# Index (YAGSL-Example API)
index

# Index

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

## A

AbsoluteDrive - Class in frc.robot.commands.swervedrive.drivebase
  An example command that uses an example subsystem.
AbsoluteDrive(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
  Used to drive a swerve robot in full field-centric mode.
AbsoluteDriveAdv - Class in frc.robot.commands.swervedrive.drivebase
  A more advanced Swerve Control System that has 4 buttons for which direction to face
AbsoluteDriveAdv(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier, BooleanSupplier, BooleanSupplier, BooleanSupplier, BooleanSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
  Used to drive a swerve robot in full field-centric mode.
absoluteEncoder - Variable in class swervelib.motors.SparkFlexSwerve
  Absolute encoder attached to the SparkMax (if exists)
absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Absolute encoder attached to the SparkMax (if exists)
absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve
  Absolute encoder attached to the SparkMax (if exists)
absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration
  The Absolute Encoder for the swerve module.
absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson
  Absolute encoder inversion state.
absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
  Whether the absolute encoder is inverted.
absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson
  Absolute encoder offset from 0 in degrees.
AbsoluteFieldDrive - Class in frc.robot.commands.swervedrive.drivebase
  An example command that uses an example subsystem.
AbsoluteFieldDrive(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
  Used to drive a swerve robot in full field-centric mode.
addFakeVisionReading() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Add a fake vision reading for testing purposes.
addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController
  Add slew rate limiters to all controls.
addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive
  Add a vision measurement to the `SwerveDrivePoseEstimator` and update the `SwerveIMU` gyro reading with the given timestamp of the vision measurement.
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive
  Add a vision measurement to the `SwerveDrivePoseEstimator` and update the `SwerveIMU` gyro reading with the given timestamp of the vision measurement.
ADIS16448Swerve - Class in swervelib.imu
  IMU Swerve class for the `ADIS16448_IMU` device.
ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve
  Construct the ADIS16448 imu and reset default configurations.
ADIS16470Swerve - Class in swervelib.imu
  IMU Swerve class for the `ADIS16470_IMU` device.
ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve
  Construct the ADIS16470 imu and reset default configurations.
ADXRS450Swerve - Class in swervelib.imu
  IMU Swerve class for the `ADXRS450_Gyro` device.
ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve
  Construct the ADXRS450 imu and reset default configurations.
AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders
  Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Construct the Encoder given the analog input channel.
AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Construct the Thrifty Encoder as a Swerve Absolute Encoder.
AnalogGyroSwerve - Class in swervelib.imu
  Creates a IMU for `AnalogGyro` devices, only uses yaw.
AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve
  Analog port in which the gyroscope is connected.
angle - Variable in class swervelib.parser.json.ModuleJson
  Angle motor device configuration.
angle - Variable in class swervelib.parser.json.modules.BoolMotorJson
  Angle motor inversion state.
angle - Variable in class swervelib.parser.json.MotorConfigDouble
  Angle motor.
angle - Variable in class swervelib.parser.json.MotorConfigInt
  Angle motor.
angle - Variable in class swervelib.parser.json.PIDFPropertiesJson
  The PIDF with Integral Zone used for the angle motor.
angleAutoPID - Static variable in class frc.robot.Constants.Auton
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson
  The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration
  hypotenuse deadband for the robot angle control joystick.
angleLimiter - Variable in class swervelib.SwerveController
  `SlewRateLimiter` for angular movement in radians/second.
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
  The drive motor and angle motor of this swerve module.
angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  Current limits for the Swerve Module.
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
  State of inversion of the angle motor.
angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  The time it takes for the motor to go from 0 to full throttle in seconds.
angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration
  Angle offset in degrees for the Swerve Module.
anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
  PIDF configuration options for the angle motor closed-loop PID controller.
antiJitter(SwerveModuleState, SwerveModuleState, double) - Static method in class swervelib.math.SwerveMath
  Perform anti-jitter within modules if the speed requested is too low.
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath
  Algebraically apply a deadband using a piece wise function.
AutoBalanceCommand - Class in frc.robot.commands.swervedrive.auto
  Auto Balance command using a simple PID controller.
AutoBalanceCommand(SwerveSubsystem) - Constructor for class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
Auton() - Constructor for class frc.robot.Constants.Auton
autonomousInit() - Method in class frc.robot.Robot
  This autonomous runs the autonomous command selected by your `RobotContainer` class.
autonomousPeriodic() - Method in class frc.robot.Robot
  This function is called periodically during autonomous.

## B

BoolMotorJson - Class in swervelib.parser.json.modules
  Inverted motor JSON parsed class.
BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
burnFlash() - Method in class swervelib.motors.SparkFlexSwerve
  Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.SparkMaxSwerve
  Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.SwerveMotor
  Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.TalonFXSwerve
  Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.TalonSRXSwerve
  Save the configurations from flash to EEPROM.

