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.Line

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.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.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, RobotState) - 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

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

Swerve Angle Motor Gear Ratio

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(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

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

autoPass(Supplier<Pose2d>, Turret, AdjustableHood, Shooter) - Static method in class frc.robot.CommandFactory

Sets the turret's target to the left or right based off of its closest distence, then sets the angle of the hood, then the velocity of the shooter, then it shoots.

Axis - Class in frc.robot.math

Represents an axis.

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

Create new axis with a given direction.

B

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

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

BLUE_HUB - Static variable in class frc.robot.sim.FuelSim.Hub

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.Line

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

Motion magic cruise velocity, in rotations per second.

calculateBoth(double, double, Consumer<Angle>, Consumer<Double>) - Static method in class frc.robot.util.ShotCalculator

Calculates shooter parameters based on distance and required velocity.

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, 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

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

Circle - Class in frc.robot.math

Represents a circle with a known center and radius.

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

Represents a circle with a known center and radius.

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

Clears the field of fuel

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

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

Identifies Closest Trench

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.RotationInterval

Get the interval opposite this.

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

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.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.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.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.Circle

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

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

Returns true if `p` is inside this hexagon.

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

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

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

Driverstation controller Index

Conversions - Class in frc.robot.math

Mathematical conversions for swerve calculations

Conversions() - Constructor for class frc.robot.math.Conversions

ConvexShape - Interface in frc.robot.math

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

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

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

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

D

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.

degreesToFalcon(double, double) - Static method in class frc.robot.math.Conversions

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).

DeviceDebug - Class in frc.robot.util

Runtime debugging utility for exposing low-level device controls via NetworkTables.

DIRTY - Static variable in class frc.robot.BuildConstants

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

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

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

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

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

Returns the distance between the robot and the closest Trench zone.

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.Axis

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

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

Swerve Drive Motor Gear Ratio

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)

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

Maximum Translational speed (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

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

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

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

equals(Object) - Method in record class frc.robot.util.ShotCalculator.ShooterParams

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

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

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

F

falconToDegrees(double, double) - Static method in class frc.robot.math.Conversions

falconToMeters(double, double, double) - Static method in class frc.robot.math.Conversions

falconToMPS(double, double, double) - Static method in class frc.robot.math.Conversions

falconToRPM(double, double) - Static method in class frc.robot.math.Conversions

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.

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.

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

FlywheelConstants - Class in frc.robot.util.tunable

Constants for shooter flywheel

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

Create new Flywheel Constants

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 - package frc.robot.math

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

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

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.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

Simulator for fuel by FRC Team 5000.

FuelSim.Hub - Class in frc.robot.sim

Hub Goal

G

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

gear1Offset - 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

gear2Offset - 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.Circle

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

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

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

Get the axes of this ConvexShape.

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

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

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

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

Get the center of this ConvexShape.

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

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

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

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

Get penetration depth.

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

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

getGearAnglesFromTurret(Angle, double, Rotation2d) - Static method in class frc.robot.subsystems.turret.Turret

Computes the expected gear encoder angle for a given turret rotation.

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.

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

Returns a singleton instance of 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.

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

Get upper extent of the range.

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

Get upper extent of the range.

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

Get lower extent of the range.

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

Get lower extent of the range.

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.Interval

Get length of common subset.

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

Get length of common subset.

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.Circle

Get the circle's radius

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

Get the current count of fuel scored in this hub

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

Get the current Swerve Module State

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.Circle

Get point on the circle with a given angle.

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

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

Get the X direction.

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

Get penetration direction x component.

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

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

Returns the goal location of the robot

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

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.util.ShotCalculator.ShooterParams

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

A static hexagon shape.

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

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

hoodAngle() - Method in record class frc.robot.util.ShotCalculator.ShooterParams

Returns the value of the hoodAngle 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

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.

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

Sets the angle manually

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

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() - Static method in class frc.robot.util.DeviceDebug

Initializes the debug system and installs the global enable listener.

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.swerve.mod.SwerveModule

inputs - Variable in class frc.robot.subsystems.turret.Turret

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

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.Line

Get intersection of two lines.

