Package frc.robot.shared.subsystems

package frc.robot.shared.subsystems

Class	Description
AbstractMotorSubsystem<TConfig extends AbstractMotorSubsystemConfig>	Base subsystem for any mechanism driven by a single motor with feedforward estimation and SysId support.
AbstractSetAndSeekSubsystem<TConfig extends AbstractSetAndSeekSubsystemConfig>	Base subsystem that generates and follows a trapezoidal motion profile.
AbstractSubsystem<TConfig extends AbstractSubsystemConfig>	Base class for all robot subsystems that centralizes configuration flags, logging, and simulation awareness.
AbstractVelocitySubsystem<TConfig extends AbstractVelocitySubsystemConfig>	Base subsystem for mechanisms that maintain a target velocity using feedforward and PID control.
AbstractVelocitySubsystem.TriFunction<A,B,C,R>	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>).
SysIdHelper	Factory for building SysId routines with consistent logging and unit handling.
VisionMeasurementConsumer	Functional interface for accepting a vision-based robot pose measurement along with its uncertainty.