## C

calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath
  Calculate the degrees per steering rotation for the integrated encoder.
calculateMaxAcceleration(double) - Static method in class 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 swervelib.math.SwerveMath
  Calculate the maximum theoretical acceleration without friction.
calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath
  Calculate the maximum angular velocity.
calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath
  Calculate the meters per rotation for the integrated encoder.
CanAndCoderSwerve - Class in swervelib.encoders
  HELIUM `Canandcoder` from ReduxRobotics absolute encoder, attached through the CAN bus.
CanAndCoderSwerve(int) - Constructor for class swervelib.encoders.CanAndCoderSwerve
  Create the `Canandcoder`
canbus - Variable in class swervelib.parser.json.DeviceJson
  The CAN bus name which the device resides on if using CAN.
CANCoderSwerve - Class in swervelib.encoders
  Swerve Absolute Encoder for CTRE CANCoders.
CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve
  Initialize the CANCoder on the standard CANBus.
CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve
  Initialize the CANCoder on the CANivore.
CHASSIS - Static variable in class frc.robot.Constants
chassisVelocityCorrection - Variable in class swervelib.SwerveDrive
  Correct chassis velocity in `SwerveDrive.drive(Translation2d, double, boolean, boolean)` using 254's correction.
clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.CanAndCoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.SwerveIMU
  Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.motors.SparkFlexSwerve
  Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve
  Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.SwerveMotor
  Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve
  Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve
  Clear the sticky faults on the motor controller.
config - Variable in class swervelib.SwerveController
  `SwerveControllerConfiguration` object storing data to generate the `PIDController` for controlling the robot heading, and deadband for heading joystick.
configuration - Variable in class swervelib.SwerveModule
  Swerve module configuration options.
configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.CanAndCoderSwerve
  Configure the CANandCoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve
  Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Configure the inversion state of the encoder.
configure(boolean) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Configure the absolute encoder to read from [0, 360) per second.
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonFXSwerve
  Set the CAN status frames.
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve
  Set the CAN status frames.
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkFlexSwerve
  Set the CAN status frames.
configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the CAN status frames.
configureCANStatusFrames(int, int, int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve
  Set the CAN status frames.
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonFXSwerve
  Set the CAN status frames.
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve
  Set the CAN status frames.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkFlexSwerve
  Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve
  Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor
  Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve
  Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve
  Configure the integrated encoder for the swerve module.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkFlexSwerve
  Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve
  Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor
  Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve
  Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve
  Configure the PIDF values for the closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkFlexSwerve
  Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve
  Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor
  Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve
  Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve
  Configure the PID wrapping for the position closed loop controller.
Constants - Class in frc.robot
  The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean constants.
Constants() - Constructor for class frc.robot.Constants
Constants.Auton - Class in frc.robot
Constants.Drivebase - Class in frc.robot
Constants.OperatorConstants - Class in frc.robot
controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser
  Parsed controllerproperties.json
ControllerPropertiesJson - Class in swervelib.parser.json
  `SwerveController` parsed class.
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
conversionFactor - Variable in class swervelib.parser.json.ModuleJson
  Conversion factor for the module, if different from the one in swervedrive.json
conversionFactor - Variable in class swervelib.parser.json.PhysicalPropertiesJson
  Conversion factor applied to the motor controllers PID loops.
conversionFactor - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  The conversion factors for the drive and angle motors, created by `SwerveMath.calculateMetersPerRotation(double, double, double)` and `SwerveMath.calculateDegreesPerSteeringRotation(double, double)`.
conversionFactors - Variable in class swervelib.parser.SwerveModuleConfiguration
  Conversion factor for drive motor onboard PID's and angle PID's.
convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve
  Convert the setpoint into native sensor units.
createControllerConfiguration(SwerveDriveConfiguration, double) - Method in class swervelib.parser.json.ControllerPropertiesJson
  Create the `SwerveControllerConfiguration` based on parsed and given data.
createDriveFeedforward(double, double, double) - Static method in class swervelib.math.SwerveMath
  Create the drive feedforward for swerve modules.
createEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson
  Create a `SwerveAbsoluteEncoder` from the current configuration.
createIMU() - Method in class swervelib.parser.json.DeviceJson
  Create a `SwerveIMU` from the given configuration.
createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson
  Create the swerve module configuration based off of parsed data.
createModules(SwerveModuleConfiguration[], SimpleMotorFeedforward) - Method in class swervelib.parser.SwerveDriveConfiguration
  Create modules based off of the SwerveModuleConfiguration.
createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson
  Create a `SwerveMotor` from the given configuration.
createPhysicalProperties() - Method in class swervelib.parser.json.PhysicalPropertiesJson
  Create the physical characteristics based off the parsed data.
createPIDController() - Method in class swervelib.parser.PIDFConfig
  Create a PIDController from the PID values.
createSwerveDrive(double) - Method in class swervelib.parser.SwerveParser
  Create `SwerveDrive` from JSON configuration directory.
createSwerveDrive(double, double, double) - Method in class swervelib.parser.SwerveParser
  Create `SwerveDrive` from JSON configuration directory.
createSwerveDrive(SimpleMotorFeedforward, double) - Method in class swervelib.parser.SwerveParser
  Create `SwerveDrive` from JSON configuration directory.
createSwerveDrive(SimpleMotorFeedforward, double, double, double) - Method in class swervelib.parser.SwerveParser
  Create `SwerveDrive` from JSON configuration directory.
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson
  The current limit in AMPs to apply to the motors.

## D

d - Variable in class swervelib.parser.PIDFConfig
  Derivative Gain for PID.
desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  Describes the desired forward, sideways and angular velocity of the robot.
desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  An array of rotation and velocity values describing the desired state of each swerve module
DeviceJson - Class in swervelib.parser.json
  Device JSON parsed class.
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
disabledInit() - Method in class frc.robot.Robot
  This function is called once each time the robot enters Disabled mode.
disabledPeriodic() - Method in class frc.robot.Robot
drive - Variable in class swervelib.parser.json.ModuleJson
  Drive motor device configuration.
drive - Variable in class swervelib.parser.json.modules.BoolMotorJson
  Drive motor inversion state.
drive - Variable in class swervelib.parser.json.MotorConfigDouble
  Drive motor.
drive - Variable in class swervelib.parser.json.MotorConfigInt
  Drive motor.
drive - Variable in class swervelib.parser.json.PIDFPropertiesJson
  The PIDF with Integral Zone used for the drive motor.
drive(Translation2d, double, boolean) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  The primary method for controlling the drivebase.
drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive
  The primary method for controlling the drivebase.
drive(Translation2d, double, boolean, boolean, Translation2d) - Method in class swervelib.SwerveDrive
  The primary method for controlling the drivebase.
drive(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Drive according to the chassis robot oriented velocity.
drive(ChassisSpeeds) - Method in class swervelib.SwerveDrive
  Secondary method for controlling the drivebase.
drive(ChassisSpeeds, boolean, Translation2d) - Method in class swervelib.SwerveDrive
  The primary method for controlling the drivebase.
drive(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive
  Secondary method for controlling the drivebase.
Drivebase() - Constructor for class frc.robot.Constants.Drivebase
driveFieldOriented(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Drive the robot given a chassis field oriented velocity.
driveFieldOriented(ChassisSpeeds) - Method in class swervelib.SwerveDrive
  Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
driveFieldOriented(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive
  Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration
  The drive motor and angle motor of this swerve module.
driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  Current limits for the Swerve Module.
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration
  State of inversion of the drive motor.
driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  The time it takes for the motor to go from 0 to full throttle in seconds.

