Index

A B C D E F G H I J 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

AbstractConfig - Class in frc.robot.shared.config

Base configuration bundle that mirrors values to AdvantageKit-backed SmartDashboard entries so they can be tuned without redeploying.

AbstractConfig() - Constructor for class frc.robot.shared.config.AbstractConfig

Creates a config base and derives the default SmartDashboard prefix from the class name.

AbstractConfig.ComponentPoseConfig - Class in frc.robot.shared.config

Describes the 3D pivot offset for an articulated component in AdvantageScope.

AbstractIdleVelocityCommand<TSubsystem extends AbstractVelocitySubsystem<?>> - Class in frc.robot.shared.commands

Default command that maintains the idle velocity configured for a velocity subsystem.

AbstractIdleVelocityCommand(TSubsystem) - Constructor for class frc.robot.shared.commands.AbstractIdleVelocityCommand

Creates an idle command for the given velocity subsystem.

AbstractMotor - Class in frc.robot.devices.motor

Base wrapper around a REV SparkMax that standardizes configuration, unit conversions, and AdvantageKit telemetry.

AbstractMotor(String, MotorConfig) - Constructor for class frc.robot.devices.motor.AbstractMotor

Creates a motor wrapper backed by a shared motor config using the default brushless SparkMax type.

AbstractMotor(String, MotorConfig, SparkLowLevel.MotorType) - Constructor for class frc.robot.devices.motor.AbstractMotor

Creates a motor wrapper backed by a shared motor config and explicit motor type.

AbstractMotorSubsystem<TConfig extends AbstractMotorSubsystemConfig> - Class in frc.robot.shared.subsystems

Base subsystem for any mechanism driven by a single motor with feedforward estimation and SysId support.

AbstractMotorSubsystem(TConfig, Motor) - Constructor for class frc.robot.shared.subsystems.AbstractMotorSubsystem

Creates a motor-driven subsystem with feedforward estimation and SysId support.

AbstractMotorSubsystemConfig - Class in frc.robot.shared.config

Configuration values shared by any motor-driven subsystem that uses PID control and feedforward estimation.

AbstractMotorSubsystemConfig() - Constructor for class frc.robot.shared.config.AbstractMotorSubsystemConfig

AbstractSetAndSeekCommand<TSubsystem extends AbstractSetAndSeekSubsystem<?>> - Class in frc.robot.shared.commands

Command base that drives a AbstractSetAndSeekSubsystem toward a supplied target using its trapezoidal profile.

AbstractSetAndSeekCommand(TSubsystem, Supplier<Double>) - Constructor for class frc.robot.shared.commands.AbstractSetAndSeekCommand

Builds a profiled seek command for the given subsystem.

AbstractSetAndSeekCommandFactory<TSubsystem extends AbstractSetAndSeekSubsystem<?>> - Class in frc.robot.shared.commands

Command factory for set-and-seek style subsystems that exposes common SysId characterization commands while keeping subsystems free of command creation.

AbstractSetAndSeekCommandFactory(TSubsystem) - Constructor for class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Builds a command factory bound to a set-and-seek subsystem.

AbstractSetAndSeekSubsystem<TConfig extends AbstractSetAndSeekSubsystemConfig> - Class in frc.robot.shared.subsystems

Base subsystem that generates and follows a trapezoidal motion profile.

AbstractSetAndSeekSubsystem(TConfig, Motor) - Constructor for class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Creates a profiled subsystem with bounded setpoints, motion constraints, and a single motor.

AbstractSetAndSeekSubsystemConfig - Class in frc.robot.shared.config

Configuration values for subsystems that follow a trapezoidal motion profile.

AbstractSetAndSeekSubsystemConfig() - Constructor for class frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

AbstractSimMotor - Class in frc.robot.devices.motor

Abstract simulation-only motor wrapper that mirrors AbstractMotor behavior while using REV simulation helpers.

AbstractSimMotor(String, MotorConfig, Supplier<Double>, Supplier<Double>) - Constructor for class frc.robot.devices.motor.AbstractSimMotor

Creates a simulated motor using the default NEO motor model.

AbstractSimMotor(String, MotorConfig, Supplier<Double>, Supplier<Double>, DCMotor) - Constructor for class frc.robot.devices.motor.AbstractSimMotor

Creates a simulated motor using an explicit motor model for improved realism.

AbstractSubsystem<TConfig extends AbstractSubsystemConfig> - Class in frc.robot.shared.subsystems

Base class for all robot subsystems that centralizes configuration flags, logging, and simulation awareness.

AbstractSubsystem(TConfig) - Constructor for class frc.robot.shared.subsystems.AbstractSubsystem

Creates a subsystem base with shared configuration and logging support.

AbstractSubsystemCommand<TSubsystem extends AbstractSubsystem<?>> - Class in frc.robot.shared.commands

Lightweight base command that ties a command to a single subsystem and logs when it starts.

AbstractSubsystemCommand(TSubsystem) - Constructor for class frc.robot.shared.commands.AbstractSubsystemCommand

Creates a subsystem-scoped command and registers the requirement.

AbstractSubsystemCommandFactory<TSubsystem extends AbstractSubsystem<?>> - Class in frc.robot.shared.commands

Base factory for building commands tied to a single subsystem instance.

AbstractSubsystemCommandFactory(TSubsystem) - Constructor for class frc.robot.shared.commands.AbstractSubsystemCommandFactory

Creates a command factory bound to the given subsystem so derived commands can share it.

AbstractSubsystemConfig - Class in frc.robot.shared.config

Configuration base class for subsystems that adds enable and verbose flags on top of the tunable infrastructure provided by AbstractConfig.

