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## C

calcMaxAccel(Rotation2d, double, double, Translation3d, SwerveDriveConfiguration) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculates the maximum acceleration allowed in a direction without tipping the robot.
calculateAngleKV(double, double, double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculate the angle kV which will be multiplied by the radians per second for the feedforward.
calculateDegreesPerSteeringRotation(double, double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculate the degrees per steering rotation for the integrated encoder.
calculateMaxAcceleration(double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
calculateMaxAcceleration(double, double, double, double, double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculate the maximum theoretical acceleration without friction.
calculateMaxAngularVelocity(double, double, double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculate the maximum angular velocity.
calculateMetersPerRotation(double, double, double) - Static method in class frc.robot.subsystems.swervedrive2.swervelib.math.SwerveMath
  Calculate the meters per rotation for the integrated encoder.
canbus - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson
  The CAN bus name which the device resides on if using CAN.
CANCoderSwerve - Class in frc.robot.subsystems.swervedrive2.swervelib.encoders
  Swerve Absolute Encoder for CTRE CANCoders.
CANCoderSwerve(int) - Constructor for class frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve
  Initialize the CANCoder on the standard CANBus.
CANCoderSwerve(int, String) - Constructor for class frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve
  Initialize the CANCoder on the CANivore.
checkDirectory(File) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveParser
  Check directory structure.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SparkMaxEncoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.Pigeon2Swerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.PigeonSwerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Clear the sticky faults on the motor controller.
config - Variable in class frc.robot.subsystems.swervedrive2.swervelib.SwerveController
  `SwerveControllerConfiguration` object storing data to generate the `PIDController` for controlling the robot heading, and deadband for heading joystick.
configuration - Variable in class frc.robot.subsystems.swervedrive2.swervelib.SwerveModule
  Swerve module configuration options.
configure(boolean) - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve
  Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SparkMaxEncoderSwerve
  Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder
  Configure the absolute encoder to read from [0, 360) per second.
configureCANStatusFrames(int, int, int, int, int) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Set the CAN status frames.
configureIntegratedEncoder(double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Configure the integrated encoder for the swerve module.
configurePIDF(PIDFConfig) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Configure the PIDF values for the closed loop controller.
configurePIDWrapping(double, double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve
  Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor
  Configure the PID wrapping for the position closed loop controller.
controllerPropertiesJson - Static variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveParser
  Parsed controllerproperties.json
ControllerPropertiesJson - Class in frc.robot.subsystems.swervedrive2.swervelib.parser.json
  `SwerveController` parsed class.
ControllerPropertiesJson() - Constructor for class frc.robot.subsystems.swervedrive2.swervelib.parser.json.ControllerPropertiesJson
createControllerConfiguration(SwerveDriveConfiguration) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.ControllerPropertiesJson
  Create the `SwerveControllerConfiguration` based on parsed and given data.
createDriveFeedforward() - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveModuleConfiguration
  Create the drive feedforward for swerve modules.
createEncoder() - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson
  Create a `SwerveAbsoluteEncoder` from the current configuration.
createIMU() - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson
  Create a `SwerveIMU` from the given configuration.
createIntegratedEncoder(SwerveMotor) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson
  Create a `SwerveAbsoluteEncoder` from the data port on the motor controller.
createModuleConfiguration(PIDFConfig, PIDFConfig, double, SwerveModulePhysicalCharacteristics) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.ModuleJson
  Create the swerve module configuration based off of parsed data.
createModules(SwerveModuleConfiguration[]) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveDriveConfiguration
  Create modules based off of the SwerveModuleConfiguration.
createMotor(boolean) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.DeviceJson
  Create a `SwerveMotor` from the given configuration.
createPhysicalProperties(double) - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.PhysicalPropertiesJson
  Create the physical characteristics based off the parsed data.
createPIDController() - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.PIDFConfig
  Create a PIDController from the PID values.
createSwerveDrive() - Method in class frc.robot.subsystems.swervedrive2.swervelib.parser.SwerveParser
  Create `SwerveDrive` from JSON configuration directory.
currentLimit - Variable in class frc.robot.subsystems.swervedrive2.swervelib.parser.json.PhysicalPropertiesJson
  The current limit in AMPs to apply to the motors.

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