## E

encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Encoder as Analog Input.
encoder - Variable in class swervelib.encoders.CanAndCoderSwerve
  The `Canandcoder` representing the CANandCoder on the CAN bus.
encoder - Variable in class swervelib.encoders.CANCoderSwerve
  CANCoder with WPILib sendable and support.
encoder - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  The `SparkAnalogSensor` representing the duty cycle encoder attached to the SparkMax analog port.
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve
  The `AbsoluteEncoder` representing the duty cycle encoder attached to the SparkMax.
encoder - Variable in class swervelib.motors.SparkFlexSwerve
  Integrated encoder.
encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Integrated encoder.
encoder - Variable in class swervelib.motors.SparkMaxSwerve
  Integrated encoder.
encoder - Variable in class swervelib.parser.json.ModuleJson
  Absolute encoder device configuration.
end(boolean) - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
  The action to take when the command ends.
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
end(boolean) - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
execute() - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
  The main body of a command.
execute() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
execute() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
execute() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
execute() - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive

## F

f - Variable in class swervelib.parser.PIDFConfig
  Feedforward value for PID.
factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.CanAndCoderSwerve
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.NavXSwerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.PigeonSwerve
  Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.SwerveIMU
  Reset IMU to factory default.
factoryDefaults() - Method in class swervelib.motors.SparkFlexSwerve
  Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve
  Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.SwerveMotor
  Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve
  Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve
  Configure the factory defaults.
feedforward - Variable in class swervelib.SwerveModule
  Feedforward for drive motor during closed loop control.
field - Variable in class swervelib.SwerveDrive
  Field object.
forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The direction the robot should be facing when the "Robot Rotation" is zero or blank.
frc.robot - package frc.robot
frc.robot.commands.swervedrive.auto - package frc.robot.commands.swervedrive.auto
frc.robot.commands.swervedrive.drivebase - package frc.robot.commands.swervedrive.drivebase
frc.robot.subsystems.swervedrive - package frc.robot.subsystems.swervedrive
front - Variable in class swervelib.parser.json.modules.LocationJson
  Location of the swerve module in inches from the center of the robot horizontally.

