# All Classes

All Classes Class Summary Enum Summary
CTRECANCoder
CTRESwerveMotor
CTRESwerveMotor.CTRE_pidIdx: The TalonSRX PID to use onboard.
CTRESwerveMotor.CTRE_remoteSensor
CTRESwerveMotor.CTRE_slotIdx: The Talon SRX Slot profile used to configure the motor to use for the PID.
PWMAnalogEncoder
PWMDutyCycleEncoder
REVAbsoluteEncoder
REVSwerveMotor
REVSwerveMotor.REV_slotIdx: REV Slots for PID configuration.
SwerveDrive: SwerveDrive base which is meant to be platform agnostic.
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>: Helper class for easier swerve module creation
SwerveDriveKinematics2: Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis speed.
SwerveEncoder<AbsoluteEncoderType>: Swerve Encoder class definition for common interfaces.
SwerveModule<DriveMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AngleMotorType extends edu.wpi.first.wpilibj.motorcontrol.MotorController,​AbsoluteEncoderType>: Swerve module for representing a single swerve module of the robot.
SwerveModule.SwerveModuleLocation: Swerve Module location on the robot.
SwerveModule.Verbosity: Verbosity levels for data publishing,
SwerveModuleState2
SwerveMotor
SwerveMotor.ModuleMotorType: Motor type for the swerve drive module
SwerveParser: Swerve Drive JSON parser.