AbstractSubsystemConfig() - Constructor for class frc.robot.shared.config.AbstractSubsystemConfig

AbstractVelocityCommand<TSubsystem extends AbstractVelocitySubsystem<?>> - Class in frc.robot.shared.commands

Command base that drives an AbstractVelocitySubsystem toward a supplied target RPM using its velocity controller.

AbstractVelocityCommand(TSubsystem, Supplier<Double>) - Constructor for class frc.robot.shared.commands.AbstractVelocityCommand

Builds a velocity command for the given subsystem.

AbstractVelocityCommandFactory<TSubsystem extends AbstractVelocitySubsystem<?>> - Class in frc.robot.shared.commands

Command factory for velocity-controlled subsystems that exposes common SysId characterization commands while keeping subsystems free of command creation.

AbstractVelocityCommandFactory(TSubsystem) - Constructor for class frc.robot.shared.commands.AbstractVelocityCommandFactory

Builds a command factory bound to a velocity subsystem.

AbstractVelocityMotor<TConfig extends MotorConfig> - Class in frc.robot.devices.motor

SparkMax-backed motor for velocity-controlled mechanisms (flywheels, rollers, belts) with baked-in gearing and coast-mode idle.

AbstractVelocityMotor(String, TConfig) - Constructor for class frc.robot.devices.motor.AbstractVelocityMotor

Builds a velocity motor wrapper using the supplied configuration.

AbstractVelocitySimMotor<TConfig extends MotorConfig> - Class in frc.robot.devices.motor

Simulation-only motor wrapper for velocity-controlled mechanisms.

AbstractVelocitySimMotor(String, TConfig, Supplier<Double>, Supplier<Double>) - Constructor for class frc.robot.devices.motor.AbstractVelocitySimMotor

Creates a simulated velocity motor using the supplied configuration values.

AbstractVelocitySubsystem<TConfig extends AbstractVelocitySubsystemConfig> - Class in frc.robot.shared.subsystems

Base subsystem for mechanisms that maintain a target velocity using feedforward and PID control.

AbstractVelocitySubsystem(TConfig, Motor) - Constructor for class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Creates a velocity-controlled subsystem with PID, feedforward, and optional trapezoidal velocity ramp.

AbstractVelocitySubsystem.TriFunction<A,B,C,R> - Interface in frc.robot.shared.subsystems

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>).

AbstractVelocitySubsystemConfig - Class in frc.robot.shared.config

Configuration values for subsystems that maintain a target velocity using feedforward and PID control.

AbstractVelocitySubsystemConfig() - Constructor for class frc.robot.shared.config.AbstractVelocitySubsystemConfig

accept(Pose2d, double, Matrix<N3, N1>) - Method in interface frc.robot.shared.subsystems.VisionMeasurementConsumer

Accepts a vision pose measurement for fusion into the robot pose estimate.

accepted(AprilTagPoseEstimator.VisionMeasurement) - Static method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Creates an accepted result containing a vision measurement.

activeTargetName - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

Human-readable name of the active field target (e.g., "Hub", "Left Rally", "Right Rally").

addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Forwards a vision measurement to the YAGSL internal pose estimator for Kalman-filter-based fusion.

addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Accepts a vision-based robot pose measurement and forwards it to the drivebase's pose estimator for fusion.

allianceZoneBoundaryXMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

X-coordinate boundary that separates the alliance zone from the neutral zone in meters.

ambiguity() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the ambiguity record component.

ANDY_MARK_FIELD - Static variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Enum name of the AndyMark field layout to load.

ANDYMARK - Enum constant in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

The AndyMark field layout.

angularStandardDeviationBaseline - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Standard deviation for angular (rotation) pose measurements at 1 meter with a single tag.

angularStdDevBaseline() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the angularStdDevBaseline record component.

appliedVolts - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Applied voltage from the motor controller output stage.

apply(A, B, C) - Method in interface frc.robot.shared.subsystems.AbstractVelocitySubsystem.TriFunction

Applies this function to the given arguments.

applyPowerManagementInAuto - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Whether state-based power management (shooting speed scale) applies during autonomous mode.

applySetpoint(TrapezoidProfile.State, double) - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Applies the calculated setpoint to hardware.

applyVoltage(double) - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Clamps a voltage command to the safe range (±12V) and sends it to the motor.

AprilTagPoseEstimator - Class in frc.robot.subsystems.apriltagvision

Processes AprilTag pose observations and produces vision measurements suitable for pose estimation.

AprilTagPoseEstimator(AprilTagPoseEstimator.Params, Supplier<Pose2d>) - Constructor for class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator

Creates a new AprilTagPoseEstimator.

AprilTagPoseEstimator.EstimationResult - Record Class in frc.robot.subsystems.apriltagvision

Result of evaluating a pose observation.

AprilTagPoseEstimator.Params - Record Class in frc.robot.subsystems.apriltagvision

Parameters for pose estimation filtering and uncertainty calculation.

AprilTagPoseEstimator.RejectionReason - Enum Class in frc.robot.subsystems.apriltagvision

Reason a pose observation was rejected by the estimator.

AprilTagPoseEstimator.VisionMeasurement - Record Class in frc.robot.subsystems.apriltagvision

A validated vision measurement ready for pose estimation fusion.

AprilTagVisionIO - Interface in frc.robot.subsystems.apriltagvision.io

Defines the contract for vision sensor inputs that AdvantageKit will log.

AprilTagVisionIO.AprilTagVisionIOInputs - Class in frc.robot.subsystems.apriltagvision.io

Container of all vision telemetry fields that AdvantageKit will persist.

