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## S

saveConfig() - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Save configuration data to the motor controller so it is persistent on reboot.
saveConfig() - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Save configuration data to the motor controller so it is persistent on reboot.
saveConfig() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Save configuration data to the motor controller so it is persistent on reboot.
set(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Set the speed of the drive motor from -1 to 1.
set(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the speed of the drive motor from -1 to 1.
set(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Common interface for setting the speed of a motor controller.
set(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the speed of the drive motor from -1 to 1.
set(double, double, double, boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Swerve drive function
set(ChassisSpeeds) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Set the swerve drive module states.
setAngle(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the angle of the swerve module without feedforward.
setAngle(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the angle of the swerve module.
setAngleOffset(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Configure the magnetic offset in the CANCoder.
setCANStatusFrames(int, int, int, int, int) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the CAN status frames.
setConversionFactor(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Configures the conversion factor based upon which motor.
setConversionFactor(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Configures the conversion factor based upon which motor.
setConversionFactor(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Configures the conversion factor based upon which motor.
setCurrentLimit(int) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  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 frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  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 frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int, SwerveMotor.ModuleMotorType) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setEncoder(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Set the encoder value.
setEncoder(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the encoder value.
setEncoder(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the encoder value.
setGyroInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Invert the gyroscope reading.
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder
  Configure the sensor direction
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder
  Configure the sensor direction
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder
  Configure the sensor direction
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder
  Configure the sensor direction.
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Invert the motor.
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Invert the motor.
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveEncoder
  Configure the sensor direction
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Common interface for inverting direction of a motor controller.
setInverted(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Invert the motor.
setInvertedAbsoluteEncoder(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Invert the absolute encoder.
setInvertedTurn(boolean) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the steering motor to be inverted.
setModulePIDF(SwerveMotor, JsonNode) - Static method in class frc.robot.subsystems.swervedrive.swerve.SwerveParser
  Set the PIDF for the module if the given JSON has the paramters.
setModuleStates(SwerveModuleState2[]) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Set the swerve module states given an array of states.
setOffset(double) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.CTRECANCoder
  Configure the magnetic offset for the AbsoluteEncoder.
setOffset(double) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.PWMAnalogEncoder
  Configure the magnetic offset for the AbsoluteEncoder.
setOffset(double) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.PWMDutyCycleEncoder
  Configure the magnetic offset for the AbsoluteEncoder.
setOffset(double) - Method in class frc.robot.subsystems.swervedrive.swerve.encoders.REVAbsoluteEncoder
  Configure the magnetic offset for the AbsoluteEncoder.
setOffset(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveEncoder
  Configure the magnetic offset for the AbsoluteEncoder.
setPIDF(double, double, double, double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Set the PIDF coefficients for the closed loop PID onboard the SparkMax.
setPIDF(double, double, double, double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the PIDF coefficients for the closed loop PID onboard the SparkMax.
setPIDF(double, double, double, double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the PIDF coefficients for the closed loop PID onboard the SparkMax.
setPIDF(double, double, double, double, double, SwerveMotor.ModuleMotorType) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Set the PIDF coefficients for the closed loop PID onboard the motor controller.
setPIDF(double, double, double, double, double, SwerveMotor.ModuleMotorType) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the PIDF coefficients for the closed loop PID onboard the motor controller.
setPIDOutputRange(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Configure the maximum power (-1 to 1) the PID can output.
setPIDOutputRange(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Configure the maximum power (-1 to 1) the PID can output.
setPIDOutputRange(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Configure the maximum power (-1 to 1) the PID can output.
setState(SwerveModuleState2) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the module speed and angle based off the module state.
setTarget(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Set the target for the PID loop.
setTarget(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the target for the PID loop.
setTarget(double, double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the target for the PID loop.
SETUP - frc.robot.subsystems.swervedrive.swerve.SwerveModule.Verbosity
  Creates every field for the module.
setVelocity(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the drive motor velocity in MPS.
setVoltage(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Set the voltage of the motor.
setVoltage(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the voltage of the motor.
setVoltage(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the voltage of the motor.
setVoltageCompensation() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Enable voltage compensation to the current battery voltage on all modules.
setVoltageCompensation(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Set the voltage compensation for the swerve module motor.
setX() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Sets the wheels into an X formation to prevent movement.