## G

getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.CanAndCoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Get the encoder object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Get the instantiated absolute encoder Object.
getAbsoluteEncoderReadIssue() - Method in class swervelib.SwerveModule
  Get if the last Absolute Encoder had a read issue, such as it does not exist.
getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.CanAndCoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.SwerveModule
  Get the absolute position.
getAccel() - Method in class swervelib.imu.ADIS16448Swerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.ADIS16470Swerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.ADXRS450Swerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.AnalogGyroSwerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.NavXSwerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.Pigeon2Swerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.PigeonSwerve
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.SwerveIMU
  Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation
  Fetch the acceleration [x, y, z] from the IMU in m/s/s.
getAccel() - Method in class swervelib.SwerveDrive
  Gets current acceleration of the robot in m/s/s.
getAngleMotor() - Method in class swervelib.SwerveModule
  Get the angle `SwerveMotor` for the `SwerveModule`.
getAutonomousCommand() - Method in class frc.robot.RobotContainer
  Use this to pass the autonomous command to the main `Robot` class.
getAutonomousCommand(String, boolean) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Get the path follower with events.
getConfiguration() - Method in class swervelib.SwerveModule
  Fetch the `SwerveModuleConfiguration` for the `SwerveModule` with the parsed configurations.
getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration
  Assume the first module is the furthest.
getDriveMotor() - Method in class swervelib.SwerveModule
  Get the drive `SwerveMotor` for the `SwerveModule`.
getFieldVelocity() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Gets the current field-relative velocity (x, y and omega) of the robot
getFieldVelocity() - Method in class swervelib.SwerveDrive
  Gets the current field-relative velocity (x, y and omega) of the robot
getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation
  Gets the estimated gyro `Rotation3d` of the robot.
getGyroRotation3d() - Method in class swervelib.SwerveDrive
  Gets the current gyro `Rotation3d` of the robot, as reported by the imu.
getHeading() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Gets the current yaw angle of the robot, as reported by the imu.
getIMU() - Method in class swervelib.imu.ADIS16448Swerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.ADIS16470Swerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.ADXRS450Swerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.AnalogGyroSwerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.NavXSwerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.Pigeon2Swerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.PigeonSwerve
  Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.SwerveIMU
  Get the instantiated IMU object.
getInstance() - Static method in class frc.robot.Robot
getJoystickAngle(double, double) - Method in class swervelib.SwerveController
  Get the angle in radians based off of the heading joysticks.
getKinematics() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Get the swerve drive kinematics object.
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser
  Get the swerve module by the json name.
getModulePositions() - Method in class swervelib.SwerveDrive
  Gets the current module positions (azimuth and wheel position (meters)).
getModules() - Method in class swervelib.SwerveDrive
  Get the `SwerveModule`s associated with the `SwerveDrive`.
getMotor() - Method in class swervelib.motors.SparkFlexSwerve
  Get the motor object from the module.
getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Get the motor object from the module.
getMotor() - Method in class swervelib.motors.SparkMaxSwerve
  Get the motor object from the module.
getMotor() - Method in class swervelib.motors.SwerveMotor
  Get the motor object from the module.
getMotor() - Method in class swervelib.motors.TalonFXSwerve
  Get the motor object from the module.
getMotor() - Method in class swervelib.motors.TalonSRXSwerve
  Get the motor object from the module.
getPitch() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Gets the current pitch angle of the robot, as reported by the imu.
getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation
  Pitch is not simulated currently, always returns 0.
getPitch() - Method in class swervelib.SwerveDrive
  Gets the current pitch angle of the robot, as reported by the imu.
getPose() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Gets the current pose (position and rotation) of the robot, as reported by odometry.
getPose() - Method in class swervelib.SwerveDrive
  Gets the current pose (position and rotation) of the robot, as reported by odometry.
getPosition() - Method in class swervelib.motors.SparkFlexSwerve
  Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.SparkMaxSwerve
  Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.SwerveMotor
  Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.TalonFXSwerve
  Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.TalonSRXSwerve
  Get the position of the integrated encoder.
getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation
  Get the simulated swerve module position.
getPosition() - Method in class swervelib.SwerveModule
  Get the position of the swerve module.
getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.NavXSwerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.SwerveIMU
  Fetch the `Rotation3d` from the IMU without any zeroing.
getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController
  Get the `ChassisSpeeds` based of raw speeds desired in meters/second and heading in radians.
getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController
  Get the `ChassisSpeeds` based of raw speeds desired in meters/second and heading in radians.
getRelativePosition() - Method in class swervelib.SwerveModule
  Get the relative angle in degrees.
getRobotVelocity() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Gets the current velocity (x, y and omega) of the robot
getRobotVelocity() - Method in class swervelib.SwerveDrive
  Gets the current robot-relative velocity (x, y and omega) of the robot
getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation
  Roll is not simulated currently, always returns 0.
getRoll() - Method in class swervelib.SwerveDrive
  Gets the current roll angle of the robot, as reported by the imu.
getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.NavXSwerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.PigeonSwerve
  Fetch the `Rotation3d` from the IMU.
getRotation3d() - Method in class swervelib.imu.SwerveIMU
  Fetch the `Rotation3d` from the IMU.
getState() - Method in class swervelib.simulation.SwerveModuleSimulation
  Get the `SwerveModuleState` of the simulated module.
getState() - Method in class swervelib.SwerveModule
  Get the Swerve Module state.
getStates() - Method in class swervelib.SwerveDrive
  Gets the current module states (azimuth and velocity)
getSwerveController() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Get the `SwerveController` in the swerve drive.
getSwerveController() - Method in class swervelib.SwerveDrive
  Helper function to get the `SwerveDrive.swerveController` for the `SwerveDrive` which can be used to generate `ChassisSpeeds` for the robot to orient it correctly given axis or angles, and apply `SlewRateLimiter` to given inputs.
getSwerveDriveConfiguration() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Get the `SwerveDriveConfiguration` object.
getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath
  Get the fruthest module from center based on the module locations.
getSwerveModulePoses(Pose2d) - Method in class 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.swervedrive.SwerveSubsystem
  Get the chassis speeds based on controller input of 2 joysticks.
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController
  Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
getTargetSpeeds(double, double, double, double, double, double) - Method in class swervelib.SwerveController
  Get the chassis speeds based on controller input of 2 joysticks.
getTargetSpeeds(double, double, Rotation2d) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Get the chassis speeds based on controller input of 1 joystick and one angle.
getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController
  Helper function to get the `Translation2d` of the chassis speeds given the `ChassisSpeeds`.
getVelocity() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.CanAndCoderSwerve
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.CANCoderSwerve
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.motors.SparkFlexSwerve
  Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.SparkMaxSwerve
  Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.SwerveMotor
  Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.TalonFXSwerve
  Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.TalonSRXSwerve
  Get the velocity of the integrated encoder.
getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation
  Get the estimated angle of the robot.
getYaw() - Method in class swervelib.SwerveDrive
  Gets the current yaw angle of the robot, as reported by the imu.

## H

heading - Variable in class swervelib.parser.json.ControllerPropertiesJson
  The PID used to control the robot heading.
headingCalculate(double, double) - Method in class swervelib.SwerveController
  Calculate the angular velocity given the current and target heading angle in radians.
headingCorrection - Variable in class swervelib.SwerveDrive
  Whether to correct heading when driving translationally.
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration
  PIDF for the heading of the robot.
HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
  Full swerve drive data is sent back in both human and machine readable forms.

## I

i - Variable in class swervelib.parser.PIDFConfig
  Integral Gain for PID.
id - Variable in class swervelib.parser.json.DeviceJson
  The CAN ID or pin ID of the device.
imu - Variable in class swervelib.parser.json.SwerveDriveJson
  Robot IMU used to determine heading of the robot.
imu - Variable in class swervelib.parser.SwerveDriveConfiguration
  Swerve IMU
initialize() - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
  The initial subroutine of a command.
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
initialize() - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
inverted - Variable in class swervelib.parser.json.ModuleJson
  Defines which motors are inverted.
invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson
  Invert the IMU of the robot.
invertedIMU - Variable in class swervelib.parser.SwerveDriveConfiguration
  Invert the imu measurements.
invertOdometry - Variable in class swervelib.SwerveDrive
  Invert odometry readings of drive motor positions, used as a patch for debugging currently.
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkFlexSwerve
  Queries whether the absolute encoder is directly attached to the motor controller.
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Queries whether the absolute encoder is directly attached to the motor controller.
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve
  Queries whether the absolute encoder is directly attached to the motor controller.
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor
  Queries whether the absolute encoder is directly attached to the motor controller.
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve
  Queries whether the absolute encoder is directly attached to the motor controller.
isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve
  Queries whether the absolute encoder is directly attached to the motor controller.
isDriveMotor - Variable in class swervelib.motors.SwerveMotor
  Whether the swerve motor is a drive motor.
isFinished() - Method in class frc.robot.commands.swervedrive.auto.AutoBalanceCommand
  Returns whether this command has finished.
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteDriveAdv
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.AbsoluteFieldDrive
isFinished() - Method in class frc.robot.commands.swervedrive.drivebase.TeleopDrive
isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  State of simulation of the Robot, used to optimize retrieval.
iz - Variable in class swervelib.parser.PIDFConfig
  Integral zone of the PID.