AprilTagVisionIO.PoseObservation - Record Class in frc.robot.subsystems.apriltagvision.io

Represents a robot pose sample used for pose estimation.

AprilTagVisionIO.TargetObservation - Record Class in frc.robot.subsystems.apriltagvision.io

Represents the yaw and pitch angles to a detected target.

AprilTagVisionIOInputs() - Constructor for class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.AprilTagVisionIOInputs

AprilTagVisionIOPhotonVision - Class in frc.robot.subsystems.apriltagvision.io

AprilTagVisionIO implementation for PhotonVision cameras.

AprilTagVisionIOPhotonVision(String, Transform3d, AprilTagFieldLayout, double) - Constructor for class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

Creates a PhotonVision-backed AprilTag IO implementation.

AprilTagVisionIOPhotonVisionSim - Class in frc.robot.subsystems.apriltagvision.io

AprilTagVisionIO implementation to use during simulation.

AprilTagVisionIOPhotonVisionSim(String, Transform3d, AprilTagFieldLayout, double, Supplier<Pose2d>) - Constructor for class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVisionSim

Construct the instance with the usual config plus a live robot pose supplier.

aprilTagVisionSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

AprilTag vision configuration bundle.

AprilTagVisionSubsystem - Class in frc.robot.subsystems.apriltagvision

Subsystem that processes AprilTag camera observations for robot pose estimation.

AprilTagVisionSubsystem(AprilTagVisionSubsystemConfig, VisionMeasurementConsumer, Consumer<Pose2d>, Supplier<Pose2d>) - Constructor for class frc.robot.subsystems.apriltagvision.AprilTagVisionSubsystem

Creates a new AprilTagVisionSubsystem.

AprilTagVisionSubsystemConfig - Class in frc.robot.subsystems.apriltagvision.config

Configuration bundle for the AprilTag vision subsystem.

AprilTagVisionSubsystemConfig() - Constructor for class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

AprilTagVisionSubsystemConfig.CameraTransform - Class in frc.robot.subsystems.apriltagvision.config

Nested class for JSON deserialization of camera transforms.

AprilTagVisionSubsystemConfig.FieldLayoutType - Enum Class in frc.robot.subsystems.apriltagvision.config

Enumerates the supported AprilTag field layouts for the 2026 game.

AUTO_CYCLE - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

Combined harvest and fire mode for maximum autonomous throughput.

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

Runs once when the robot exits autonomous mode; no-op by default.

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

Seeds the robot pose and schedules the selected autonomous routine.

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

Runs each loop during autonomous; command scheduler handles execution.

autoTransitionEnabled - Variable in class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

Enables automatic state transitions based on FMS match phase (autonomous, teleop, disabled).

autoTransitionEnabled - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

True when auto-transition based on FMS match phase is enabled.

averageTagDistance() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the averageTagDistance record component.

B

BAD_Z_HEIGHT - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Estimated Z height is physically unreasonable.

BallFlightSimulator - Class in frc.robot.shared.targeting

Simulation-only utility that models Fuel launched from the shooter as 3D projectiles.

BallFlightSimulator(Supplier<Pose2d>, Supplier<Double>, Supplier<Double>, Supplier<Boolean>, Supplier<Boolean>, Supplier<ChassisSpeeds>, double, double, double, double, double, DistanceRpmPoint[]) - Constructor for class frc.robot.shared.targeting.BallFlightSimulator

Creates the ball flight simulator with suppliers for all required robot state.

bufferMeters - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Buffer distance in meters added outside the zone boundary when computing entry and exit waypoints.

buildVelocityMotor(AbstractVelocitySubsystemConfig, TMotorConfig, Function<TMotorConfig, Motor>, AbstractVelocitySubsystem.TriFunction<TMotorConfig, Supplier<Double>, Supplier<Double>, Motor>) - Static method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Builds the correct motor implementation for the current environment using the shared velocity subsystem pattern.

busVoltageVolts - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Bus voltage reported by the motor controller in volts.

C

calculateFeedforward(double, TrapezoidProfile.State) - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Computes the feedforward voltage for the current profile step.

calculateFeedforward(double, TrapezoidProfile.State) - Method in class frc.robot.subsystems.harvester.HarvesterSubsystem

Computes the arm feedforward voltage including gravity compensation for the current profile step.

calculateFieldTargetDegrees(Pose2d, Translation2d, double) - Method in class frc.robot.subsystems.turret.TurretSubsystem

Computes the turret target angle needed to face a field-relative target while compensating for robot rotation.

calculateRpmFromDistanceMeters(double) - Method in class frc.robot.subsystems.shooter.ShooterSubsystem

Computes the target flywheel RPM for a given distance using the configured interpolation table.

camera - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

PhotonVision camera instance used to pull pipeline results.

cameras - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Camera names and their robot-to-camera transforms.

CameraTransform() - Constructor for class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

chassisSpeeds - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Measured chassis speeds in meters per second and radians per second.

checkControllerHealth() - Method in class frc.robot.shared.bindings.TriggerBindings

Checks controller connectivity and input health, logging warnings and telemetry.

className - Variable in class frc.robot.shared.subsystems.AbstractSubsystem

Cached class name used for logging prefixes.

clearAlerts() - Method in class frc.robot.shared.logging.Logger

Dismisses both the error and warning dashboard alerts.

commandedVolts - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Last commanded voltage request (open-loop), if applicable.

compensatedDistanceMeters() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns the value of the compensatedDistanceMeters record component.

compensatedTargetPosition() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns the value of the compensatedTargetPosition record component.

componentPivotX - Variable in class frc.robot.shared.config.AbstractConfig.ComponentPoseConfig

Forward/backward offset in meters (positive = forward).

componentPivotY - Variable in class frc.robot.shared.config.AbstractConfig.ComponentPoseConfig

Left/right offset in meters (positive = left).

componentPivotZ - Variable in class frc.robot.shared.config.AbstractConfig.ComponentPoseConfig

Vertical offset in meters (positive = up).

componentPoseConfig - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

3D pivot offset for AdvantageScope component visualization.

