Index

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

A

ANGULAR_VELOCITY_COEFFICIENT - Static variable in class frc.robot.Constants.DrivetrainConstants.AngularVelocityCompensation

The angular velocity coefficient.

AngularVelocityCompensation() - Constructor for class frc.robot.Constants.DrivetrainConstants.AngularVelocityCompensation

Auto - Class in frc.robot.subsystems

Subsystem for the robot's autonomous functionality.

Auto() - Constructor for class frc.robot.subsystems.Auto

AutoConstants() - Constructor for class frc.robot.Constants.AutoConstants

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

BUILD_DATE - Static variable in class frc.robot.VersionConstants

Date on which the robot program was built in a human-readable format.

BUILD_UNIX_TIME - Static variable in class frc.robot.VersionConstants

Date on which the robot program was built in unix time.

C

centerModulesCommand() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command to center the modules of the SwerveDrive subsystem.

CHASSIS - Static variable in class frc.robot.Constants.PhysicalConstants

Matter representing the robot chassis.

Climber - Class in frc.robot.subsystems

Climber() - Constructor for class frc.robot.subsystems.Climber

Creates a new Climber.

ClimberConstants() - Constructor for class frc.robot.Constants.ClimberConstants

CONFIG_DIR - Static variable in class frc.robot.Constants.DrivetrainConstants

Directory that contains the YAGSL configuration.

configureAutoBuilder(DriverStation.Alliance) - Method in class frc.robot.subsystems.Dashboard

Configures the auto builder using the drivetrain subsystem.

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.AutoConstants - Class in frc.robot

Constants used to configure the autonomous program.

Constants.ClimberConstants - Class in frc.robot

Constants used to configure the autonomous program.

Constants.DrivetrainConstants - Class in frc.robot

Constants used by the Drivetrain.

Constants.DrivetrainConstants.AngularVelocityCompensation - Class in frc.robot

Angular velocity skew correction configuration.

Constants.DrivetrainConstants.EncoderAutoSynchronization - Class in frc.robot

Configure auto synchronization for encoders during a match.

Constants.DrivetrainConstants.Pathfinding - Class in frc.robot

Configure pathfinding to poses.

Constants.DrivetrainConstants.SysId - Class in frc.robot

SysId configuration.

Constants.FieldConstants - Class in frc.robot

Constants that describe the physical layout of the field.

Constants.FieldConstants.Reef - Class in frc.robot

Constants relating to the reef.

Constants.LoggingConstants - Class in frc.robot

Constants.OperatorConstants - Class in frc.robot

Constants used to configure the operator controllers.

Constants.PhysicalConstants - Class in frc.robot

Constants that contain physical information about the robot.

D

Dashboard - Class in frc.robot.subsystems

A class that sets up the driverstation dashboard for the robot.

Dashboard(Drivetrain, RobotContainer) - Constructor for class frc.robot.subsystems.Dashboard

Creates a new Dashboard.

DEADBAND - Static variable in class frc.robot.Constants.DrivetrainConstants.EncoderAutoSynchronization

Deadband in degrees.

DEADBAND - Static variable in class frc.robot.Constants.OperatorConstants

Joystick deadband.

DEBUG_LEVEL - Static variable in class frc.robot.Constants.LoggingConstants

Log all data above specified level.

DEBUG_MODE - Static variable in class frc.robot.Constants.LoggingConstants

Send logging data to NetworkTables.

DELAY - Static variable in class frc.robot.Constants.DrivetrainConstants.SysId

Delay in seconds between each section.

DIRTY - Static variable in class frc.robot.VersionConstants

Are there uncommited changes?