## K

kinematics - Variable in class swervelib.SwerveDrive
  Swerve Kinematics object.

## L

lastAngleScalar - Variable in class swervelib.SwerveController
  Last angle as a scalar [-1,1] the robot was set to.
lastState - Variable in class swervelib.SwerveModule
  Last swerve module state applied.
left - Variable in class swervelib.parser.json.modules.LocationJson
  Location of the swerve module in inches from the center of the robot vertically.
LEFT_X_DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants
LEFT_Y_DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath
  Limits a commanded velocity to prevent exceeding the maximum acceleration given by `SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration)`.
location - Variable in class swervelib.parser.json.ModuleJson
  The location of the swerve module from the center of the robot in inches.
LocationJson - Class in swervelib.parser.json.modules
  Location JSON parsed class.
LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
lock() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Lock the swerve drive to prevent it from moving.
lockPose() - Method in class swervelib.SwerveDrive
  Point all modules toward the robot center, thus making the robot very difficult to move.
LOOP_TIME - Static variable in class frc.robot.Constants
LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
  Low telemetry data, only post the robot position on the field.

## M

MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
  Only send the machine readable data related to swerve drive.
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.
mass - Variable in class swervelib.math.Matter
  Mass in kg of object.
massMoment() - Method in class swervelib.math.Matter
  Get the center mass of the object.
Matter - Class in swervelib.math
  Object with significant mass that needs to be taken into account.
Matter(Translation3d, double) - Constructor for class swervelib.math.Matter
  Construct an object representing some significant matter on the robot.
max - Variable in class swervelib.parser.deserializer.PIDFRange
  Maximum value.
MAX_ACCELERATION - Static variable in class frc.robot.Constants.Auton
maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration
  Maximum angular velocity in rad/s
maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The maximum achievable angular velocity of the robot.
maximumRetries - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
  The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
maximumRetries - Variable in class swervelib.motors.SwerveMotor
  The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
maximumSpeed - Variable in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Maximum speed of the robot in meters per second, used to limit acceleration.
maxSpeed - Variable in class swervelib.SwerveModule
  Maximum speed of the drive motors in meters per second.
maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The maximum achievable speed of the modules, used to adjust the size of the vectors.
measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The maximum achievable angular velocity of the robot.
measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  An array of rotation and velocity values describing the measured state of each swerve module
min - Variable in class swervelib.parser.deserializer.PIDFRange
  Minimum value.
moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration
  Number of modules on the robot.
moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The number of swerve modules
ModuleJson - Class in swervelib.parser.json
  `SwerveModule` JSON parsed class.
ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
moduleJsons - Static variable in class swervelib.parser.SwerveParser
  Array holding the module jsons given in `SwerveDriveJson`.
moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration
  Swerve module location relative to the robot.
moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration
  Swerve Module locations.
moduleNumber - Variable in class swervelib.SwerveModule
  Module number for kinematics, usually 0 to 3.
modules - Variable in class swervelib.parser.json.SwerveDriveJson
  Module JSONs in order clockwise order starting from front left.
modules - Variable in class swervelib.parser.SwerveDriveConfiguration
  Swerve Modules.
motor - Variable in class swervelib.motors.SparkFlexSwerve
  SparkMAX Instance.
motor - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
  SparkMAX Instance.
motor - Variable in class swervelib.motors.SparkMaxSwerve
  SparkMAX Instance.
MotorConfigDouble - Class in swervelib.parser.json
  Used to store doubles for motor configuration.
MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble
  Default constructor.
MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble
  Default constructor.
MotorConfigInt - Class in swervelib.parser.json
  Used to store ints for motor configuration.
MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt
  Default constructor.
MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt
  Default constructor with values.

## N

name - Variable in class swervelib.parser.SwerveModuleConfiguration
  Name for the swerve module for telemetry.
NavXSwerve - Class in swervelib.imu
  Communicates with the NavX as the IMU.
NavXSwerve(I2C.Port) - Constructor for class swervelib.imu.NavXSwerve
  Constructor for the NavX swerve.
NavXSwerve(SerialPort.Port) - Constructor for class swervelib.imu.NavXSwerve
  Constructor for the NavX swerve.
NavXSwerve(SPI.Port) - Constructor for class swervelib.imu.NavXSwerve
  Constructor for the NavX swerve.
NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
  No telemetry data is sent back.
normalizeAngle(double) - Static method in class swervelib.math.SwerveMath
  Normalize an angle to be within 0 to 360.

## O

OperatorConstants() - Constructor for class frc.robot.Constants.OperatorConstants
optimalVoltage - Variable in class swervelib.parser.json.PhysicalPropertiesJson
  The voltage to use for the smart motor voltage compensation, default is 12.
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  The voltage to use for the smart motor voltage compensation.
output - Variable in class swervelib.parser.PIDFConfig
  The PIDF output range.

