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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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