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(Translation2d, double, boolean) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

The primary method for controlling the drivebase.

drive(ChassisSpeeds) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drive according to the chassis robot oriented velocity.

driveAngularCommand(DoubleSupplier, DoubleSupplier, DoubleSupplier) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command to drive the robot using translative values and heading as angular velocity.

driveAngularVelocity(Drivetrain, CommandXboxController) - Static method in class frc.robot.subsystems.drivetrain.DrivetrainControls

Converts driver input into a field-relative ChassisSpeeds that is controlled by angular velocity.

driveDirectAngle(Drivetrain, CommandXboxController) - Static method in class frc.robot.subsystems.drivetrain.DrivetrainControls

Clones the angular velocity input stream and converts it to a fieldRelative input stream.

driveDirectAngleSim(Drivetrain, CommandXboxController) - Static method in class frc.robot.subsystems.drivetrain.DrivetrainControls

A copy of DrivetrainControls.driveDirectAngle(frc.robot.subsystems.drivetrain.Drivetrain,edu.wpi.first.wpilibj2.command.button.CommandXboxController) that pulls rotation from controller axis 2 for use in simulation.

driveFieldOriented(ChassisSpeeds) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drive the robot given a chassis field oriented velocity.

driveFieldOrientedAngularVelocityControllerCommand(CommandXboxController) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drivetrain.driveFieldOrientedCommand(Supplier) that uses DrivetrainControls.driveAngularVelocity(Drivetrain, CommandXboxController).

driveFieldOrientedCommand(Supplier<ChassisSpeeds>) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drive the robot given a chassis field oriented velocity.

driveFieldOrientedDirectAngleControllerCommand(CommandXboxController) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drivetrain.driveFieldOrientedCommand(Supplier) that uses DrivetrainControls.driveDirectAngle(Drivetrain, CommandXboxController).

driveFieldOrientedDirectAngleSimControllerCommand(CommandXboxController) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drivetrain.driveFieldOrientedCommand(Supplier) that uses DrivetrainControls.driveDirectAngleSim(Drivetrain, CommandXboxController).

driveHeadingCommand(DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command to drive the robot using translative values and heading as a setpoint.

DRIVER_CONTROLLER_PORT - Static variable in class frc.robot.Constants.OperatorConstants

Controller port index where the driver controller is connected.

driveToDistanceCommand(double, double) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command that drives the swerve drive to a specific distance at a given speed.

driveToNearestPoseCommand(List<Pose2d>) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drives to the nearest pose out of a list.

driveToPoseCommand(Supplier<Pose2d>) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Use PathPlanner Path finding to go to a point on the field.

Drivetrain - Class in frc.robot.subsystems.drivetrain

Subsystem that controls the drivetrain.

Drivetrain(File) - Constructor for class frc.robot.subsystems.drivetrain.Drivetrain

Initialize SwerveDrive with the directory provided.

DrivetrainConstants() - Constructor for class frc.robot.Constants.DrivetrainConstants

DrivetrainControls - Class in frc.robot.subsystems.drivetrain

Class that contains utility functions for controlling the Drivetrain with HID controllers.

DrivetrainControls() - Constructor for class frc.robot.subsystems.drivetrain.DrivetrainControls

driveWithSetpointGeneratorFieldRelativeCommand(Supplier<ChassisSpeeds>) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Drive with 254's Setpoint generator; port written by PathPlanner.

DYNAMIC_TIMEOUT - Static variable in class frc.robot.Constants.DrivetrainConstants.SysId

Time in seconds to run Dynamic routines.

E

ENABLE_COSINE_COMPENSATION - Static variable in class frc.robot.Constants.DrivetrainConstants

Enables cosine compensation.

ENABLE_HEADING_CORRECTION - Static variable in class frc.robot.Constants.DrivetrainConstants

Enables heading correction.

ENABLED - Static variable in class frc.robot.Constants.DrivetrainConstants.EncoderAutoSynchronization

Enable auto synchronization.

EncoderAutoSynchronization() - Constructor for class frc.robot.Constants.DrivetrainConstants.EncoderAutoSynchronization

end(boolean) - Method in class frc.robot.commands.drivetrain.LockWheelsCommand

execute() - Method in class frc.robot.commands.drivetrain.LockWheelsCommand

execute() - Method in class frc.robot.commands.RunOnceDeferred

F

FIELD_LAYOUT - Static variable in class frc.robot.Constants.FieldConstants

AprilTag Field Layout for the current game.

