(FlywheelConstants) - Method in class frc.robot.subsystems.shooter.ShooterSim

setDepth(double) - Method in class frc.robot.math.geometry.Penetration

Set penetration depth.

setDescription(String) - Method in class frc.robot.util.Elastic.Notification

Updates the description of this notification

setDesiredState(SwerveModuleState) - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Set the desired state of the Swerve Module

setDeterministic(long) - Method in class frc.robot.sim.FuelSim

Lock the RNG seed so tests are repeatable.

setDirection(double, double) - Method in class frc.robot.math.geometry.Axis

Set the direction.

setDisplayTimeMillis(int) - Method in class frc.robot.util.Elastic.Notification

Updates the display time of the notification in milliseconds

setDisplayTimeSeconds(double) - Method in class frc.robot.util.Elastic.Notification

Updates the display time of the notification

setDriveBrakeMode(boolean) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set drive brake mode

setDriveBrakeMode(boolean) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

setDriveBrakeMode(boolean) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

setDrivePID(double, double, double, double, double, double) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Set PID constants for drive motor

setDrivePID(double, double, double, double, double, double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

setDrivePID(double, double, double, double, double, double) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

setFieldRelativeOffset() - Method in class frc.robot.subsystems.swerve.Swerve

Sets a user-defined field-relative heading offset.

setFieldRelativeOffset(Supplier<Rotation2d>) - Method in class frc.robot.subsystems.swerve.Swerve

Sets a user-defined field-relative heading offset.

setFreeSpin(boolean) - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Set angle motor brake mode

setFromRotation(Rotation2d) - Method in class frc.robot.math.geometry.Axis

Set axis direction to the same direction as the given rotation.

setGoal(Angle) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHood

setGoal(Supplier<Angle>) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHood

setGoalFieldRelative(Rotation2d) - Method in class frc.robot.subsystems.turret.Turret

Set target angle relative to the field.

setGoalRobotRelative(Rotation2d, AngularVelocity) - Method in class frc.robot.subsystems.turret.Turret

setHeight(double) - Method in class frc.robot.util.Elastic.Notification

Updates the height of the notification

setHeightTelescope(Distance) - Method in interface frc.robot.subsystems.climber.ClimberIO

setHeightTelescope(Distance) - Method in class frc.robot.subsystems.climber.ClimberReal

Sets the target height for the telescope mechanism using pid

setHeightTelescope(Distance) - Method in class frc.robot.subsystems.climber.ClimberSim

Sets the height for the telescope mechanism

setLEDsBreathe(Color) - Method in class frc.robot.subsystems.LEDs

Set LEDs to breathe

setLEDsGradient(Color, Color) - Method in class frc.robot.subsystems.LEDs

Set LEDs to color gradient

setLEDsSolid(Color) - Method in class frc.robot.subsystems.LEDs

Set LEDs to solid color

setLeftHopperVoltage(double) - Method in interface frc.robot.subsystems.intake.IntakeIO

setLeftHopperVoltage(double) - Method in class frc.robot.subsystems.intake.IntakeReal

setLeftHopperVoltage(double) - Method in class frc.robot.subsystems.intake.IntakeSim

setLevel(Elastic.NotificationLevel) - Method in class frc.robot.util.Elastic.Notification

Updates the level of this notification

setMagazineDutyCycle(double) - Method in class frc.robot.subsystems.indexer.Indexer

setMagazineDutyCycle(double) - Method in interface frc.robot.subsystems.indexer.IndexerIO

setMagazineDutyCycle(double) - Method in class frc.robot.subsystems.indexer.IndexerReal

setMagazineDutyCycle(double) - Method in class frc.robot.subsystems.indexer.IndexerSim

setMax(double) - Method in class frc.robot.math.geometry.Interval

Set upper extent of the range.

setMax(Rotation2d) - Method in class frc.robot.math.geometry.RotationInterval

Set upper extent of the range.

setMin(double) - Method in class frc.robot.math.geometry.Interval

Set lower extent of the range.

setMin(Rotation2d) - Method in class frc.robot.math.geometry.RotationInterval

Set lower extent of the range.

setNormal(double, double) - Method in class frc.robot.math.geometry.Penetration

Set penetration direction.

setPID(PIDConstants) - Method in interface frc.robot.subsystems.turret.TurretIO

setPID(PIDConstants) - Method in class frc.robot.subsystems.turret.TurretReal

setPID(PIDConstants) - Method in class frc.robot.subsystems.turret.TurretSim

setPose(Pose2d) - Method in class frc.robot.math.geometry.Rectangle

Override rectangle pose.

setRadius(double) - Method in class frc.robot.math.geometry.Circle

Set the circle's radius

setRainbow() - Method in class frc.robot.subsystems.LEDs

Set rainbow pattern

setRightHopperVoltage(double) - Method in interface frc.robot.subsystems.intake.IntakeIO

setRightHopperVoltage(double) - Method in class frc.robot.subsystems.intake.IntakeReal

setRightHopperVoltage(double) - Method in class frc.robot.subsystems.intake.IntakeSim

setSpeedCommand(double, double) - Method in class frc.robot.subsystems.indexer.Indexer

setSpindexerDutyCycle(double) - Method in class frc.robot.subsystems.indexer.Indexer

setSpindexerMotorDutyCycle(double) - Method in interface frc.robot.subsystems.indexer.IndexerIO

setSpindexerMotorDutyCycle(double) - Method in class frc.robot.subsystems.indexer.IndexerReal

setSpindexerMotorDutyCycle(double) - Method in class frc.robot.subsystems.indexer.IndexerSim

setTargetAngle(Angle) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHood

setTargetAngle(Angle) - Method in interface frc.robot.subsystems.adjustable_hood.AdjustableHoodIO