ComponentPoseConfig() - Constructor for class frc.robot.shared.config.AbstractConfig.ComponentPoseConfig

CompositeMotor - Class in frc.robot.devices.motor

Motor adapter that forwards commands to multiple physical motors while presenting a single Motor interface.

CompositeMotor(Motor, Motor...) - Constructor for class frc.robot.devices.motor.CompositeMotor

Creates a composite motor from a primary motor and one or more followers.

computeEntryWaypoint(Pose2d, Pose2d) - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Computes the entry waypoint just outside the trench zone on the side closest to the starting position.

computeExitWaypoint(Pose2d, Pose2d) - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Computes the exit waypoint just outside the trench zone on the side closest to the target position.

computeMechanismRadiansPerMotorRotation(double) - Static method in class frc.robot.devices.motor.AbstractMotor

Converts a gear ratio in motor rotations per mechanism rotation into mechanism radians per motor rotation.

config - Variable in class frc.robot.shared.subsystems.AbstractSubsystem

Subsystem configuration bundle loaded from JSON.

ConfigurationLoader - Class in frc.robot.shared.config

Utility for loading subsystem configuration JSON from the deploy directory and recording a read-only snapshot of every field to AdvantageKit.

ConfigurationLoader() - Constructor for class frc.robot.shared.config.ConfigurationLoader

configureMotor(SparkMaxConfig) - Method in class frc.robot.devices.motor.AbstractMotor

Allows subclasses to append motor-specific configuration before the object is applied to hardware.

configureMotor(SparkMaxConfig) - Method in class frc.robot.devices.motor.AbstractSimMotor

Applies the base configuration for the simulated Spark MAX.

configureMotor(SparkMaxConfig) - Method in class frc.robot.devices.motor.AbstractVelocityMotor

configureMotor(SparkMaxConfig) - Method in class frc.robot.subsystems.harvester.devices.HarvesterMotor

configureMotor(SparkMaxConfig) - Method in class frc.robot.subsystems.turret.devices.TurretMotor

connected - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.AprilTagVisionIOInputs

True when the camera is connected and reporting frames.

constraints - Variable in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Trapezoid constraints that bound velocity and acceleration.

controller - Variable in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Profiled PID controller that tracks the trapezoid setpoint.

controller - Variable in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

PID controller that corrects velocity error.

convergenceIterations() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns the value of the convergenceIterations record component.

create(MotorConfig) - Static method in class frc.robot.subsystems.feeder.devices.FeederMotor

Creates a feeder motor wrapper using values from the feeder motor config.

create(MotorConfig) - Static method in class frc.robot.subsystems.harvester.devices.HarvesterMotor

Creates a harvester motor wrapper using values from the harvester motor config.

create(MotorConfig) - Static method in class frc.robot.subsystems.indexer.devices.IndexerMotor

Creates an indexer motor wrapper using values from the indexer motor config.

create(MotorConfig) - Static method in class frc.robot.subsystems.intake.devices.IntakeMotor

Creates an intake motor wrapper using values from the intake motor config.

create(MotorConfig) - Static method in class frc.robot.subsystems.shooter.devices.ShooterMotor

Creates a shooter motor wrapper using values from the shooter motor config.

create(MotorConfig) - Static method in class frc.robot.subsystems.turret.devices.TurretMotor

Creates a turret motor wrapper using values from the turret motor config.

create(MotorConfig, Supplier<Double>, Supplier<Double>) - Static method in class frc.robot.subsystems.feeder.devices.FeederSimMotor

Creates a simulated feeder motor wrapper using the supplied configuration values.

create(MotorConfig, Supplier<Double>, Supplier<Double>) - Static method in class frc.robot.subsystems.harvester.devices.HarvesterSimMotor

Creates a simulated harvester motor wrapper using the supplied configuration values.

create(MotorConfig, Supplier<Double>, Supplier<Double>) - Static method in class frc.robot.subsystems.indexer.devices.IndexerSimMotor

Creates a simulated indexer motor wrapper using the supplied configuration values.

create(MotorConfig, Supplier<Double>, Supplier<Double>) - Static method in class frc.robot.subsystems.intake.devices.IntakeSimMotor

Creates a simulated intake motor wrapper using the supplied configuration values.

create(MotorConfig, Supplier<Double>, Supplier<Double>) - Static method in class frc.robot.subsystems.shooter.devices.ShooterSimMotor

Creates a simulated shooter motor wrapper using the supplied configuration values.

create(MotorConfig, Supplier<Double>, Supplier<Double>) - Static method in class frc.robot.subsystems.turret.devices.TurretSimMotor

Creates a simulated turret motor wrapper using the supplied configuration values.

createAngleSysIdCommand() - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a SysId command that exercises all four steer (angle) motors simultaneously using the configured YAGSL characterization routine.

createAngleSysIdCommandForModule(int) - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a SysId command that exercises a single angle (steer) motor identified by module index.

createAutoCommand(DriverStation.Alliance, String) - Method in class frc.robot.subsystems.drivebase.commands.PathPlannerCommandFactory

Builds the full autonomous command for the given alliance using the auto name selected on the dashboard.

createBoostRpmCommand() - Method in class frc.robot.subsystems.shooter.commands.ShooterSubsystemCommandFactory

Builds a command that boosts the shooter RPM by the configured adjustment amount while held.