Simulation - frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor.REV_slotIdx
steering - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig
steeringKV - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  kV for steering feedforward.
stop() - Method in class frc.robot.subsystems.swervedrive.swerve.motors.CTRESwerveMotor
  Stop the motor by sending 0 volts to it.
stop() - Method in class frc.robot.subsystems.swervedrive.swerve.motors.REVSwerveMotor
  Stop the motor by sending 0 volts to it.
stop() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
  Stop the motor by sending 0 volts to it.
stopMotor() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Stop all running and turning motors.
stopMotor() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Stops motor movement.
subscribe() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Update swerve module parameters based on data in the dashboard.
subscribe() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Subscribe from data within smart dashboard to make changes to the swerve module.
SwerveDrive - Class in frc.robot.subsystems.swervedrive.swerve
  SwerveDrive base which is meant to be platform agnostic.
SwerveDrive(SwerveModule<?, ?, ?>, SwerveModule<?, ?, ?>, SwerveModule<?, ?, ?>, SwerveModule<?, ?, ?>, WPI_Pigeon2, double, double, double, double, double, boolean, Pose2d) - Constructor for class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Constructor for Swerve Drive assuming modules have been created and configured with PIDF and conversions.
SwerveDrive.SwerveModuleConfig<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​SteeringMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoder extends com.ctre.phoenix.sensors.CANCoder> - Class in frc.robot.subsystems.swervedrive.swerve
  Helper class for easier swerve module creation
SwerveDriveKinematics2 - Class in frc.robot.subsystems.swervedrive.swerve.kinematics
  Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis speed.
SwerveDriveKinematics2(Translation2d...) - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveDriveKinematics2
  Constructs a swerve drive kinematics object.
SwerveEncoder<AbsoluteEncoderType> - Class in frc.robot.subsystems.swervedrive.swerve
  Swerve Encoder class definition for common interfaces.
SwerveEncoder() - Constructor for class frc.robot.subsystems.swervedrive.swerve.SwerveEncoder
swerveLocation - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Enum representing the swerve module's location on the robot, assuming square.
SwerveModule<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoderType> - Class in frc.robot.subsystems.swervedrive.swerve
  Swerve module for representing a single swerve module of the robot.
SwerveModule(DriveMotorType, AngleMotorType, AbsoluteEncoderType, SwerveModule.SwerveModuleLocation, double, double, double, double, double, double, double, double, double, double, double, boolean, boolean) - Constructor for class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Swerve module constructor.
SwerveModule.SwerveModuleLocation - Enum in frc.robot.subsystems.swervedrive.swerve
  Swerve Module location on the robot.
SwerveModule.Verbosity - Enum in frc.robot.subsystems.swervedrive.swerve
  Verbosity levels for data publishing,
SwerveModuleConfig(DriveMotorType, SteeringMotorType, AbsoluteEncoder, double, SwerveModule.SwerveModuleLocation) - Constructor for class frc.robot.subsystems.swervedrive.swerve.SwerveDrive.SwerveModuleConfig
  Swerve Module configuration class to define the motor CAN IDs and absolute encoder offset of a swerve module.
swerveModuleLocation - Variable in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Swerve Module location object relative to the center of the robot.
SwerveModuleLocation() - Constructor for enum frc.robot.subsystems.swervedrive.swerve.SwerveModule.SwerveModuleLocation
SwerveModuleLocationToString(SwerveModule.SwerveModuleLocation) - Static method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Convert `SwerveModule.SwerveModuleLocation` to `String` representation.
SwerveModuleState2 - Class in frc.robot.subsystems.swervedrive.swerve.kinematics
SwerveModuleState2() - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2
  Constructs a SwerveModuleState with zeros for speed and angle.
SwerveModuleState2(double, Rotation2d) - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2
  Constructs a SwerveModuleState.
SwerveModuleState2(double, Rotation2d, double) - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2
  Constructs a SwerveModuleState.
SwerveModuleState2(SwerveModuleState) - Constructor for class frc.robot.subsystems.swervedrive.swerve.kinematics.SwerveModuleState2
  Constructs a SwerveModuleState with zeros for speed and angle.
SwerveMotor - Class in frc.robot.subsystems.swervedrive.swerve
SwerveMotor() - Constructor for class frc.robot.subsystems.swervedrive.swerve.SwerveMotor
SwerveMotor.ModuleMotorType - Enum in frc.robot.subsystems.swervedrive.swerve
  Motor type for the swerve drive module
SwerveParser - Class in frc.robot.subsystems.swervedrive.swerve
  Swerve Drive JSON parser.
SwerveParser() - Constructor for class frc.robot.subsystems.swervedrive.swerve.SwerveParser
synchronizeEncoders() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveDrive
  Synchronize internal steering encoders with the absolute encoder.
synchronizeSteeringEncoder() - Method in class frc.robot.subsystems.swervedrive.swerve.SwerveModule
  Synchronizes the internal encoder for the steering motor with the value from the absolute encoder.

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