Commands the adjustable hood to move to a specific angle

setTargetAngle(Angle) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHoodReal

setTargetAngle(Angle) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHoodSim

setTargetAngle(Angle, AngularVelocity) - Method in interface frc.robot.subsystems.turret.TurretIO

Commands the turret to move toward the specified target angle.

setTargetAngle(Angle, AngularVelocity) - Method in class frc.robot.subsystems.turret.TurretReal

setTargetAngle(Angle, AngularVelocity) - Method in class frc.robot.subsystems.turret.TurretSim

setTitle(String) - Method in class frc.robot.util.Elastic.Notification

Updates the title of this notification

setTurretRawAngle(double, Angle) - Method in class frc.robot.RobotState

setTurretVoltage(Voltage) - Method in interface frc.robot.subsystems.turret.TurretIO

setTurretVoltage(Voltage) - Method in class frc.robot.subsystems.turret.TurretReal

setTurretVoltage(Voltage) - Method in class frc.robot.subsystems.turret.TurretSim

setupTunable(String, Object, Class<?>, Runnable) - Static method in interface frc.robot.util.tunable.Tunable

Create Networktables handling for changing constants.

setVelocity(double) - Method in class frc.robot.subsystems.shooter.Shooter

Set shooter velocity

setVoltage(DoubleSupplier) - Method in class frc.robot.subsystems.turret.Turret

Set turret motor's output voltage.

setVoltageIO(DoubleSupplier) - Method in class frc.robot.subsystems.turret.Turret

setVoltagePivot(double) - Method in interface frc.robot.subsystems.climber.ClimberIO

setVoltagePivot(double) - Method in class frc.robot.subsystems.climber.ClimberReal

Sets the voltage for the pivot motor.

setVoltagePivot(double) - Method in class frc.robot.subsystems.climber.ClimberSim

Sets the voltage for the pivot motor.

setVoltageTelescope(double) - Method in interface frc.robot.subsystems.climber.ClimberIO

setVoltageTelescope(double) - Method in class frc.robot.subsystems.climber.ClimberReal

Sets the voltage for the telescope motor.

setVoltageTelescope(double) - Method in class frc.robot.subsystems.climber.ClimberSim

Sets the voltage for the telescope motor.

setWidth(double) - Method in class frc.robot.util.Elastic.Notification

Updates the width of the notification

shoot(double) - Method in class frc.robot.subsystems.shooter.Shooter

Shoot at a given velocity

shoot(RobotState, Supplier<Translation2d>, Turret, Shooter, Indexer, AdjustableHood, DoubleSupplier, DoubleSupplier, BooleanSupplier) - Static method in class frc.robot.CommandFactory

Shoot at a given target.

shoot(DoubleSupplier) - Method in class frc.robot.subsystems.shooter.Shooter

Shoot at a given velocity

shooter - Variable in class frc.robot.sim.SimulatedRobotState

Shooter - Class in frc.robot.subsystems.shooter

Shooter Subsystem

Shooter() - Constructor for class frc.robot.Constants.Shooter

Shooter(ShooterIO) - Constructor for class frc.robot.subsystems.shooter.Shooter

Shooter Subsystem Constructor

shooterAngularVelocity1 - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

shooterAngularVelocity2 - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

shooterCurrent1 - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

shooterCurrent2 - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

shooterHeight - Static variable in class frc.robot.Constants.Shooter

Height at which the ball leaves the shooter.

ShooterInputs() - Constructor for class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

ShooterIO - Interface in frc.robot.subsystems.shooter

Shooter IO Interface

ShooterIO.ShooterInputs - Class in frc.robot.subsystems.shooter

Shooter Inputs Class

shooterKD - Static variable in class frc.robot.Constants.Shooter

shooterKI - Static variable in class frc.robot.Constants.Shooter

shooterKP - Static variable in class frc.robot.Constants.Shooter

shooterKS - Static variable in class frc.robot.Constants.Shooter

shooterKV - Static variable in class frc.robot.Constants.Shooter

shooterMotorAlignment - Static variable in class frc.robot.Constants.Shooter

Motor Alignment for Shooter Motors

shooterMotorInvert - Static variable in class frc.robot.Constants.Shooter

Motor Invert for Shooter Motors

shooterNeutralMode - Static variable in class frc.robot.Constants.Shooter

Neutral Mode for Shooter Motors

shooterNotShootingUnjamThreshold - Static variable in class frc.robot.Constants.Indexer

ShooterReal - Class in frc.robot.subsystems.shooter

Shooter Real Implementation

ShooterReal() - Constructor for class frc.robot.subsystems.shooter.ShooterReal

Create new shooter.

ShooterSim - Class in frc.robot.subsystems.shooter

Shooter Sim Implementation

ShooterSim() - Constructor for class frc.robot.subsystems.shooter.ShooterSim

shooterVelocity - Static variable in class frc.robot.Constants.Shooter

shooterVoltage1 - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

shooterVoltage2 - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterInputs

shootOne() - Method in class frc.robot.subsystems.shooter.ShooterSim

Simulate shooting one ball

shootX - Static variable in class frc.robot.Constants.DashboardValues

shootXDefault - Static variable in class frc.robot.Constants.DashboardValues

shootY - Static variable in class frc.robot.Constants.DashboardValues

shootYDefault - Static variable in class frc.robot.Constants.DashboardValues

ShotData - Class in frc.robot.shotdata

Storage and interpolation for shooter parameters.

ShotData() - Constructor for class frc.robot.shotdata.ShotData

ShotData.ShotEntry - Record Class in frc.robot.shotdata

Parameters for a successful shot.