Interval - Class in frc.robot.math

A one-dimensional range.

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

A one-dimensional range.

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

Returns true if the robot is in the Trench zone.

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

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

sees if a rectangle is inside another

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

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

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

J

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

Motion magic jerk limit.

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.

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

Acceleration Characterization Value

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

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

Derivative PID Value for turret position control.

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

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

Integral PID Value for turret position control.

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

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

Proportional PID Value for turret position control.

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.

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

Static Characterization Value 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.

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

Velocity Characterization Value

L

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

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.Rectangle

limit(ChassisSpeeds, double) - 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.

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

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

Represents a line in 2d space.

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

Represents a line in 2d space.

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

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

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

Adds array of `Translation3d`'s to NetworkTables at "AdvantageKit/RealOutputs/Fuel Simulation/Fuels"

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

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.

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

moves the hood by a specified increment

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

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

Max Speed in Meters per Second

metersPerSecondToRotationPerSecond(double, Distance) - Static method in class frc.robot.math.Conversions

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

Mid rung height above carpet (meters).

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

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

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

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

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

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

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

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

ModuleConstants - Class in frc.robot.util.tunable

Per-module constants

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

Per-module constants

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

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

Command that moves the robot through the trench, constraining Y movement to stay in the trench.

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) - Constructor for class frc.robot.subsystems.swerve.util.MoveToPose

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

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

Command that moves the robot to the trench without going through

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

mpsToFalcon(double, double, double) - Static method in class frc.robot.math.Conversions

N

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

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

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

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.Interval

Get if two intervals share some common subset.

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

Result type for SeparatingAxis.

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

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

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

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

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

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

Project multiple points onto this axis.

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

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

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

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

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

R

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

Get distance from min to max.

Rectangle - Class in frc.robot.math

Rotating Rectangle Shape

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

Rotating Rectangle Shape

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

RED_HUB - Static variable in class frc.robot.sim.FuelSim.Hub

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

reduceTo0_360(double) - Static method in class frc.robot.math.Conversions

Normalize angle to between 0 to 360

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

Refreshes all registered Phoenix signals.

register(String, CANcoder) - Static method in class frc.robot.util.DeviceDebug

Registers a CANcoder for future runtime debugging.

register(String, TalonFX) - Static method in class frc.robot.util.DeviceDebug

Registers a TalonFX for runtime debugging.

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

Registers an intake with the fuel simulator.

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

Registers an intake with the fuel simulator.

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

Registers an intake with the fuel simulator.

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

Registers an intake with the fuel simulator.

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

Registers a robot with the fuel simulator

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.

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

Sets a user-defined field-relative heading offset.

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

resetScore() - Method in class frc.robot.sim.FuelSim.Hub

Reset this hub's score to 0

resetTranslation(Translation2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

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

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

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).

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

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) - 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

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

RotationInterval(Rotation2d, Rotation2d) - Constructor for class frc.robot.math.RotationInterval

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

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

rotationPerSecondToMetersPerSecond(AngularVelocity, Distance) - Static method in class frc.robot.math.Conversions

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.

rotationsToMeters(Angle, Distance) - Static method in class frc.robot.math.Conversions

rpmToFalcon(double, double) - Static method in class frc.robot.math.Conversions

rps() - Method in record class frc.robot.util.ShotCalculator.ShooterParams

Returns the value of the rps record component.

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

runDutyCycleVelocity(double) - Method in interface frc.robot.subsystems.shooter.ShooterIO

runDutyCycleVelocity(double) - Method in class frc.robot.subsystems.shooter.ShooterReal

runDutyCycleVelocity(double) - Method in class frc.robot.subsystems.shooter.ShooterSim

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

runs hopper

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

runTorqueCurrentVelocity(double) - Method in interface frc.robot.subsystems.shooter.ShooterIO

runTorqueCurrentVelocity(double) - Method in class frc.robot.subsystems.shooter.ShooterReal

runTorqueCurrentVelocity(double) - Method in class frc.robot.subsystems.shooter.ShooterSim

S

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

Get the signed distance of a point with respect to the circle.