createContinuousVelocityCommand(Supplier<Double>) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Builds a command that continuously reads a target RPM from a supplier and seeks that velocity every cycle.

createCutRpmCommand() - Method in class frc.robot.subsystems.shooter.commands.ShooterSubsystemCommandFactory

Builds a command that cuts the shooter RPM by the configured adjustment amount while held.

createDeployCommand() - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a command that deploys the arm to the lowered Fuel-collection position.

createDistanceBasedSpinCommand(Supplier<Double>) - Method in class frc.robot.subsystems.shooter.commands.ShooterSubsystemCommandFactory

Builds a command that continuously computes flywheel RPM from the robot's distance to a target.

createDpadPathfindCommand(DpadTargetConfig, DriverControllerConfig) - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Builds a command that pathfinds to a d-pad target with trench zone awareness.

createDriveSysIdCommand() - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a SysId command that exercises all four drive motors simultaneously using the configured YAGSL characterization routine.

createDriveSysIdCommandForModule(int) - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a SysId command that exercises a single drive motor identified by module index.

createEjectCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Builds the EJECT state command group: reverses all ball-path mechanisms to expel Fuel.

createEjectCommand() - Method in class frc.robot.subsystems.intake.commands.IntakeSubsystemCommandFactory

Builds an eject command using the configured default reverse velocity.

createEjectCommand(Supplier<Double>) - Method in class frc.robot.subsystems.intake.commands.IntakeSubsystemCommandFactory

Builds an eject command that reads its target RPM from a supplier.

createFireReadyCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Builds the FIRE_READY state command group: spins up the shooter and stages Fuel in the indexer while the turret continues tracking via its default command.

createFireWhenReadyCommand(Supplier<Boolean>, Supplier<Boolean>) - Method in class frc.robot.subsystems.feeder.commands.FeederSubsystemCommandFactory

Builds a composite command that waits until the shooter and turret are both ready, then runs the reverse-pulse-then-forward sequence.

createFireWhenReadyCommand(Supplier<Boolean>, Supplier<Boolean>) - Method in class frc.robot.subsystems.indexer.commands.IndexerSubsystemCommandFactory

Builds a composite command that waits until the shooter and turret are both ready, then feeds Fuel into the shooter.

createHarvestReadyCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Builds the HARVEST_READY state command group: deploys the harvester arm and spins the intake and feeder to pull Fuel into the robot while the shooter idles.

createHoldDeployedPositionCommand() - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a hold command that monitors the deployed position and re-engages the motor when the arm is pushed away by incoming Fuel.

createIdleCommand() - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Builds the idle command for this velocity subsystem.

createIdleCommand() - Method in class frc.robot.subsystems.feeder.commands.FeederSubsystemCommandFactory

Builds an idle command that holds the belt at the configured idle RPM.

createIdleCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Builds the IDLE state command group: all subsystems return to their resting positions.

createIdleCommand() - Method in class frc.robot.subsystems.indexer.commands.IndexerSubsystemCommandFactory

Builds an idle command that holds the roller at the configured idle RPM (typically 0).

createIdleCommand() - Method in class frc.robot.subsystems.intake.commands.IntakeSubsystemCommandFactory

Builds an idle command that holds the rollers at the configured idle RPM (typically zero).

createIdleCommand() - Method in class frc.robot.subsystems.shooter.commands.ShooterSubsystemCommandFactory

Builds an idle command that holds the flywheel at the configured idle RPM.

createIntakeAndHoldCommand() - Method in class frc.robot.subsystems.intake.commands.IntakeSubsystemCommandFactory

Builds a command that spins the rollers forward at the configured intake velocity and holds that speed indefinitely.

createLockToZeroCommand() - Method in class frc.robot.subsystems.turret.commands.TurretSubsystemCommandFactory

Builds a non-finishing command that profiles the turret to 0 degrees and then holds it there indefinitely.

createMoveToAngleCommand(double) - Method in class frc.robot.subsystems.turret.commands.TurretSubsystemCommandFactory

Builds a profiled move command that drives the turret to a fixed angle.

createMoveToAngleCommand(Supplier<Double>) - Method in class frc.robot.subsystems.turret.commands.TurretSubsystemCommandFactory

Builds a profiled move command that reads its target angle from a supplier.

createMoveToPositionCommand(double) - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a profiled move command that drives the arm to a fixed angle.

createMoveToPositionCommand(Supplier<Double>) - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a profiled move command that reads its target angle from a supplier.

createResetEncoderCommand() - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates an instant command that resets the motor encoder to the configured initial position and clears all profile state.

createReverseCommand() - Method in class frc.robot.subsystems.feeder.commands.FeederSubsystemCommandFactory

Builds a reverse command using the configured default reverse velocity.

createReverseCommand() - Method in class frc.robot.subsystems.indexer.commands.IndexerSubsystemCommandFactory

Builds a reverse command using the configured default reverse velocity.

createReverseCommand(Supplier<Double>) - Method in class frc.robot.subsystems.feeder.commands.FeederSubsystemCommandFactory

Builds a reverse command that reads its target RPM from a supplier.

createReverseCommand(Supplier<Double>) - Method in class frc.robot.subsystems.indexer.commands.IndexerSubsystemCommandFactory

Builds a reverse command that reads its target RPM from a supplier.

createSimpleRoutine(AbstractSubsystem<?>, String, Consumer<Voltage>, Supplier<Voltage>, Runnable, DoubleSupplier, DoubleSupplier, double, double) - Static method in class frc.robot.shared.subsystems.SysIdHelper

Creates a SysId routine that commands a motor with raw voltage and logs the measured state.