ShotData.ShotParameters - Record Class in frc.robot.shotdata

Parameters for a single instance of shooting.

ShotDataHelper - Class in frc.robot.util.tunable

Utility tunable for testing out different shot parameters.

ShotDataHelper() - Constructor for class frc.robot.util.tunable.ShotDataHelper

Create new helper.

ShotEntry(double, double, double, double) - Constructor for record class frc.robot.shotdata.ShotData.ShotEntry

Creates an instance of a ShotEntry record class.

ShotParameters(double, double, double, boolean) - Constructor for record class frc.robot.shotdata.ShotData.ShotParameters

Creates an instance of a ShotParameters record class.

shouldFlip() - Static method in class frc.robot.util.AllianceFlipUtil

Possibly flip

simFps - Variable in class frc.robot.subsystems.vision.CameraConstants

simLatency - Variable in class frc.robot.subsystems.vision.CameraConstants

simLatencyStdDev - Variable in class frc.robot.subsystems.vision.CameraConstants

SimPosition - Class in frc.robot.sim

Simple position and velocity simulator for mechanism motion.

SimPosition(double, double, double) - Constructor for class frc.robot.sim.SimPosition

Creates a new position simulator.

simProvider(PhoenixOdometryThread) - Method in class frc.robot.subsystems.swerve.SwerveSim

Supplier passed into Swerve constructor

SimulatedRobotState - Class in frc.robot.sim

Simulated state of the robot

SimulatedRobotState(Pose2d) - Constructor for class frc.robot.sim.SimulatedRobotState

Create new robot simulation

singleTagError - Variable in class frc.robot.subsystems.vision.CameraConstants

skidLimit - Static variable in class frc.robot.Constants.Swerve

sleepFrameThreshold - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

sleepingEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

sleepVelocityThreshold - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

solve(ConvexShape, ConvexShape, Penetration) - Static method in class frc.robot.math.geometry.SeparatingAxis

Solve the for the separating axis between two convex shape.

solverIterations - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

SparkSignals - Class in frc.robot.util

Utility methods for safely interacting with REV Spark motor controllers in the presence of transient or persistent communication errors.

sparkStickyFault - Static variable in class frc.robot.util.SparkSignals

Sticky indicator that is set whenever a Spark-related error is detected.

spawnFuel(Translation3d) - Method in class frc.robot.sim.FuelSim

Drop a fuel at this position, sitting on the ground.

spawnFuel(Translation3d, Translation3d) - Method in class frc.robot.sim.FuelSim

Drop a fuel with some initial velocity.

spawnStartingFuel() - Method in class frc.robot.sim.FuelSim

Spawn all game pieces in their starting positions (neutral zone + depots).

spinDecayEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

spinDecayTau - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

spindexer - Variable in class frc.robot.subsystems.indexer.IndexerReal

spindexerVelocity - Variable in class frc.robot.subsystems.indexer.IndexerIO.IndexerInputs

spinMotorID - Static variable in class frc.robot.Constants.Indexer

spinMotorSpeed - Static variable in class frc.robot.Constants.Indexer

spinTransferEnabled - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

spinWhileIntake() - Method in class frc.robot.subsystems.indexer.Indexer

Spin indexer while intaking balls

squaredDistance() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns the value of the squaredDistance record component.

start() - Method in class frc.robot.sim.FuelSim

Start the simulation.

start() - Method in class frc.robot.subsystems.swerve.util.PhoenixOdometryThread

Starts the thread if at least one signal has been registered.

starting - Static variable in class frc.robot.FieldConstants.LinesVertical

Starting line X on the alliance side, derived from the hub/tag system.

startingAngle - Static variable in class frc.robot.Constants.Climber.Pivot

Angle of the climber in starting configuration

state - Variable in class frc.robot.subsystems.swerve.Swerve

staticCameras - Variable in class frc.robot.subsystems.vision.VisionSim

stickDeadband - Static variable in class frc.robot.Constants.DriverControls

Stick axis controls less than this amount are treated as 0.

stop() - Method in class frc.robot.sim.FuelSim

Pause the simulation.

stop() - Method in class frc.robot.subsystems.intake.Intake

Stops the hopper from expanding

stop() - Method in class frc.robot.subsystems.swerve.Swerve

Creates a command that smoothly brings the drivetrain to a complete stop.

subticks - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

Swerve - Class in frc.robot.subsystems.swerve

Primary swerve drivetrain subsystem.

Swerve() - Constructor for class frc.robot.Constants.Swerve

Swerve(Function<PhoenixOdometryThread, SwerveIO>, Function<PhoenixOdometryThread, GyroIO>, BiFunction<Integer, PhoenixOdometryThread, SwerveModuleIO>) - Constructor for class frc.robot.subsystems.swerve.Swerve

Constructs the swerve subsystem and initializes all hardware interfaces, estimator state, and background odometry processing.

SwerveArcOdometry - Class in frc.robot.subsystems.swerve.util

Swerve drive odometry implementation that integrates wheel motion using circular arc geometry rather than straight-line approximations.