## P

p - Variable in class swervelib.parser.PIDFConfig
  Proportional Gain for PID.
periodic() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
physicalCharacteristics - Variable in class swervelib.parser.SwerveDriveConfiguration
  Physical characteristics of the swerve drive from physicalproperties.json.
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration
  Physical characteristics of the swerve module.
physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser
  Parsed modules/physicalproperties.json
PhysicalPropertiesJson - Class in swervelib.parser.json
  `SwerveModulePhysicalCharacteristics` parsed data.
PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
pid - Variable in class swervelib.motors.SparkFlexSwerve
  Closed-loop PID controller.
pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Closed-loop PID controller.
pid - Variable in class swervelib.motors.SparkMaxSwerve
  Closed-loop PID controller.
PIDFConfig - Class in swervelib.parser
  Hold the PIDF and Integral Zone values for a PID.
PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig
  Used when parsing PIDF values from JSON.
PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig
  PIDF Config constructor to contain the values.
PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig
  PIDF Config constructor to contain the values.
PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
  PIDF Config constructor to contain the values.
PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig
  PIDF Config constructor to contain the values.
pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser
  Parsed modules/pidfproperties.json
PIDFPropertiesJson - Class in swervelib.parser.json
  `SwerveModule` PID with Feedforward for the drive motor and angle motor.
PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
PIDFRange - Class in swervelib.parser.deserializer
  Class to hold the minimum and maximum input or output of the PIDF.
PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
Pigeon2Swerve - Class in swervelib.imu
  SwerveIMU interface for the Pigeon2
Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve
  Generate the SwerveIMU for pigeon.
Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve
  Generate the SwerveIMU for pigeon.
PigeonSwerve - Class in swervelib.imu
  SwerveIMU interface for the Pigeon.
PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve
  Generate the SwerveIMU for pigeon.
placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath
  Put an angle within the 360 deg scope of a reference.
PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath
  Logical inverse of the Pose exponential from 254.
position - Variable in class swervelib.math.Matter
  Position in meters from robot center in 3d space.
postTrajectory(Trajectory) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Post the trajectory to the field.
postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive
  Post the trajectory to the field
pushOffsetsToControllers() - Method in class swervelib.SwerveDrive
  Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.
pushOffsetsToControllers() - Method in class swervelib.SwerveModule
  Push absolute encoder offset in the memory of the encoder or controller.
PWMDutyCycleEncoderSwerve - Class in swervelib.encoders
  DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder." attached via a PWM lane.
PWMDutyCycleEncoderSwerve(int) - Constructor for class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Constructor for the PWM duty cycle encoder.

## Q

queueSynchronizeEncoders() - Method in class swervelib.SwerveModule
  Queue synchronization of the integrated angle encoder with the absolute encoder.

## R

rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson
  The minimum number of seconds to take for the motor to go from 0 to full throttle.
readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder
  Last angle reading was faulty.
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive
  Setup the swerve module feedforward.
resetDriveEncoders() - Method in class swervelib.SwerveDrive
  Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.
resetOdometry(Pose2d) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Resets odometry to the given pose.
resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive
  Resets odometry to the given pose.
restoreInternalOffset() - Method in class swervelib.SwerveDrive
  Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0
restoreInternalOffset() - Method in class swervelib.SwerveModule
  Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
RIGHT_X_DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants
Robot - Class in frc.robot
  The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as described in the TimedRobot documentation.
Robot() - Constructor for class frc.robot.Robot
ROBOT_MASS - Static variable in class frc.robot.Constants
RobotContainer - Class in frc.robot
  This class is where the bulk of the robot should be declared.
RobotContainer() - Constructor for class frc.robot.RobotContainer
  The container for the robot.
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
  This function is called every 20 ms, no matter the mode.
robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The robot's current rotation based on odometry or gyro readings
rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The units of the module rotations and robot rotation

