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## G

gearRatio - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.PhysicalPropertiesJson
  Gear ratio for the motors, number of times the motor has to spin before the wheel rotates a single time.
getAbsoluteEncoder() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SparkMaxEncoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder
  Get the instantiated absolute encoder Object.
getAbsolutePosition() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SparkMaxEncoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder
  Get the absolute position of the encoder.
getCANCoder() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
  Get the CANCoder absolute position.
getFieldVelocity() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current field-relative velocity (x, y and omega) of the robot
getIMU() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve
  Get the instantiated IMU object.
getIMU() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.Pigeon2Swerve
  Get the instantiated IMU object.
getIMU() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.PigeonSwerve
  Get the instantiated IMU object.
getIMU() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU
  Get the instantiated IMU object.
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveParser
  Get the swerve module by the json name.
getModulePositions() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current module positions (azimuth and wheel position (meters))
getMotor() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Get the motor object from the module.
getMotor() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Get the motor object from the module.
getPitch() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current yaw angle of the robot, as reported by the imu.
getPose() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current pose (position and rotation) of the robot, as reported by odometry.
getPosition() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Get the position of the integrated encoder.
getPosition() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Get the position of the integrated encoder.
getPosition() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
getPositionEncoderConversion(boolean) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration
  Get the encoder conversion for position encoders.
getRelativeEncoder() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
  Get the relative encoder angle in degrees.
getRobotVelocity() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current robot-relative velocity (x, y and omega) of the robot
getState() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
  Get the Swerve Module state.
getStates() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current module states (azimuth and velocity)
getSwerveModulePoses(Pose2d) - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Get the swerve module poses and on the field relative to the robot.
getTargetSpeeds(double, double, double, double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveController
  Get the chassis speeds based on controller input of 1 joystick and a angle.
getTargetSpeeds(double, double, double, double, double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveController
  Get the chassis speeds based on controller input of 2 joysticks.
getTranslation2d(ChassisSpeeds) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveController
  Helper function to get the `Translation2d` of the chassis speeds given the `ChassisSpeeds`.
getVelocity() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Get the velocity of the integrated encoder.
getVelocity() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Get the velocity of the integrated encoder.
getYaw() - Method in class frc.robot.subsystems.swervedrive2.swervelib.SwerveDrive
  Gets the current yaw angle of the robot, as reported by the imu.
getYawPitchRoll(double[]) - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve
  Fetch the yaw/pitch/roll from the IMU.
getYawPitchRoll(double[]) - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.Pigeon2Swerve
  Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
getYawPitchRoll(double[]) - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.PigeonSwerve
  Fetch the yaw/pitch/roll from the IMU, inverts them all if SwerveIMU is inverted.
getYawPitchRoll(double[]) - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU
  Fetch the yaw/pitch/roll from the IMU.
gyro - Variable in class frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve
  NavX IMU.

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