createSimpleRoutine(AbstractSubsystem<?>, String, Consumer<Voltage>, Supplier<Voltage>, Runnable, DoubleSupplier, DoubleSupplier, DoubleSupplier, double, double) - Static method in class frc.robot.shared.subsystems.SysIdHelper

Creates a SysId routine that commands a motor with raw voltage, logs the measured state, and records diagnostic telemetry including raw motor RPM.

createSnapToFieldFacingCommand(Supplier<Double>, Supplier<Double>) - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a command that snaps the robot to the nearest field-facing orientation (0 degrees or 180 degrees field-relative).

createSpin180Command(Supplier<Double>, Supplier<Double>) - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a command that spins the robot 180 degrees from its heading at the moment the button is pressed.

createStopCommand() - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Builds a command that stops the mechanism immediately by setting velocity to zero.

createStowCommand() - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a command that stows the arm in the upright match-start position.

createSweepCommand() - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a command that raises the arm to the sweep position to push Fuel toward the shooting array.

createSysIdDynamicCommand(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a dynamic SysId characterization command that applies a step voltage in the requested direction.

createSysIdDynamicCommand(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a dynamic SysId characterization command that applies a step voltage in the requested direction.

createSysIdDynamicCommand(SysIdRoutine.Direction, double) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a dynamic SysId command with a timeout to prevent runaway motion.

createSysIdDynamicCommand(SysIdRoutine.Direction, double) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a dynamic SysId command with a timeout to prevent runaway motion.

createSysIdDynamicCommandWithDefaultTimeout(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a dynamic SysId command with a default timeout (3 seconds) to safeguard robot motion.

createSysIdDynamicCommandWithDefaultTimeout(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a dynamic SysId command with a default timeout (3 seconds) to safeguard robot motion.

createSysIdFullSweepCommand() - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a full SysId sweep using timing values from the subsystem config.

createSysIdFullSweepCommand() - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a full SysId sweep using timing values from the subsystem config.

createSysIdFullSweepCommand(double, double, double) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a full SysId sweep (quasistatic forward/reverse, dynamic forward/reverse) with optional delays between phases.

createSysIdFullSweepCommand(double, double, double) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a full SysId sweep (quasistatic forward/reverse, dynamic forward/reverse) with optional delays between phases.

createSysIdQuasistaticCommand(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a quasistatic SysId characterization command that ramps voltage slowly in the requested direction.

createSysIdQuasistaticCommand(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a quasistatic SysId characterization command that ramps voltage slowly in the requested direction.

createSysIdQuasistaticCommand(SysIdRoutine.Direction, double) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a quasistatic SysId command with a timeout to prevent runaway motion.

createSysIdQuasistaticCommand(SysIdRoutine.Direction, double) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a quasistatic SysId command with a timeout to prevent runaway motion.

createSysIdQuasistaticCommandWithDefaultTimeout(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommandFactory

Creates a quasistatic SysId command with a default timeout (3 seconds) to safeguard robot motion.

createSysIdQuasistaticCommandWithDefaultTimeout(SysIdRoutine.Direction) - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Creates a quasistatic SysId command with a default timeout (3 seconds) to safeguard robot motion.

createTravelCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Builds the TRAVEL state command group: stows the harvester and idles all other mechanisms for safe field traversal.

createTrenchTravelCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Builds the TRENCH_TRAVEL state command group: deploys the harvester for low-profile clearance under field obstacles while idling all other mechanisms.

criticalVoltageSpeedScalePercent - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Percentage of maximum drive speed applied when battery voltage is below DriveBaseSubsystemConfig.criticalVoltageThresholdVolts.

criticalVoltageThresholdVolts - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Battery voltage threshold indicating severe sag.

currentState - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

Name of the current gameplay state (e.g., "Idle", "Fire Ready").

D

debug(String) - Method in class frc.robot.shared.logging.Logger

Logs a debug message to the console if verbose output is enabled.

delaySeconds - Variable in class frc.robot.shared.config.SysIdRoutineConfig

Delay between SysId phases in seconds, giving the mechanism time to coast to a stop so each phase starts from rest.

deployArm() - Method in class frc.robot.subsystems.harvester.HarvesterSubsystem

Commands the arm to deploy to the lowered Fuel-collection position.

deployedHoldToleranceDegrees - Variable in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Maximum allowed drift from the deployed position before the hold command re-engages, in degrees.

deployedPositionDegrees - Variable in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Arm angle when deployed downward outside the robot perimeter to collect Fuel, in degrees.

deserialize(JsonParser, DeserializationContext) - Method in class frc.robot.shared.config.Pose2dDeserializer

Parses a Pose2d from JSON with fields x, y (meters), and rotation in degrees.

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

Runs once when the robot exits the disabled state; no-op by default.

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

Runs once when the robot enters the disabled state; no-op by default.

DisabledMotor - Class in frc.robot.devices.motor

No-op motor implementation used when a subsystem is disabled or has no hardware.

DisabledMotor() - Constructor for class frc.robot.devices.motor.DisabledMotor

Creates a disabled motor that ignores all output requests.

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

Runs each loop while the robot is disabled.

distanceMeters - Variable in class frc.robot.subsystems.shooter.config.DistanceRpmPoint

Distance from the robot to the target in meters.

distanceRpmMultiplier - Variable in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

Scale factor applied to the interpolated RPM for quick field adjustments.

DistanceRpmPoint - Class in frc.robot.subsystems.shooter.config

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.