FieldConstants() - Constructor for class frc.robot.Constants.FieldConstants

flipPose(Pose2d) - Static method in class frc.robot.util.PoseUtil

Flips a pose to the other alliance.

flipTranslation(Translation2d) - Static method in class frc.robot.util.PoseUtil

Flips a translation to the other alliance.

frc.robot - package frc.robot

frc.robot.commands - package frc.robot.commands

frc.robot.commands.drivetrain - package frc.robot.commands.drivetrain

frc.robot.loggers - package frc.robot.loggers

frc.robot.subsystems - package frc.robot.subsystems

frc.robot.subsystems.drivetrain - package frc.robot.subsystems.drivetrain

frc.robot.util - package frc.robot.util

G

getAutonomousCommand() - Method in class frc.robot.RobotContainer

Use this to pass the autonomous command to the main Robot class.

getAutonomousCommand(String) - Static method in class frc.robot.subsystems.Auto

Get the path follower with events.

getFieldVelocity() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Gets the current field-relative velocity (x, y and omega) of the robot.

getHeading() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Gets the current yaw angle of the robot, as reported by the swerve pose estimator in the underlying drivebase.

getKinematics() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Get the swerve drive kinematics object.

getPitch() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Gets the current pitch angle of the robot, as reported by the imu.

getPose() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Gets the current pose (position and rotation) of the robot, as reported by odometry.

getPositionLeftMotor() - Method in class frc.robot.subsystems.Climber

Get the position of the left climb motor.

getPositionRightMotor() - Method in class frc.robot.subsystems.Climber

Get the position of the right climb motor.

getRobotVelocity() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Gets the current velocity (x, y and omega) of the robot.

getSpeedLeft() - Method in class frc.robot.subsystems.Climber

Get the velocity of the left climb motor.

getSpeedRampPivot() - Method in class frc.robot.subsystems.Climber

Get the velocity of the ramp pivot motor.

getSpeedRight() - Method in class frc.robot.subsystems.Climber

Get the velocity of the right climb motor.

getSwerveController() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Get the SwerveController in the swerve drive.

getSwerveDrive() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Gets the swerve drive object.

getSwerveDriveConfiguration() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Get the SwerveDriveConfiguration object.

GIT_BRANCH - Static variable in class frc.robot.VersionConstants

Git branch.

GIT_DATE - Static variable in class frc.robot.VersionConstants

Git commit date.

GIT_REVISION - Static variable in class frc.robot.VersionConstants

Git revision number.

GIT_SHA - Static variable in class frc.robot.VersionConstants

Git commit hash.

I

initialize() - Method in class frc.robot.commands.drivetrain.LockWheelsCommand

isFinished() - Method in class frc.robot.commands.drivetrain.LockWheelsCommand

isFinished() - Method in class frc.robot.commands.RunOnceDeferred

isRedAlliance() - Static method in class frc.robot.util.Util

Checks if the alliance is red, defaults to false if alliance isn't available.

L

LEFT_CLIMBER_PORT - Static variable in class frc.robot.Constants.ClimberConstants

Port for the left climber motor.

lock() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Lock the swerve drive to prevent it from moving.

LockWheelsCommand - Class in frc.robot.commands.drivetrain

A command that locks the wheels of the swerve drive to force it to remain stationary.

LockWheelsCommand(Drivetrain) - Constructor for class frc.robot.commands.drivetrain.LockWheelsCommand

Creates a new LockWheelsState.

LoggingConstants() - Constructor for class frc.robot.Constants.LoggingConstants

M

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.

MAVEN_GROUP - Static variable in class frc.robot.VersionConstants

Maven group which the robot package belongs to.