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

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.

setAutoTurretFollow(Pose2d) - Method in class frc.robot.subsystems.turret.Turret

Sets the turret to go in the opposite direction of the drivetrain so it can resist the direction change, and stay facing the hub.

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

Set drive motor brake mode

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

Set the circle's center

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.Penetration

Set penetration depth.

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

Set the desired state of the Swerve Module

setDirection(double, double) - Method in class frc.robot.math.Axis

Set the direction.

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

setEncoderPosition(double) - Method in interface frc.robot.subsystems.intake.IntakeIO

setEncoderPosition(double) - Method in class frc.robot.subsystems.intake.IntakeReal

setEncoderPosition(double) - Method in class frc.robot.subsystems.intake.IntakeSim

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.Axis

Set axis direction to the same direction as the given rotation.

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

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

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

setLeftHopperPosition(double) - Method in interface frc.robot.subsystems.intake.IntakeIO

setLeftHopperPosition(double) - Method in class frc.robot.subsystems.intake.IntakeReal

setLeftHopperPosition(double) - Method in class frc.robot.subsystems.intake.IntakeSim

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

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.Interval

Set upper extent of the range.

setMax(Rotation2d) - Method in class frc.robot.math.RotationInterval

Set upper extent of the range.

setMin(double) - Method in class frc.robot.math.Interval

Set lower extent of the range.

setMin(Rotation2d) - Method in class frc.robot.math.RotationInterval

Set lower extent of the range.

setNormal(double, double) - Method in class frc.robot.math.Penetration

Set penetration direction.

setPose(Pose2d) - Method in class frc.robot.math.Rectangle

Override rectangle pose.

setRadius(double) - Method in class frc.robot.math.Circle

Set the circle's radius

setRightHopperPosition(double) - Method in interface frc.robot.subsystems.intake.IntakeIO

setRightHopperPosition(double) - Method in class frc.robot.subsystems.intake.IntakeReal

setRightHopperPosition(double) - Method in class frc.robot.subsystems.intake.IntakeSim

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

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

setSubticks(int) - Method in class frc.robot.sim.FuelSim

Sets the number of physics iterations per loop (0.02s)

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) - Method in interface frc.robot.subsystems.turret.TurretIO

Commands the turret to move toward the specified target angle.

setTargetAngle(Angle) - Method in class frc.robot.subsystems.turret.TurretReal

setTargetAngle(Angle) - Method in class frc.robot.subsystems.turret.TurretSim

setTurretAngle(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

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.

shoot(double) - 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

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

ShooterParams(double, double, double) - Constructor for record class frc.robot.util.ShotCalculator.ShooterParams

Creates an instance of a ShooterParams record class.

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

ShotCalculator - Class in frc.robot.util

Calculates shooter parameters (RPM and hood angle) based on distance and required velocity.

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

ShotCalculator.ShooterParams - Record Class in frc.robot.util

Parameters for a shooter shot, including RPS, hood angle, and time of flight.

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

solve(ConvexShape, ConvexShape, Penetration) - Static method in class frc.robot.math.SeparatingAxis

Solve the for the separating axis between two convex shape.

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

Adds a fuel onto the field

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

Spawns fuel in the neutral zone and depots

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

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

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

Run the simulation forward 1 time step (0.02s)

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.

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) - 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

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

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

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

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

timeOfFlight() - Method in record class frc.robot.util.ShotCalculator.ShooterParams

Returns the value of the timeOfFlight record component.

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.util.ShotCalculator.ShooterParams

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

trenchSides() - Static method in class frc.robot.subsystems.swerve.Swerve

returns a list with all of the trench bounds

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.

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.

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.

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.

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

TODO: meausre on bot

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

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

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.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

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

To be called periodically Will do nothing if sim is not running

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.

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

Height of the uprights (meters).

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

Uses the distance and angle tables

V

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.

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.

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

velocityComp(Translation2d, ChassisSpeeds, Translation2d, Consumer<Double>, Consumer<Angle>, Consumer<Angle>) - Static method in class frc.robot.util.ShotCalculator

Calculates shooter parameters based on current robot position, velocity, and goal position.

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

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.

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 - 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

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.

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.Rectangle

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

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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