SwerveArcOdometry(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[]) - Constructor for class frc.robot.subsystems.swerve.util.SwerveArcOdometry

Constructs a new arc-based swerve odometry instance.

swerveDrive - Variable in class frc.robot.sim.SimulatedRobotState

Swerve state

SwerveInputs() - Constructor for class frc.robot.subsystems.swerve.SwerveIO.SwerveInputs

SwerveIO - Interface in frc.robot.subsystems.swerve

IO for swerve timestamps

SwerveIO.SwerveInputs - Class in frc.robot.subsystems.swerve

Inputs for swerve timestamps

swerveKinematics - Static variable in class frc.robot.Constants.Swerve

Swerve Drive Kinematics Object for Rectangular/square 4 Module Swerve

SwerveModule - Class in frc.robot.subsystems.swerve.mod

Swerve Module

SwerveModule(int, SwerveModuleIO) - Constructor for class frc.robot.subsystems.swerve.mod.SwerveModule

Swerve Module

SwerveModuleInputs() - Constructor for class frc.robot.subsystems.swerve.mod.SwerveModuleIO.SwerveModuleInputs

SwerveModuleIO - Interface in frc.robot.subsystems.swerve.mod

IO for swerve module

SwerveModuleIO.SwerveModuleInputs - Class in frc.robot.subsystems.swerve.mod

Inputs for swerve module

SwerveModuleReal - Class in frc.robot.subsystems.swerve.mod

Real swerve module implementation (assumes two TalonFXs)

SwerveModuleReal(int, PhoenixOdometryThread) - Constructor for class frc.robot.subsystems.swerve.mod.SwerveModuleReal

Real swerve module implementation

SwerveModuleSim - Class in frc.robot.subsystems.swerve.mod

Simulation implementation for Swerve Module

SwerveModuleSim(int, SwerveModuleSimulation) - Constructor for class frc.robot.subsystems.swerve.mod.SwerveModuleSim

Simulation implementation for Swerve Module

SwerveRateLimiter - Class in frc.robot.subsystems.swerve.util

Applies rate limiting to robot-relative swerve chassis commands to ensure physically achievable, stable, and predictable motion.

SwerveRateLimiter() - Constructor for class frc.robot.subsystems.swerve.util.SwerveRateLimiter

Creates a new SwerveRateLimiter and publishes all acceleration limits to NetworkTables for live tuning.

SwerveReal - Class in frc.robot.subsystems.swerve

Real Swerve Implementation

SwerveReal(PhoenixOdometryThread) - Constructor for class frc.robot.subsystems.swerve.SwerveReal

Real Swerve Implementation

SwerveSim - Class in frc.robot.subsystems.swerve

Simulation implementation for swerve

SwerveSim(Pose2d) - Constructor for class frc.robot.subsystems.swerve.SwerveSim

Simulation implementation for swerve

SwerveTransformPID() - Constructor for class frc.robot.Constants.SwerveTransformPID

swerveTranslations - Static variable in class frc.robot.Constants.Swerve

T

teleopControls(DoubleSupplier, DoubleSupplier, DoubleSupplier, double, double) - Static method in class frc.robot.subsystems.swerve.util.TeleopControls

Creates a supplier that converts driver inputs into desired chassis speeds.

TeleopControls - Class in frc.robot.subsystems.swerve.util

Control scheme utilities for teleoperated swerve driving.

TeleopControls() - Constructor for class frc.robot.subsystems.swerve.util.TeleopControls

teleopInit() - Method in class frc.robot.Robot

teleopPeriodic() - Method in class frc.robot.Robot

Telescope() - Constructor for class frc.robot.Constants.Climber.Telescope

testInit() - Method in class frc.robot.Robot

testPeriodic() - Method in class frc.robot.Robot

tick() - Method in class frc.robot.sim.FuelSim

Step the sim forward one period (20ms) and publish fuel positions to NT.

timeBetweenUnjams - Static variable in class frc.robot.Constants.Indexer

timeLeft - Static variable in class frc.robot.Constants.DashboardValues

timeLeftInCurrentPhase() - Static method in class frc.robot.util.ActiveHub

Returns the time left in the current phase of the match.

timeOfFlight() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Returns the value of the timeOfFlight record component.

timeOfFlight() - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Returns the value of the timeOfFlight record component.

timeReversingDuringUnjam - Static variable in class frc.robot.Constants.Indexer

timeSinceLastShot() - Method in class frc.robot.subsystems.shooter.Shooter

Get time since shooter last had a ball pass through.

timestamps - Variable in class frc.robot.subsystems.swerve.SwerveIO.SwerveInputs

tolerance - Static variable in class frc.robot.Constants.Trench

toLog(LogTable) - Method in class frc.robot.subsystems.vision.VisionIO.CameraInputs

toLog(LogTable) - Method in class frc.robot.util.tunable.FlywheelConstants

toLog(LogTable) - Method in class frc.robot.util.tunable.PIDConstants

topCenterPoint - Static variable in class frc.robot.FieldConstants.Hub

Center point of the top of the hub on the alliance side.

toString() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns a string representation of this record class.

toString() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Returns a string representation of this record class.

toString() - Method in record class frc.robot.shotdata.ShotData.ShotParameters

Returns a string representation of this record class.

Tower() - Constructor for class frc.robot.FieldConstants.Tower

trackWidth - Static variable in class frc.robot.Constants.Swerve

Distance between right and left wheels on robot

translationD - Static variable in class frc.robot.Constants.SwerveTransformPID

translationError - Variable in class frc.robot.subsystems.vision.CameraConstants

translationI - Static variable in class frc.robot.Constants.SwerveTransformPID

translationP - Static variable in class frc.robot.Constants.SwerveTransformPID

Trench() - Constructor for class frc.robot.Constants.Trench

trenchLocation - Static variable in class frc.robot.Constants.Trench

Triangle2d - Class in frc.robot.math.geometry

2D triangle made up of 3 vertices.

Triangle2d(Translation2d, Translation2d, Translation2d) - Constructor for class frc.robot.math.geometry.Triangle2d

Create new Triangle2d.