MAVEN_NAME - Static variable in class frc.robot.VersionConstants

Maven package name of the robot package.

MAX_ANGULAR_ACCELERATION - Static variable in class frc.robot.Constants.DrivetrainConstants.Pathfinding

Maximum angular acceleration.

MAX_LINEAR_ACCELERATION - Static variable in class frc.robot.Constants.DrivetrainConstants.Pathfinding

Maximium linear acceleration.

MAX_SPEED - Static variable in class frc.robot.Constants.DrivetrainConstants

Maximum speed of the robot in meters per second.

MAX_VOLTS - Static variable in class frc.robot.Constants.DrivetrainConstants.SysId

The maximum voltage to apply to the drive motors.

O

OperatorConstants() - Constructor for class frc.robot.Constants.OperatorConstants

P

Pathfinding() - Constructor for class frc.robot.Constants.DrivetrainConstants.Pathfinding

periodic() - Method in class frc.robot.subsystems.Climber

periodic() - Method in class frc.robot.subsystems.Dashboard

periodic() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

PhysicalConstants() - Constructor for class frc.robot.Constants.PhysicalConstants

PoseUtil - Class in frc.robot.util

Utility classes for working with poses.

PoseUtil() - Constructor for class frc.robot.util.PoseUtil

postTrajectory(Trajectory) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Post the trajectory to the field.

publishNetworkTables(NetworkTable) - Static method in class frc.robot.VersionConstants

Publish version metadata to a NetworkTable.

Q

QUASI_TIMEOUT - Static variable in class frc.robot.Constants.DrivetrainConstants.SysId

Time in seconds to run Quasistatic routines.

R

RAMP_PIVOT_PORT - Static variable in class frc.robot.Constants.ClimberConstants

Port for the ramp pivot motor.

Reef() - Constructor for class frc.robot.Constants.FieldConstants.Reef

resetLastAngleScalar() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

The method to reset what the heading control will turn to if no angle is inputed.

resetLastAngleScalarByAlliance() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Method to reset what the heading control will turn to if no angle is inputed.

resetLastAngleScalarByAllianceCommand() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command to reset what the heading control will turn to if no angle is inputed.

resetLastAngleScalarCommand() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

The command to reset what the heading control will turn to if no angle is inputed.

resetLastAngleScalarInverted() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Inverted method to reset what the heading control will turn to if no angle is inputed.

resetLastAngleScalarInvertedCommand() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Inverted command to reset what the heading control will turn to if no angle is inputed.

resetOdometry(Pose2d) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Resets odometry to the given pose.

RIGHT_CLIMBER_PORT - Static variable in class frc.robot.Constants.ClimberConstants

Port for the right climber motor.

Robot - Class in frc.robot

The methods in this class are called automatically corresponding to each mode, as described in the TimedRobot documentation.

Robot() - Constructor for class frc.robot.Robot

This function is run when the robot is first started up and should be used for any initialization code.

ROBOT_MASS - Static variable in class frc.robot.Constants.PhysicalConstants

Mass of the robot in kilograms.

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.

robotPeriodic() - Method in class frc.robot.Robot

This function is called every 20 ms, no matter the mode.

ROTATION_PID_CONSTANTS - Static variable in class frc.robot.Constants.AutoConstants

PID constants used for rotation.

RunOnceDeferred - Class in frc.robot.commands

Runs a runnable on the next run of the CommandScheduler.

RunOnceDeferred(Runnable) - Constructor for class frc.robot.commands.RunOnceDeferred

Creates a new RunOnceDeferred.

S

SCORING_OFFSET - Static variable in class frc.robot.Constants.FieldConstants.Reef

Offset from the AprilTag from which scoring should happen.

SCORING_POSES_BLUE - Static variable in class frc.robot.Constants.FieldConstants.Reef

Poses from which the robot can score on the blue alliance.