DistanceRpmPoint() - Constructor for class frc.robot.subsystems.shooter.config.DistanceRpmPoint

distanceRpmPoints - Variable in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

Lookup table mapping distance in meters to target RPM for distance-based shooting.

distanceToTargetMeters - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

Straight-line distance from the robot to the active field target in meters.

dpadDown - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Target pose for the d-pad down button.

dpadLeft - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Target pose for the d-pad left button.

dpadMaxAccelerationMetersPerSecondSquared - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Maximum linear acceleration for d-pad pathfinding in meters per second squared.

dpadMaxAngularAccelerationDegreesPerSecondSquared - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Maximum angular acceleration for d-pad pathfinding in degrees per second squared.

dpadMaxAngularVelocityDegreesPerSecond - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Maximum angular velocity for d-pad pathfinding in degrees per second.

dpadMaxVelocityMetersPerSecond - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Maximum linear velocity for d-pad pathfinding in meters per second.

dpadRight - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Target pose for the d-pad right button.

DpadTargetConfig - Class in frc.robot.shared.bindings

Configuration for a single d-pad pathfinding target.

DpadTargetConfig() - Constructor for class frc.robot.shared.bindings.DpadTargetConfig

dpadUp - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Target pose for the d-pad up button.

DriveBaseIO - Interface in frc.robot.subsystems.drivebase.io

Defines the contract for drive base sensor inputs that AdvantageKit will log.

DriveBaseIO.DriveBaseIOInputs - Class in frc.robot.subsystems.drivebase.io

Container of all drive base telemetry fields that AdvantageKit will persist automatically.

DriveBaseIOInputs() - Constructor for class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

DriveBaseIOYagsl - Class in frc.robot.subsystems.drivebase.io

YAGSL-backed implementation that pulls pose, module states, and gyro data from the configured swerve drive.

DriveBaseIOYagsl(SwerveDrive) - Constructor for class frc.robot.subsystems.drivebase.io.DriveBaseIOYagsl

Creates an IO bridge that mirrors telemetry from the provided YAGSL swerve drive into AdvantageKit.

driveBaseSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Drive base configuration bundle.

DriveBaseSubsystem - Class in frc.robot.subsystems.drivebase

Provides a minimal API surface for commanding the robot drive base.

DriveBaseSubsystem(DriveBaseSubsystemConfig, Supplier<Boolean>) - Constructor for class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Creates the drive base subsystem and wires YAGSL hardware if enabled.

DriveBaseSubsystemCommandFactory - Class in frc.robot.subsystems.drivebase.commands

Factory that creates drive base commands and wires default behaviors.

DriveBaseSubsystemCommandFactory(DriveBaseSubsystem) - Constructor for class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Creates a factory that produces commands operating on the provided drive base subsystem.

DriveBaseSubsystemConfig - Class in frc.robot.subsystems.drivebase.config

Configuration bundle for the drive base subsystem.

DriveBaseSubsystemConfig() - Constructor for class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

driveFieldRelative(double, double, double) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Drives the robot using field-relative chassis speeds.

driveFieldRelativeWithHeading(double, double, double) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Drives the robot field-relative with PID-controlled heading instead of manual omega.

driverControllerConfig - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Driver controller configuration for d-pad pathfinding targets and constraints.

DriverControllerConfig - Class in frc.robot.shared.bindings

Configuration for the driver controller's d-pad pathfinding targets, shared pathfinding constraints, and trench zone definitions.

DriverControllerConfig() - Constructor for class frc.robot.shared.bindings.DriverControllerConfig

dynamicTimeoutSeconds - Variable in class frc.robot.shared.config.SysIdRoutineConfig

Timeout for the dynamic (step voltage) portion of SysId in seconds.

E

EJECT - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

Reverses the ball path to clear a jam.

EjectIntakeCommand - Class in frc.robot.subsystems.intake.commands

Command that spins the intake rollers in reverse to eject Fuel back onto the field.

EjectIntakeCommand(IntakeSubsystem, double) - Constructor for class frc.robot.subsystems.intake.commands.EjectIntakeCommand

Creates an eject command that drives the rollers at a fixed negative RPM.

EjectIntakeCommand(IntakeSubsystem, Supplier<Double>) - Constructor for class frc.robot.subsystems.intake.commands.EjectIntakeCommand

Creates an eject command that reads its target RPM from a supplier.

enabled - Variable in class frc.robot.shared.bindings.DpadTargetConfig

Whether this d-pad target is active.

enabled - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Whether this trench zone is active.

enabled - Variable in class frc.robot.shared.config.AbstractSubsystemConfig

Enables or disables the subsystem that owns this config.

enabled - Variable in class frc.robot.shared.subsystems.AbstractSubsystem

True when the subsystem is allowed to run hardware actions.

enableVisionFusion - Variable in class frc.robot.subsystems.robotpose.config.RobotPoseSubsystemConfig

Enables or disables vision fusion in the Robot Pose subsystem.

enableVisionFusion - Variable in class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

True when vision measurements are allowed to blend into the estimate.

end(boolean) - Method in class frc.robot.shared.commands.AbstractIdleVelocityCommand

end(boolean) - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommand

end(boolean) - Method in class frc.robot.shared.commands.AbstractVelocityCommand

end(boolean) - Method in class frc.robot.shared.commands.SetAndSeekSettleCommand

end(boolean) - Method in class frc.robot.subsystems.drivebase.commands.MoveFieldManualCommand

Stops and locks the drivebase once manual control ends or is interrupted.

end(boolean) - Method in class frc.robot.subsystems.drivebase.commands.MoveFieldManualWithHeadingCommand

Stops and locks the drivebase once the heading lock ends or is interrupted.

end(boolean) - Method in class frc.robot.subsystems.harvester.commands.HoldHarvesterDeployedPositionCommand

end(boolean) - Method in class frc.robot.subsystems.turret.commands.TrackFieldTargetCommand

Notifies the turret that tracking was interrupted so it can reset its profile state.

endgameSuggested - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

True when the endgame threshold has been reached.

endgameThresholdSeconds - Variable in class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

Match time threshold in seconds below which the subsystem sets the endgame suggestion flag for dashboard alerts.

equals(Object) - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Indicates whether some other object is "equal to" this one.

equals(Object) - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.TargetObservation

Indicates whether some other object is "equal to" this one.

error(String) - Method in class frc.robot.shared.logging.Logger

Logs an error message to the standard error console and activates a persistent dashboard Alert.

estimate(AprilTagVisionIO.PoseObservation, String) - Method in class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator

Processes a pose observation and returns an estimation result.

estimatedPose - Variable in class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

Latest fused pose estimate in meters and radians.