Triangle2d.ClosestPoint - Record Class in frc.robot.math.geometry

Record holding results of a call to Triangle2d.closestPoint(edu.wpi.first.math.geometry.Translation2d).

tryUntilOk(int, Supplier<StatusCode>) - Static method in class frc.robot.util.PhoenixSignals

Repeatedly executes a Phoenix command until it succeeds or the maximum number of attempts is reached.

tryUntilOk(int, Supplier<REVLibError>) - Static method in class frc.robot.util.SparkSignals

Repeatedly executes a Spark command until it succeeds or the maximum number of attempts is reached.

tunable - Static variable in class frc.robot.Constants

Tunable - Interface in frc.robot.util.tunable

Marker interface for POJO that can expose its contents for tuning.

tuner - Variable in class frc.robot.RobotContainer

TuningCommands - Class in frc.robot.subsystems.swerve.util

Collection of command factories used for drivetrain tuning and characterization.

Tuple1(T1) - Constructor for class frc.robot.util.Tuples.Tuple1

Create a new 1-tuple.

Tuple2(T1, T2) - Constructor for class frc.robot.util.Tuples.Tuple2

Create a new 2-tuple.

Tuple3(T1, T2, T3) - Constructor for class frc.robot.util.Tuples.Tuple3

Create a new 3-tuple.

Tuple4(T1, T2, T3, T4) - Constructor for class frc.robot.util.Tuples.Tuple4

Create a new 4-tuple.

Tuple5(T1, T2, T3, T4, T5) - Constructor for class frc.robot.util.Tuples.Tuple5

Create a new 5-tuple.

Tuple6(T1, T2, T3, T4, T5, T6) - Constructor for class frc.robot.util.Tuples.Tuple6

Create a new 6-tuple.

Tuple7(T1, T2, T3, T4, T5, T6, T7) - Constructor for class frc.robot.util.Tuples.Tuple7

Create a new 7-tuple.

Tuple8(T1, T2, T3, T4, T5, T6, T7, T8) - Constructor for class frc.robot.util.Tuples.Tuple8

Create a new 8-tuple.

Tuple9(T1, T2, T3, T4, T5, T6, T7, T8, T9) - Constructor for class frc.robot.util.Tuples.Tuple9

Create a new 9-tuple.

Tuples - Class in frc.robot.util

Defines various tuple types for Java.

Tuples.IValue1<T> - Interface in frc.robot.util

A type that has a 1st element.

Tuples.IValue2<T> - Interface in frc.robot.util

A type that has a 2nd element.

Tuples.IValue3<T> - Interface in frc.robot.util

A type that has a 3rd element.

Tuples.IValue4<T> - Interface in frc.robot.util

A type that has a 4th element.

Tuples.IValue5<T> - Interface in frc.robot.util

A type that has a 5th element.

Tuples.IValue6<T> - Interface in frc.robot.util

A type that has a 6th element.

Tuples.IValue7<T> - Interface in frc.robot.util

A type that has a 7th element.

Tuples.IValue8<T> - Interface in frc.robot.util

A type that has a 8th element.

Tuples.IValue9<T> - Interface in frc.robot.util

A type that has a 9th element.

Tuples.Tuple1<T1> - Class in frc.robot.util

A tuple of 1 elements.

Tuples.Tuple2<T1,T2> - Class in frc.robot.util

A tuple of 2 elements.

Tuples.Tuple3<T1,T2,T3> - Class in frc.robot.util

A tuple of 3 elements.

Tuples.Tuple4<T1,T2,T3,T4> - Class in frc.robot.util

A tuple of 4 elements.

Tuples.Tuple5<T1,T2,T3,T4,T5> - Class in frc.robot.util

A tuple of 5 elements.

Tuples.Tuple6<T1,T2,T3,T4,T5,T6> - Class in frc.robot.util

A tuple of 6 elements.

Tuples.Tuple7<T1,T2,T3,T4,T5,T6,T7> - Class in frc.robot.util

A tuple of 7 elements.

Tuples.Tuple8<T1,T2,T3,T4,T5,T6,T7,T8> - Class in frc.robot.util

A tuple of 8 elements.

Tuples.Tuple9<T1,T2,T3,T4,T5,T6,T7,T8,T9> - Class in frc.robot.util

A tuple of 9 elements.

TurnToRotation - Class in frc.robot.subsystems.swerve.util

This command will turn the robot to a specified angle.

TurnToRotation(Swerve, double, boolean) - Constructor for class frc.robot.subsystems.swerve.util.TurnToRotation

Turns robot to specified angle.

TurnToRotation(Swerve, Supplier<Rotation2d>, boolean) - Constructor for class frc.robot.subsystems.swerve.util.TurnToRotation

Turns robot to specified angle.

turrentAngle - Variable in class frc.robot.subsystems.turret.TurretSim

turret - Variable in class frc.robot.sim.SimulatedRobotState

Turret - Class in frc.robot.subsystems.turret

Subsystem representing the robot turret.

Turret() - Constructor for class frc.robot.Constants.Turret

Turret(TurretIO, RobotState) - Constructor for class frc.robot.subsystems.turret.Turret

Creates a new Turret subsystem.

turretCameras - Variable in class frc.robot.subsystems.vision.VisionSim

turretCANCoderDiscontinuity - Static variable in class frc.robot.Constants.Turret

TurretCANcoderID1 - Static variable in class frc.robot.Constants.Turret

TurretCANcoderID2 - Static variable in class frc.robot.Constants.Turret

turretCenter - Static variable in class frc.robot.Constants.Vision

TurretInputs() - Constructor for class frc.robot.subsystems.turret.TurretIO.TurretInputs

TurretIO - Interface in frc.robot.subsystems.turret

Hardware abstraction layer for the turret subsystem.