## S

set(double) - Method in class swervelib.motors.SparkFlexSwerve
  Set the percentage output.
set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the percentage output.
set(double) - Method in class swervelib.motors.SparkMaxSwerve
  Set the percentage output.
set(double) - Method in class swervelib.motors.SwerveMotor
  Set the percentage output.
set(double) - Method in class swervelib.motors.TalonFXSwerve
  Set the percentage output.
set(double) - Method in class swervelib.motors.TalonSRXSwerve
  Set the percentage output.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkFlexSwerve
  Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve
  Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor
  Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve
  Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve
  Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
  Cannot Set the offset of an Analog Absolute Encoder.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CanAndCoderSwerve
  Cannot set the offset of the CanAndCoder.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CANCoderSwerve
  Sets the Absolute Encoder Offset within the CANcoder's Memory.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve
  Sets the offset of the Encoder in the WPILib Encoder Library.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Sets the Absolute Encoder offset at the Encoder Level.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve
  Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SwerveAbsoluteEncoder
  Sets the Absolute Encoder offset at the Encoder Level.
setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation
  Set the heading of the robot.
setAngle(double) - Method in class swervelib.SwerveModule
  Set the angle for the module.
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
  Set the conversion factor for the angle/azimuth motor controller.
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveModule
  Set the conversion factor for the angle/azimuth motor controller.
setAngleMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
  Set the voltage compensation for the swerve module motor.
setChassisSpeeds(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Set chassis speeds with closed-loop velocity control.
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive
  Set chassis speeds with closed-loop velocity control.
setCurrentLimit(int) - Method in class swervelib.motors.SparkFlexSwerve
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setDesiredState(SwerveModuleState, boolean, boolean) - Method in class swervelib.SwerveModule
  Set the desired state of the swerve module.
setDriveMode() - Method in class frc.robot.RobotContainer
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveDrive
  Set the conversion factor for the drive motor controller.
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveModule
  Set the conversion factor for the drive motor controller.
setDriveMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule
  Set the voltage compensation for the swerve module motor.
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive
  Set the expected gyroscope angle using a `Rotation3d` object.
setGyroOffset(Rotation3d) - Method in class swervelib.SwerveDrive
  Set the gyro scope offset to a desired known rotation.
setHeadingCorrection(boolean) - Method in class swervelib.SwerveDrive
  Set the heading correction capabilities of YAGSL.
setInverted(boolean) - Method in class swervelib.motors.SparkFlexSwerve
  Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve
  Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.SwerveMotor
  Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve
  Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve
  Set the motor to be inverted.
setLoopRampRate(double) - Method in class swervelib.motors.SparkFlexSwerve
  Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve
  Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor
  Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve
  Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve
  Set the maximum rate the open/closed loop output can change by.
setMaximumAngularVelocity(double) - Method in class swervelib.SwerveController
  Set a new maximum angular velocity that is different from the auto-generated one.
setMaximumSpeed(double) - Method in class swervelib.SwerveDrive
  Set the maximum speed of the drive motors, modified `SwerveDrive.maxSpeedMPS` which is used for the `SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean)` function and `SwerveController.getTargetSpeeds(double, double, double, double, double)` functions.
setMaximumSpeed(double, boolean, double) - Method in class swervelib.SwerveDrive
  Set the maximum speed of the drive motors, modified `SwerveDrive.maxSpeedMPS` which is used for the `SwerveDrive.setRawModuleStates(SwerveModuleState[], boolean)` function and `SwerveController.getTargetSpeeds(double, double, double, double, double)` functions.
setMaximumSpeeds(double, double, double) - Method in class swervelib.SwerveDrive
  Set the maximum speeds for desaturation.
setModuleStates(SwerveModuleState[], boolean) - Method in class swervelib.SwerveDrive
  Set the module states (azimuth and velocity) directly.
setMotorBrake(boolean) - Method in class frc.robot.RobotContainer
setMotorBrake(boolean) - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Sets the drive motors to brake/coast mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SparkFlexSwerve
  Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve
  Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor
  Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve
  Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve
  Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.SwerveModule
  Set the brake mode.
setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive
  Sets the drive motors to brake/coast mode.
setOdometryPeriod(double) - Method in class swervelib.SwerveDrive
  Set the odometry update period in seconds.
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve
  Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU
  Set the gyro offset.
setPosition(double) - Method in class swervelib.motors.SparkFlexSwerve
  Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve
  Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.SwerveMotor
  Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.TalonFXSwerve
  Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve
  Set the integrated encoder position.
setReference(double, double) - Method in class swervelib.motors.SparkFlexSwerve
  Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve
  Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.SwerveMotor
  Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve
  Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve
  Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SparkFlexSwerve
  Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve
  Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor
  Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve
  Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve
  Set the closed loop PID controller reference point.
setupPathPlanner() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Setup AutoBuilder for PathPlanner.
setVoltageCompensation(double) - Method in class swervelib.motors.SparkFlexSwerve
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve
  Set the voltage compensation for the swerve module motor.
simulationInit() - Method in class frc.robot.Robot
  This function is called once when the robot is first started up.
simulationPeriodic() - Method in class frc.robot.Robot
  This function is called periodically whilst in simulation.
simulationPeriodic() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The distance between the front and back modules.
sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The distance between the left and right modules.
SparkFlexSwerve - Class in swervelib.motors
  An implementation of `CANSparkFlex` as a `SwerveMotor`.
SparkFlexSwerve(int, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve
  Initialize the `SwerveMotor` as a `CANSparkMax` connected to a Brushless Motor.
SparkFlexSwerve(CANSparkFlex, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve
  Initialize the swerve motor.
SparkMaxAnalogEncoderSwerve - Class in swervelib.encoders
  SparkMax absolute encoder, attached through the data port analog pin.
SparkMaxAnalogEncoderSwerve(SwerveMotor) - Constructor for class swervelib.encoders.SparkMaxAnalogEncoderSwerve
  Create the `SparkMaxAnalogEncoderSwerve` object as a analog sensor from the `CANSparkMax` motor data port analog pin.
SparkMaxBrushedMotorSwerve - Class in swervelib.motors
  Brushed motor control with SparkMax.
SparkMaxBrushedMotorSwerve(int, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
  Initialize the `SwerveMotor` as a `CANSparkMax` connected to a Brushless Motor.
SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve
  Initialize the swerve motor.
SparkMaxEncoderSwerve - Class in swervelib.encoders
  SparkMax absolute encoder, attached through the data port.
SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve
  Create the `SparkMaxEncoderSwerve` object as a duty cycle from the `CANSparkMax` motor.
SparkMaxSwerve - Class in swervelib.motors
  An implementation of `CANSparkMax` as a `SwerveMotor`.
SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
  Initialize the `SwerveMotor` as a `CANSparkMax` connected to a Brushless Motor.
SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve
  Initialize the swerve motor.
stateStdDevs - Variable in class swervelib.SwerveDrive
  Standard deviation of encoders and gyroscopes, usually should not change.
stopOdometryThread() - Method in class swervelib.SwerveDrive
  Stop the odometry thread in favor of manually updating odometry.
SwerveAbsoluteEncoder - Class in swervelib.encoders
  Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
swerveController - Variable in class swervelib.SwerveDrive
  Swerve controller for controlling heading of the robot.
SwerveController - Class in swervelib
  Controller class used to convert raw inputs into robot speeds.
SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController
  Construct the SwerveController object which is used for determining the speeds of the robot based on controller input.
SwerveControllerConfiguration - Class in swervelib.parser
  Swerve Controller configuration class which is used to configure `SwerveController`.
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
  Construct the swerve controller configuration.
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration
  Construct the swerve controller configuration.
SwerveDrive - Class in swervelib
  Swerve Drive class representing and controlling the swerve drive.
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double) - Constructor for class swervelib.SwerveDrive
  Creates a new swerve drivebase subsystem.
swerveDriveConfiguration - Variable in class swervelib.SwerveDrive
  Swerve drive configuration.
SwerveDriveConfiguration - Class in swervelib.parser
  Swerve drive configurations used during SwerveDrive construction.
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveDriveConfiguration
  Create swerve drive configuration.
swerveDriveJson - Static variable in class swervelib.parser.SwerveParser
  Parsed swervedrive.json
SwerveDriveJson - Class in swervelib.parser.json
  `SwerveDrive` JSON parsed class.
SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive
  Swerve odometry.
SwerveDriveTelemetry - Class in swervelib.telemetry
  Telemetry to describe the `SwerveDrive` following frc-web-components.
SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry
  Verbosity of telemetry data sent back.
SwerveIMU - Class in swervelib.imu
  Swerve IMU abstraction to define a standard interface with a swerve drive.
SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
SwerveIMUSimulation - Class in swervelib.simulation
  Simulation for `SwerveDrive` IMU.
SwerveIMUSimulation() - Constructor for class swervelib.simulation.SwerveIMUSimulation
  Create the swerve drive IMU simulation.
swervelib - package swervelib
  Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
swervelib.encoders - package swervelib.encoders
  Absolute encoders for the swerve drive, all implement `SwerveAbsoluteEncoder`.
swervelib.imu - package swervelib.imu
  IMUs used for controlling the robot heading.
swervelib.math - package swervelib.math
  Mathematics for swerve drives.
swervelib.motors - package swervelib.motors
  Swerve motor controller wrappers which implement `SwerveMotor`.
swervelib.parser - package swervelib.parser
  JSON Parser for YAGSL configurations.
swervelib.parser.deserializer - package swervelib.parser.deserializer
  Deserialize specific variables for outside the parser.
swervelib.parser.json - package swervelib.parser.json
  JSON Mapped classes for parsing configuration files.
swervelib.parser.json.modules - package swervelib.parser.json.modules
  JSON Mapped Configuration types for modules.
swervelib.simulation - package swervelib.simulation
  Classes used to simulate the swerve drive.
swervelib.telemetry - package swervelib.telemetry
  Telemetry package for sending data to NT4 or SmartDashboard.
SwerveMath - Class in swervelib.math
  Mathematical functions which pertain to swerve drive.
SwerveMath() - Constructor for class swervelib.math.SwerveMath
SwerveModule - Class in swervelib
  The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward) - Constructor for class swervelib.SwerveModule
  Construct the swerve module and initialize the swerve module motors and absolute encoder.
SwerveModuleConfiguration - Class in swervelib.parser
  Swerve Module configuration class which is used to configure `SwerveModule`.
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
  Construct a configuration object for swerve modules.
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Constructor for class swervelib.parser.SwerveModuleConfiguration
  Construct a configuration object for swerve modules.
SwerveModulePhysicalCharacteristics - Class in swervelib.parser
  Configuration class which stores physical characteristics shared between every swerve module.
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
  Construct the swerve module physical characteristics.
SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics
  Construct the swerve module physical characteristics.
SwerveModuleSimulation - Class in swervelib.simulation
  Class to hold simulation data for `SwerveModule`
SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation
  Create simulation class and initialize module at 0.
SwerveMotor - Class in swervelib.motors
  Swerve motor abstraction which defines a standard interface for motors within a swerve module.
SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
SwerveParser - Class in swervelib.parser
  Helper class used to parse the JSON directory with specified configuration options.
SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser
  Construct a swerve parser.
SwerveSubsystem - Class in frc.robot.subsystems.swervedrive
SwerveSubsystem(File) - Constructor for class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Initialize `SwerveDrive` with the directory provided.
SwerveSubsystem(SwerveDriveConfiguration, SwerveControllerConfiguration) - Constructor for class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Construct the swerve drive.
synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive
  Synchronize angle motor integrated encoders with data from absolute encoders.

