Index

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

A

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

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

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

addOdometryObservation(SwerveModulePosition[], Rotation2d, double) - Method in class frc.robot.subsystems.swerve.util.SwerveState

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.subsystems.swerve.util.SwerveState

Adds a vision measurement using an externally computed camera pose.

addVisionObservation(CameraConstants, PhotonPipelineResult) - Method in class frc.robot.subsystems.swerve.util.SwerveState

Adds a vision measurement from PhotonVision.

AllianceFlipUtil - Class in frc.robot.util

Utilities for flipping based on alliance

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

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.

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

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

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

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

angleMotorId - Variable in class frc.robot.subsystems.swerve.mod.ModuleConstants

CAN ID for the angle motor

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

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

angleOffset - Variable in class frc.robot.subsystems.swerve.mod.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(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

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

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

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

B

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

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

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

C

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) - 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

canCoderId - Variable in class frc.robot.subsystems.swerve.mod.ModuleConstants

CAN ID for the CANCoder

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

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

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

Constants - Class in frc.robot

Constants file.

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

Constants.DriverControls - Class in frc.robot

Constants for driver controls

Constants.Swerve - Class in frc.robot

Swerve Constants

Constants.SwerveTransformPID - Class in frc.robot

MoveToPos constants.

Constants.Vision - Class in frc.robot

Vision Constants

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

Driverstation controller Index

D

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

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.

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

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

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

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

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

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

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

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

driveMotorId - Variable in class frc.robot.subsystems.swerve.mod.ModuleConstants

CAN ID for the drive motor

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

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

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.

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

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

F

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.

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

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

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.

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

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

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

G

GenerateEmptyIO - Annotation Interface in frc.robot.util

Generate Empty IO implementation using RobotUtils

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

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

getGlobalPoseEstimate() - Method in class frc.robot.subsystems.swerve.util.SwerveState

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

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

Get swerve module position at timestamp index i

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

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.

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

Returns the module position in radians.

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

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

H

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

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

I

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.

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.

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

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

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

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

K

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

Real Robot.

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

Replay runtime.

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

Simulation runtime.

L

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

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

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

M

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.

MAVEN_GROUP - Static variable in class frc.robot.BuildConstants

MAVEN_NAME - Static variable in class frc.robot.BuildConstants

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

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

Radians per Second

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

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

Meters per Second

ModuleConstants - Class in frc.robot.subsystems.swerve.mod

Per-module constants

ModuleConstants(int, int, int, Rotation2d) - Constructor for class frc.robot.subsystems.swerve.mod.ModuleConstants

Per-module constants

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

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.

N

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

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

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

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

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

Marks this parameter as optional.

overrideInit(Pose2d) - Method in class frc.robot.subsystems.swerve.util.SwerveState

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.

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

Runs once per 0.02 seconds after subsystems and commands.

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.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.

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

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

R

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.

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.

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 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.util.SwerveArcOdometry

resetPose(Pose2d) - Method in class frc.robot.subsystems.swerve.util.SwerveState

Resets the internal pose estimate to a known field pose.

resetPosition(Rotation2d, SwerveModulePosition[], Pose2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

resetRotation(Rotation2d) - Method in class frc.robot.subsystems.swerve.util.SwerveArcOdometry

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

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

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

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

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(Swerve) - 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

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

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

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

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

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

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

S

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

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

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

Set drive motor brake mode

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

Set the desired state of the Swerve Module

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

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

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

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

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

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

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.

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

Starts the thread if at least one signal has been registered.

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

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.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.

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

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

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

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

Maintains and updates the robot's estimated global pose for a swerve drive by fusing wheel odometry, gyro measurements, and delayed vision updates.

SwerveState(SwerveModulePosition[], Rotation2d) - Constructor for class frc.robot.subsystems.swerve.util.SwerveState

Creates a new swerve state estimator.

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

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

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

timestamps - Variable in class frc.robot.subsystems.swerve.SwerveIO.SwerveInputs

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

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

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

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.

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.

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

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(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(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(SwerveIO.SwerveInputs) - Method in interface frc.robot.subsystems.swerve.SwerveIO

Update inputs

updateInputs(SwerveIO.SwerveInputs) - Method in class frc.robot.subsystems.swerve.SwerveReal

updateInputs(VisionIO.CameraInputs[]) - Method in interface frc.robot.subsystems.vision.VisionIO

updateInputs(VisionIO.CameraInputs[]) - Method in class frc.robot.subsystems.vision.VisionReal

updateSpeeds(ChassisSpeeds) - Method in class frc.robot.subsystems.swerve.util.SwerveState

Updates the robot's current chassis speeds.

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.Robot.RobotRunType

Returns the enum constant of this class with the specified name.

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.

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(SwerveState, 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

W

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

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

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

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

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 - 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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