TurretIO.TurretInputs - Class in frc.robot.subsystems.turret

Container for all turret sensor inputs.

TurretMotorID - Static variable in class frc.robot.Constants.Turret

TurretReal - Class in frc.robot.subsystems.turret

turret hardware

TurretReal() - Constructor for class frc.robot.subsystems.turret.TurretReal

Real Turret Implementation

turretRight - Static variable in class frc.robot.Constants.Vision

TurretSim - Class in frc.robot.subsystems.turret

Simulation implementation of TurretIO.

TurretSim(Random) - Constructor for class frc.robot.subsystems.turret.TurretSim

turretVisionSim - Variable in class frc.robot.subsystems.vision.VisionSim

twoAprilTags() - Method in class frc.robot.subsystems.vision.Vision

type() - Element in annotation interface frc.robot.util.typestate.AltMethod

The alternative parameter type.

TypeStateBuilder - Annotation Interface in frc.robot.util.typestate

Generate TypeState Builder using RobotUtils

U

unaryMinus() - Method in class frc.robot.math.geometry.Axis

Get opposite direction.

update() - Method in class frc.robot.sim.SimulatedRobotState

Update the simulation.

update(double) - Method in class frc.robot.sim.SimPosition

Advances the simulation one timestep toward the given target position.

update(Rotation2d, SwerveModulePosition[]) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

update(ChassisSpeeds) - Method in class frc.robot.subsystems.swerve.util.SwerveRateLimiter

Updates the current robot-relative chassis velocity used as the basis for acceleration limiting.

updateInputs() - Method in class frc.robot.subsystems.swerve.mod.SwerveModule

Update inputs for a Swerve Module.

updateInputs(AdjustableHoodIO.AdjustableHoodInputs) - Method in interface frc.robot.subsystems.adjustable_hood.AdjustableHoodIO

Updates the provided AdjustableHoodIO.AdjustableHoodInputs structure with the latest sensor values.

updateInputs(AdjustableHoodIO.AdjustableHoodInputs) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHoodReal

updateInputs(AdjustableHoodIO.AdjustableHoodInputs) - Method in class frc.robot.subsystems.adjustable_hood.AdjustableHoodSim

updateInputs(ClimberIO.ClimberInputs) - Method in interface frc.robot.subsystems.climber.ClimberIO

updateInputs(ClimberIO.ClimberInputs) - Method in class frc.robot.subsystems.climber.ClimberReal

Updates the input container with current sensor readings from all motors.

updateInputs(ClimberIO.ClimberInputs) - Method in class frc.robot.subsystems.climber.ClimberSim

Updates the climber input values for simulation.

updateInputs(IndexerIO.IndexerInputs) - Method in interface frc.robot.subsystems.indexer.IndexerIO

updateInputs(IndexerIO.IndexerInputs) - Method in class frc.robot.subsystems.indexer.IndexerReal

updateInputs(IndexerIO.IndexerInputs) - Method in class frc.robot.subsystems.indexer.IndexerSim

updateInputs(IntakeIO.IntakeInputs) - Method in interface frc.robot.subsystems.intake.IntakeIO

updateInputs(IntakeIO.IntakeInputs) - Method in class frc.robot.subsystems.intake.IntakeReal

updateInputs(IntakeIO.IntakeInputs) - Method in class frc.robot.subsystems.intake.IntakeSim

updateInputs(ShooterIO.ShooterInputs) - Method in interface frc.robot.subsystems.shooter.ShooterIO

updateInputs(ShooterIO.ShooterInputs) - Method in class frc.robot.subsystems.shooter.ShooterReal

updateInputs(ShooterIO.ShooterInputs) - Method in class frc.robot.subsystems.shooter.ShooterSim

updateInputs(GyroIO.GyroInputs) - Method in interface frc.robot.subsystems.swerve.gyro.GyroIO

Update inputs

updateInputs(GyroIO.GyroInputs) - Method in class frc.robot.subsystems.swerve.gyro.GyroNavX2

updateInputs(GyroIO.GyroInputs) - Method in class frc.robot.subsystems.swerve.gyro.GyroSim

updateInputs(SwerveModuleIO.SwerveModuleInputs) - Method in interface frc.robot.subsystems.swerve.mod.SwerveModuleIO

Update inputs

updateInputs(SwerveModuleIO.SwerveModuleInputs) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleReal

updateInputs(SwerveModuleIO.SwerveModuleInputs) - Method in class frc.robot.subsystems.swerve.mod.SwerveModuleSim

updateInputs(SwerveIO.SwerveInputs) - Method in interface frc.robot.subsystems.swerve.SwerveIO

Update inputs

updateInputs(SwerveIO.SwerveInputs) - Method in class frc.robot.subsystems.swerve.SwerveReal

updateInputs(SwerveIO.SwerveInputs) - Method in class frc.robot.subsystems.swerve.SwerveSim

updateInputs(TurretIO.TurretInputs) - Method in interface frc.robot.subsystems.turret.TurretIO

Updates the provided TurretIO.TurretInputs structure with the latest sensor values.

updateInputs(TurretIO.TurretInputs) - Method in class frc.robot.subsystems.turret.TurretReal

updateInputs(TurretIO.TurretInputs) - Method in class frc.robot.subsystems.turret.TurretSim

updateInputs(ColorDetectionIO.ColorInputs) - Method in class frc.robot.subsystems.vision.color.ColorDetectionIO.Empty

updateInputs(ColorDetectionIO.ColorInputs) - Method in interface frc.robot.subsystems.vision.color.ColorDetectionIO

updateInputs(ColorDetectionIO.ColorInputs) - Method in class frc.robot.subsystems.vision.color.ColorDetectionReal

updateInputs(VisionIO.CameraInputs[]) - Method in interface frc.robot.subsystems.vision.VisionIO

updateInputs(VisionIO.CameraInputs[]) - Method in class frc.robot.subsystems.vision.VisionReal

updateSpeeds(ChassisSpeeds) - Method in class frc.robot.RobotState

Updates the robot's current chassis speeds.

updateState(Pose3d, Angle) - Method in class frc.robot.subsystems.vision.VisionSim

Update camera poses using robot state.

uploadSettings(String) - Method in class frc.robot.subsystems.vision.VisionReal

Upload saved settings to PV Co-Processors

uprightHeight - Static variable in class frc.robot.FieldConstants.Tower

Height of the uprights (meters).