SCORING_POSES_RED - Static variable in class frc.robot.Constants.FieldConstants.Reef

Poses from which the robot can score on the red alliance.

setAutoChooser(SendableChooser<Command>) - Method in class frc.robot.RobotContainer

Set the auto chooser

setChassisSpeeds(ChassisSpeeds) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Set chassis speeds with closed-loop velocity control.

setMotorBrake(boolean) - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Sets the drive motors to brake/coast mode.

setSpeed(double, double) - Method in class frc.robot.subsystems.Climber

sets the speeds of the climb motors

setSpeedLeft(double) - Method in class frc.robot.subsystems.Climber

Set the velocity of the left climb motor.

setSpeedRampPivot(double) - Method in class frc.robot.subsystems.Climber

Set the velocity of the ramp pivot motor.

setSpeedRight(double) - Method in class frc.robot.subsystems.Climber

Set the velocity of the right climb motor.

setupPathPlanner(Drivetrain, DriverStation.Alliance) - Static method in class frc.robot.subsystems.Auto

Setup AutoBuilder for PathPlanner.

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.drivetrain.Drivetrain

SparkMaxLogger - Class in frc.robot.loggers

SparkMaxLogger() - Constructor for class frc.robot.loggers.SparkMaxLogger

STARTING_POSITION - Static variable in class frc.robot.Constants.DrivetrainConstants

Starting pose.

SysId() - Constructor for class frc.robot.Constants.DrivetrainConstants.SysId

sysIdAngleMotorCommand() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command to characterize the robot angle motors using SysId.

sysIdDriveMotorCommand() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Command to characterize the robot drive motors using SysId.

T

TAG_IDS - Static variable in class frc.robot.Constants.FieldConstants.Reef

AprilTag IDs for the reef on the blue alliance.

TAG_POSES - Static variable in class frc.robot.Constants.FieldConstants.Reef

AprilTag poses for the reef on the blue alliance.

TELEMETRY_VERBOSITY_DEBUG - Static variable in class frc.robot.Constants.DrivetrainConstants

YAGSL telemetry verbosity when in debug mode.

TELEMETRY_VERBOSITY_NORMAL - Static variable in class frc.robot.Constants.DrivetrainConstants

YAGSL telemetry verbosity when in normal mode.

teleopInit() - Method in class frc.robot.Robot

teleopInit() - Method in class frc.robot.RobotContainer

This method is run at the start of Teleop.

teleopPeriodic() - Method in class frc.robot.Robot

This function is called periodically during operator control.

TEST_WITH_SPINNING - Static variable in class frc.robot.Constants.DrivetrainConstants.SysId

Spin in place instead of driving forward.

testInit() - Method in class frc.robot.Robot

testPeriodic() - Method in class frc.robot.Robot

This function is called periodically during test mode.

TRANSLATION_PID_CONSTANTS - Static variable in class frc.robot.Constants.AutoConstants

PID constants used for translation.

TRANSLATION_SCALE - Static variable in class frc.robot.Constants.DrivetrainConstants

Translation axis scaling.

U

update(EpilogueBackend, SparkMax) - Method in class frc.robot.loggers.SparkMaxLogger

USE_IN_AUTO - Static variable in class frc.robot.Constants.DrivetrainConstants.AngularVelocityCompensation

Enables angular velocity correction in autonomous.

USE_IN_TELEOP - Static variable in class frc.robot.Constants.DrivetrainConstants.AngularVelocityCompensation

Enables angular velocity correction in teleop.

Util - Class in frc.robot.util

General utilities.

Util() - Constructor for class frc.robot.util.Util

V

VERSION - Static variable in class frc.robot.VersionConstants

Robot code version.

VersionConstants - Class in frc.robot

Constants that contain version metadata for the robot.

VersionConstants() - Constructor for class frc.robot.VersionConstants

Z

zeroGyro() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0.

zeroGyroWithAlliance() - Method in class frc.robot.subsystems.drivetrain.Drivetrain

This will zero (calibrate) the robot to assume the current position is facing forward

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