## T

TalonFXSwerve - Class in swervelib.motors
  `TalonFX` Swerve Motor.
TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
  Construct the TalonFX swerve motor given the ID.
TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
  Construct the TalonFX swerve motor given the ID and CANBus.
TalonFXSwerve(TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve
  Constructor for TalonFX swerve motor.
TalonSRXSwerve - Class in swervelib.motors
  `WPI_TalonSRX` Swerve Motor.
TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
  Construct the TalonSRX swerve motor given the ID.
TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve
  Constructor for TalonSRX swerve motor.
TeleopDrive - Class in frc.robot.commands.swervedrive.drivebase
  An example command that uses an example subsystem.
TeleopDrive(SwerveSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier, BooleanSupplier) - Constructor for class frc.robot.commands.swervedrive.drivebase.TeleopDrive
  Creates a new ExampleCommand.
teleopInit() - Method in class frc.robot.Robot
teleopPeriodic() - Method in class frc.robot.Robot
  This function is called periodically during operator control.
testInit() - Method in class frc.robot.Robot
testPeriodic() - Method in class frc.robot.Robot
  This function is called periodically during test mode.
thetaController - Variable in class swervelib.SwerveController
  PID Controller for the robot heading.
TranslationPID - Static variable in class frc.robot.Constants.Auton
TURN_CONSTANT - Static variable in class frc.robot.Constants.OperatorConstants
type - Variable in class swervelib.parser.json.DeviceJson
  The device type, e.g.

## U

updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry
  Upload data to smartdashboard
updateOdometry() - Method in class swervelib.SwerveDrive
  Update odometry should be run every loop.
updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation
  Update the odometry of the simulated `SwerveDrive` and post the `SwerveModule` states to the `Field2d`.
updateStateAndPosition(SwerveModuleState) - Method in class swervelib.simulation.SwerveModuleSimulation
  Update the position and state of the module.
updateTelemetry() - Method in class swervelib.SwerveModule
  Update data sent to `SmartDashboard`.

## V

valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
  Returns the enum constant of this class with the specified name.
values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity
  Returns an array containing the constants of this enum class, in the order they are declared.
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration
  PIDF configuration options for the drive motor closed-loop PID controller.
verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The current telemetry verbosity level.
visionMeasurementStdDevs - Variable in class swervelib.SwerveDrive
  The standard deviation of the vision measurement, for best accuracy calculate the standard deviation at 2 or more points and fit a line to it and modify this using `SwerveDrive.addVisionMeasurement(Pose2d, double, Matrix)` with the calculated optimal standard deviation.

## W

WHEEL_LOCK_TIME - Static variable in class frc.robot.Constants.Drivebase
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson
  The grip tape coefficient of friction on carpet.
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics
  Wheel grip tape coefficient of friction on carpet, as described by the vendor.
wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry
  The number of swerve modules
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController
  Calculate the hypot deadband and check if the joystick is within it.

## X

x - Variable in class swervelib.parser.json.modules.LocationJson
  Location of the swerve module in inches from the center of the robot horizontally.
xLimiter - Variable in class swervelib.SwerveController
  `SlewRateLimiter` for movement in the X direction in meters/second.

## Y

y - Variable in class swervelib.parser.json.modules.LocationJson
  Location of the swerve module in inches from the center of the robot vertically.
yLimiter - Variable in class swervelib.SwerveController
  `SlewRateLimiter` for movement in the Y direction in meters/second.

## Z

zeroGyro() - Method in class frc.robot.subsystems.swervedrive.SwerveSubsystem
  Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.
zeroGyro() - Method in class swervelib.SwerveDrive
  Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.

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