V

v() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns the value of the v record component.

value() - Element in annotation interface frc.robot.util.GenerateEmptyIO

Parameter types for constructor

value() - Element in annotation interface frc.robot.util.typestate.AltMethod

Stringified java expression converting the alternative type into the actual type.

value() - Element in annotation interface frc.robot.util.typestate.OptionalField

Stringified java expression used when this parameter is not specified.

value() - Element in annotation interface frc.robot.util.typestate.TypeStateBuilder

If specified, the builder's class name is this.

valueOf(String) - Static method in enum class frc.robot.FieldConstants.AprilTagLayoutType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class frc.robot.FieldConstants.FieldType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class frc.robot.Robot.RobotRunType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class frc.robot.util.Elastic.NotificationLevel

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class frc.robot.util.tunable.ModuleConstants.ModuleKind

Returns the enum constant of this class with the specified name.

values() - Static method in enum class frc.robot.FieldConstants.AprilTagLayoutType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class frc.robot.FieldConstants.FieldType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class frc.robot.Robot.RobotRunType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class frc.robot.util.Elastic.NotificationLevel

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class frc.robot.util.tunable.ModuleConstants.ModuleKind

Returns an array containing the constants of this enum class, in the order they are declared.

velocity - Variable in class frc.robot.sim.SimPosition

Current simulated velocity.

velocity - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHoodIO.AdjustableHoodInputs

velocity - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

velocityDependentCOR - Variable in class frc.robot.sim.FuelSim.PhysicsConfig

velocityPivot - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

velocityTelescope - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberInputs

velocityTolerance - Variable in class frc.robot.util.tunable.FlywheelConstants

VERSION - Static variable in class frc.robot.BuildConstants

verticalVelocity() - Method in record class frc.robot.shotdata.ShotData.ShotEntry

Vertical exit velocity in m/s

Vision - Class in frc.robot.subsystems.vision

Vision subsystem responsible for processing camera-based pose observations and contributing vision measurements to the drivetrain pose estimator.

Vision() - Constructor for class frc.robot.Constants.Vision

Vision(RobotState, VisionIO) - Constructor for class frc.robot.subsystems.vision.Vision

Creates the vision subsystem.

visionFudgeFactor - Static variable in class frc.robot.Constants

VisionIO - Interface in frc.robot.subsystems.vision

IO Class for Vision

VisionIO.CameraInputs - Class in frc.robot.subsystems.vision

Inputs for an individual camera

VisionReal - Class in frc.robot.subsystems.vision

PhotonVision-attached implementation

VisionReal() - Constructor for class frc.robot.subsystems.vision.VisionReal

PhotonVision-attached implementation

visionSim - Variable in class frc.robot.sim.SimulatedRobotState

visionSim - Variable in class frc.robot.subsystems.vision.VisionSim

VisionSim - Class in frc.robot.subsystems.vision

Simulation of vision using built-in PhotonVision simulator.

VisionSim() - Constructor for class frc.robot.subsystems.vision.VisionSim

Simulation of vision using built-in PhotonVision simulator.

voltage - Variable in class frc.robot.subsystems.adjustable_hood.AdjustableHoodIO.AdjustableHoodInputs

voltage - Variable in class frc.robot.subsystems.turret.TurretIO.TurretInputs

W

w() - Method in record class frc.robot.math.geometry.Triangle2d.ClosestPoint

Returns the value of the w record component.

waitForPV(String) - Method in class frc.robot.subsystems.vision.VisionReal

Check that PV has started on Co-Processor

WARNING - Enum constant in enum class frc.robot.util.Elastic.NotificationLevel

Warning message

WELDED - Enum constant in enum class frc.robot.FieldConstants.FieldType

Field built from welded elements.

wheelBase - Static variable in class frc.robot.Constants.Swerve

Distance between front and back wheels on robot

wheelCircumference - Static variable in class frc.robot.Constants.Swerve

Circumference of the wheels

wheelDiameter - Static variable in class frc.robot.Constants.Swerve

Diameter of the wheels, twice the radius

wheelRadius - Static variable in class frc.robot.Constants.Swerve

Distance from the center of the wheel to the ground

wheelRadiusCharacterization() - Method in class frc.robot.subsystems.swerve.Swerve

Creates a SysId routine for wheel radius characterization.

wheelRadiusCharacterization(Swerve, Consumer<ChassisSpeeds>, Supplier<double[]>, Supplier<Rotation2d>) - Static method in class frc.robot.subsystems.swerve.util.TuningCommands

Creates a command to characterize the effective wheel radius of the drivetrain.

wheelsIn() - Method in class frc.robot.subsystems.swerve.Swerve

X the wheels.

width - Static variable in class frc.robot.FieldConstants.Depot

Depot width (meters).

width - Static variable in class frc.robot.FieldConstants.Hub

Outer hub diameter/width in meters.

width - Static variable in class frc.robot.FieldConstants.LeftBump

Left bump width along the field Y axis (meters).

