Index (YAGSL-Example API)

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 SwerveModules 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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