All Classes and Interfaces
Class
Description
Base configuration bundle that mirrors values to AdvantageKit-backed SmartDashboard entries so they can be tuned without redeploying.
Describes the 3D pivot offset for an articulated component in AdvantageScope.
Default command that maintains the idle velocity configured for a velocity subsystem.
Base wrapper around a REV SparkMax that standardizes configuration, unit conversions, and AdvantageKit telemetry.
Base subsystem for any mechanism driven by a single motor with feedforward estimation and SysId support.
Configuration values shared by any motor-driven subsystem that uses PID control and feedforward estimation.
Command base that drives a
AbstractSetAndSeekSubsystem toward a supplied target using its trapezoidal profile.Command factory for set-and-seek style subsystems that exposes common SysId characterization commands while keeping subsystems free of command
creation.
Base subsystem that generates and follows a trapezoidal motion profile.
Configuration values for subsystems that follow a trapezoidal motion profile.
Abstract simulation-only motor wrapper that mirrors
AbstractMotor behavior while using REV simulation helpers.Base class for all robot subsystems that centralizes configuration flags, logging, and simulation awareness.
Lightweight base command that ties a command to a single subsystem and logs when it starts.
Base factory for building commands tied to a single subsystem instance.
Configuration base class for subsystems that adds enable and verbose flags on top of the tunable infrastructure provided by
AbstractConfig.Command base that drives an
AbstractVelocitySubsystem toward a supplied target RPM using its velocity controller.Command factory for velocity-controlled subsystems that exposes common SysId characterization commands while keeping subsystems free of command
creation.
SparkMax-backed motor for velocity-controlled mechanisms (flywheels, rollers, belts) with baked-in gearing and coast-mode idle.
Simulation-only motor wrapper for velocity-controlled mechanisms.
Base subsystem for mechanisms that maintain a target velocity using feedforward and PID control.
Functional interface for a three-argument function used by
AbstractVelocitySubsystem.buildVelocityMotor(frc.robot.shared.config.AbstractVelocitySubsystemConfig, TMotorConfig, java.util.function.Function<TMotorConfig, frc.robot.devices.motor.Motor>, frc.robot.shared.subsystems.AbstractVelocitySubsystem.TriFunction<TMotorConfig, java.util.function.Supplier<java.lang.Double>, java.util.function.Supplier<java.lang.Double>, frc.robot.devices.motor.Motor>).Configuration values for subsystems that maintain a target velocity using feedforward and PID control.
Processes AprilTag pose observations and produces vision measurements suitable for pose estimation.
Result of evaluating a pose observation.
Parameters for pose estimation filtering and uncertainty calculation.
Reason a pose observation was rejected by the estimator.
A validated vision measurement ready for pose estimation fusion.
Defines the contract for vision sensor inputs that AdvantageKit will log.
Container of all vision telemetry fields that AdvantageKit will persist.
Represents a robot pose sample used for pose estimation.
Represents the yaw and pitch angles to a detected target.
AprilTagVisionIO implementation for PhotonVision cameras.
AprilTagVisionIO implementation to use during simulation.
Subsystem that processes AprilTag camera observations for robot pose estimation.
Configuration bundle for the AprilTag vision subsystem.
Nested class for JSON deserialization of camera transforms.
Enumerates the supported AprilTag field layouts for the 2026 game.
Simulation-only utility that models Fuel launched from the shooter as 3D projectiles.
Motor adapter that forwards commands to multiple physical motors while presenting a single
Motor interface.Utility for loading subsystem configuration JSON from the deploy directory and recording a read-only snapshot of every field to AdvantageKit.
No-op motor implementation used when a subsystem is disabled or has no hardware.
Single data point mapping a distance in meters to a target flywheel RPM and estimated time of flight for the distance-based shooter interpolation
table.
Configuration for a single d-pad pathfinding target.
Defines the contract for drive base sensor inputs that AdvantageKit will log.
Container of all drive base telemetry fields that AdvantageKit will persist automatically.
YAGSL-backed implementation that pulls pose, module states, and gyro data from the configured swerve drive.
Provides a minimal API surface for commanding the robot drive base.
Factory that creates drive base commands and wires default behaviors.
Configuration bundle for the drive base subsystem.
Configuration for the driver controller's d-pad pathfinding targets, shared pathfinding constraints, and trench zone definitions.
Command that spins the intake rollers in reverse to eject Fuel back onto the field.
Command that spins the indexer roller forward to feed Fuel into the shooter.
SparkMax-backed feeder belt motor configured from the feeder subsystem config.
Simulation-only feeder motor wrapper configured from the feeder subsystem config.
Feeder subsystem that drives rollers to transport Fuel from the intake toward the indexer.
Factory that creates feeder commands and wires default behaviors.
Configuration bundle for the feeder subsystem.
Configuration bundle for feedforward gains used by motor control subsystems.
Field target positions used for zone-aware turret tracking.
Selects the active field target for the turret based on the robot's position and alliance color.