width - Static variable in class frc.robot.FieldConstants.LeftTrench

Trench width (meters).

width - Static variable in class frc.robot.FieldConstants.Outpost

Outpost width (meters).

width - Static variable in class frc.robot.FieldConstants.RightBump

Right bump width along the field Y axis (meters).

width - Static variable in class frc.robot.FieldConstants.RightTrench

Trench width (meters).

width - Static variable in class frc.robot.FieldConstants.Tower

Tower width (meters).

width - Variable in class frc.robot.math.geometry.Rectangle

width - Variable in class frc.robot.subsystems.vision.CameraConstants

wilsonTest - Static variable in class frc.robot.Constants.Auto

wilsonTest() - Method in class frc.robot.AutoCommandFactory

Test to make sure autos work.

wilsonTestX - Static variable in class frc.robot.Constants.Auto

withAutomaticHeight() - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's height and returns itself to allow for method chaining

withDescription(String) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's description and returns itself to allow for method chaining

withDisplayMilliseconds(int) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's display time and returns itself to allow for method chaining

withDisplaySeconds(double) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's display time and returns itself to allow for method chaining

withHeight(double) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's height and returns itself to allow for method chaining

withLevel(Elastic.NotificationLevel) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's level and returns itself to allow for method chaining

withNoAutoDismiss() - Method in class frc.robot.util.Elastic.Notification

Modifies the notification to disable the auto dismiss behavior

withTitle(String) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's title and returns itself to allow for method chaining

withWidth(double) - Method in class frc.robot.util.Elastic.Notification

Modifies the notification's width and returns itself to allow for method chaining

Y

yaw - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

yawRads - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

yawVelocityRadPerSec - Variable in class frc.robot.subsystems.swerve.gyro.GyroIO.GyroInputs

_

_0() - Method in interface frc.robot.util.Tuples.IValue1

Get the 1st element.

_0() - Method in class frc.robot.util.Tuples.Tuple1

_0() - Method in class frc.robot.util.Tuples.Tuple2

_0() - Method in class frc.robot.util.Tuples.Tuple3

_0() - Method in class frc.robot.util.Tuples.Tuple4

_0() - Method in class frc.robot.util.Tuples.Tuple5

_0() - Method in class frc.robot.util.Tuples.Tuple6

_0() - Method in class frc.robot.util.Tuples.Tuple7

_0() - Method in class frc.robot.util.Tuples.Tuple8

_0() - Method in class frc.robot.util.Tuples.Tuple9

_1() - Method in interface frc.robot.util.Tuples.IValue2

Get the 2nd element.

_1() - Method in class frc.robot.util.Tuples.Tuple2

_1() - Method in class frc.robot.util.Tuples.Tuple3

_1() - Method in class frc.robot.util.Tuples.Tuple4

_1() - Method in class frc.robot.util.Tuples.Tuple5

_1() - Method in class frc.robot.util.Tuples.Tuple6

_1() - Method in class frc.robot.util.Tuples.Tuple7

_1() - Method in class frc.robot.util.Tuples.Tuple8

_1() - Method in class frc.robot.util.Tuples.Tuple9

_2() - Method in interface frc.robot.util.Tuples.IValue3

Get the 3rd element.

_2() - Method in class frc.robot.util.Tuples.Tuple3

_2() - Method in class frc.robot.util.Tuples.Tuple4

_2() - Method in class frc.robot.util.Tuples.Tuple5

_2() - Method in class frc.robot.util.Tuples.Tuple6

_2() - Method in class frc.robot.util.Tuples.Tuple7

_2() - Method in class frc.robot.util.Tuples.Tuple8

_2() - Method in class frc.robot.util.Tuples.Tuple9

_3() - Method in interface frc.robot.util.Tuples.IValue4

Get the 4th element.

_3() - Method in class frc.robot.util.Tuples.Tuple4

_3() - Method in class frc.robot.util.Tuples.Tuple5

_3() - Method in class frc.robot.util.Tuples.Tuple6

_3() - Method in class frc.robot.util.Tuples.Tuple7

_3() - Method in class frc.robot.util.Tuples.Tuple8

_3() - Method in class frc.robot.util.Tuples.Tuple9

_4() - Method in interface frc.robot.util.Tuples.IValue5

Get the 5th element.

_4() - Method in class frc.robot.util.Tuples.Tuple5

_4() - Method in class frc.robot.util.Tuples.Tuple6

_4() - Method in class frc.robot.util.Tuples.Tuple7

_4() - Method in class frc.robot.util.Tuples.Tuple8

_4() - Method in class frc.robot.util.Tuples.Tuple9

_5() - Method in interface frc.robot.util.Tuples.IValue6

Get the 6th element.

_5() - Method in class frc.robot.util.Tuples.Tuple6

_5() - Method in class frc.robot.util.Tuples.Tuple7

_5() - Method in class frc.robot.util.Tuples.Tuple8

_5() - Method in class frc.robot.util.Tuples.Tuple9

_6() - Method in interface frc.robot.util.Tuples.IValue7

Get the 7th element.

_6() - Method in class frc.robot.util.Tuples.Tuple7

_6() - Method in class frc.robot.util.Tuples.Tuple8

_6() - Method in class frc.robot.util.Tuples.Tuple9

_7() - Method in interface frc.robot.util.Tuples.IValue8

Get the 8th element.

_7() - Method in class frc.robot.util.Tuples.Tuple8

_7() - Method in class frc.robot.util.Tuples.Tuple9

_8() - Method in interface frc.robot.util.Tuples.IValue9

Get the 9th element.

_8() - Method in class frc.robot.util.Tuples.Tuple9

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