Enumerates the high-level operating modes the robot can be in during a match.
Composes parallel command groups that coordinate multiple subsystems for each
GameplayState.Defines the contract for gameplay state telemetry inputs that AdvantageKit will log.
Container of gameplay state telemetry fields that AdvantageKit will persist.
Tracks the robot's high-level operating mode and publishes the current gameplay state for command factories and telemetry.
Configuration bundle for the Gameplay State subsystem.
SparkMax-backed harvester arm motor with baked-in limits, gearing, and telemetry.
Simulation-only harvester arm motor wrapper configured from the harvester subsystem config.
Harvester subsystem that swings the intake arm between a stowed (upright) position and a deployed (lowered) position using a profiled motor.
Factory that creates harvester arm commands and wires default behaviors.
Configuration bundle for the harvester arm mechanism.
Default command that monitors the harvester arm while deployed and re-engages the motor if something pushes it away from the deployed position.
Default command that maintains the feeder belt at the configured idle RPM.
Default command that maintains the indexer at the configured idle RPM (typically 0 to keep the roller stopped).
Default command that maintains the intake rollers at the configured idle RPM (typically zero).
Default command that maintains the shooter flywheel at the configured idle RPM.
SparkMax-backed indexer motor configured from the indexer subsystem config.
Simulation-only indexer motor wrapper configured from the indexer subsystem config.
Indexer subsystem that controls when Fuel leaves the robot and enters the shooter.
Factory that creates indexer commands and wires default behaviors.
Configuration bundle for the indexer subsystem.
SparkMax-backed intake roller motor configured from the intake subsystem config.
Simulation-only intake motor wrapper configured from the intake subsystem config.
Intake subsystem that spins rollers to pull Fuel from the field into the feeder.
Factory that creates intake commands and wires default behaviors.
Configuration bundle for the intake subsystem.
Logger is a utility class for logging messages with different levels of severity.
Entry point that launches the WPILib robot framework.
Minimal motor control surface for set-and-seek style mechanisms.
Base configuration bundle for a single motor controller and its mechanism limits.
Defines the telemetry surface for a motor controller so AdvantageKit can mirror hardware readings.
Container of motor state fields captured for telemetry.
Drives the robot field-relative using continuously supplied chassis speeds.
Drives the robot field-relative using driver-supplied translation while locking the heading to a PID-controlled target angle.
Drives the harvester arm toward a target angle using its trapezoidal profile.
Drives the turret toward a target angle using its trapezoidal profile.
Builds autonomous command sequences for each driver-station position.
Configuration bundle for PID controller gains.
Jackson deserializer for a Pose2d stored as JSON with fields
x, y (meters), and rotation in degrees.Filtering and trust parameters for AprilTag pose estimation.
Command that spins the feeder belt in reverse to clear Fuel back toward the intake.
Command that spins the indexer roller in reverse to back Fuel toward the feeder.
Main robot class that owns the command scheduler and logging setup.
Central wiring hub for subsystems, commands, and driver inputs.
Single source of truth for robot environment state: FMS attachment, simulation detection, alliance info, and Driver Station reporting.
Defines the contract for robot pose telemetry inputs that AdvantageKit will log.
Container of robot pose telemetry fields that AdvantageKit will persist.
Centralized pose tracking subsystem that serves as the single authority for robot field pose.
Configuration bundle for the Robot Pose subsystem.
Configuration bundle for trapezoidal motion profile parameters used by set-and-seek subsystems.
Retargets a set-and-seek subsystem to its current position and runs the profiled controller until it reports settled, then stops the motor.
SparkMax-backed shooter flywheel motor configured from the shooter subsystem config.
Simulation-only shooter motor wrapper configured from the shooter subsystem config.
Shooter subsystem that spins a flywheel to launch Fuel into the scoring hub.
Generates commands that operate on the shooter subsystem so RobotContainer can stay focused on wiring.
Configuration bundle for the shooter subsystem.
Shoot-on-the-move solver that computes a compensated aim point and distance for the turret.
Immutable result of the SOTM solve.
Root configuration bundle for every subsystem.
Factory for building SysId routines with consistent logging and unit handling.
Configuration bundle for WPILib SysId characterization routine parameters.
Continuously aims the turret at a field-relative target position with shoot-on-the-move compensation.
Defines a rectangular trench zone on the field and provides geometric detection for whether a straight-line path crosses it.
Maps the driver controller to robot commands so RobotContainer stays lean.
Configuration bundle for driver controller input shaping and speed tiers.
SparkMax-backed turret motor with baked-in limits, gearing, and telemetry.
Simulation-only turret motor wrapper configured from the turret subsystem config.
Turret subsystem with a single profiled motor.
Generates commands that operate on the turret subsystem so RobotContainer can stay focused on wiring.
Configuration bundle for the turret mechanism.
Configuration bundle for velocity motion profile parameters used by velocity-controlled subsystems.
Functional interface for accepting a vision-based robot pose measurement along with its uncertainty.