EstimationResult(Optional<AprilTagPoseEstimator.VisionMeasurement>, Optional<AprilTagPoseEstimator.RejectionReason>) - Constructor for record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Creates an instance of a EstimationResult record class.

execute() - Method in class frc.robot.shared.commands.AbstractIdleVelocityCommand

execute() - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommand

execute() - Method in class frc.robot.shared.commands.AbstractVelocityCommand

execute() - Method in class frc.robot.shared.commands.SetAndSeekSettleCommand

execute() - Method in class frc.robot.subsystems.drivebase.commands.MoveFieldManualCommand

Continuously drives the robot using the supplied field-relative speed requests.

execute() - Method in class frc.robot.subsystems.drivebase.commands.MoveFieldManualWithHeadingCommand

Drives field-relative with PID-controlled heading each cycle.

execute() - Method in class frc.robot.subsystems.harvester.commands.HoldHarvesterDeployedPositionCommand

execute() - Method in class frc.robot.subsystems.turret.commands.TrackFieldTargetCommand

Recomputes the turret target and drives the profile toward it each cycle.

F

FeedCommand - Class in frc.robot.subsystems.indexer.commands

Command that spins the indexer roller forward to feed Fuel into the shooter.

FeedCommand(IndexerSubsystem, double) - Constructor for class frc.robot.subsystems.indexer.commands.FeedCommand

Creates a feed command that drives the roller to a fixed RPM.

FeedCommand(IndexerSubsystem, Supplier<Double>) - Constructor for class frc.robot.subsystems.indexer.commands.FeedCommand

Creates a feed command that reads its target RPM from a supplier.

FeederMotor - Class in frc.robot.subsystems.feeder.devices

SparkMax-backed feeder belt motor configured from the feeder subsystem config.

FeederSimMotor - Class in frc.robot.subsystems.feeder.devices

Simulation-only feeder motor wrapper configured from the feeder subsystem config.

feederSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Feeder configuration bundle.

FeederSubsystem - Class in frc.robot.subsystems.feeder

Feeder subsystem that drives rollers to transport Fuel from the intake toward the indexer.

FeederSubsystem(FeederSubsystemConfig) - Constructor for class frc.robot.subsystems.feeder.FeederSubsystem

Builds the feeder subsystem with a single motor-driven belt.

FeederSubsystemCommandFactory - Class in frc.robot.subsystems.feeder.commands

Factory that creates feeder commands and wires default behaviors.

FeederSubsystemCommandFactory(FeederSubsystem) - Constructor for class frc.robot.subsystems.feeder.commands.FeederSubsystemCommandFactory

Creates a factory for commands that share the given feeder subsystem instance.

FeederSubsystemConfig - Class in frc.robot.subsystems.feeder.config

Configuration bundle for the feeder subsystem.

FeederSubsystemConfig() - Constructor for class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

feedforward - Variable in class frc.robot.shared.config.AbstractMotorSubsystemConfig

Feedforward gains for this motor subsystem.

feedforward - Variable in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Feedforward model used to estimate the voltage needed to maintain a desired velocity.

FeedforwardConfig - Class in frc.robot.shared.config

Configuration bundle for feedforward gains used by motor control subsystems.

FeedforwardConfig() - Constructor for class frc.robot.shared.config.FeedforwardConfig

feedVelocityRpm - Variable in class frc.robot.subsystems.indexer.config.IndexerSubsystemConfig

Default forward velocity used for feeding Fuel into the shooter, in RPM.

fieldCenterDividerYMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

Y-coordinate of the field center divider in meters.

fieldFacingMarginDegrees - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Margin in degrees around each field-facing orientation (0 and 180 degrees) within which the robot is considered to already be facing that direction.

fieldLayout - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

Field layout that maps AprilTag IDs to field poses.

fieldLengthMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

Total field length along the X-axis in meters.

fieldLengthMeters() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the fieldLengthMeters record component.

FieldTargetConfig - Class in frc.robot.shared.field

Field target positions used for zone-aware turret tracking.

FieldTargetConfig() - Constructor for class frc.robot.shared.field.FieldTargetConfig

fieldTargets - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Field target positions and zone boundaries for zone-aware turret tracking.

FieldTargetSelector - Class in frc.robot.shared.field

Selects the active field target for the turret based on the robot's position and alliance color.

FieldTargetSelector(FieldTargetConfig, Supplier<Pose2d>, Supplier<Optional<DriverStation.Alliance>>) - Constructor for class frc.robot.shared.field.FieldTargetSelector

Creates a field target selector that evaluates position and alliance each time a target is requested.

fieldType - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Field type selector used to pick between field layouts.

fieldWidthMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

Total field width along the Y-axis in meters.

fieldWidthMeters() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the fieldWidthMeters record component.

findIntersectingTrenchZone(Pose2d, Pose2d) - Method in class frc.robot.shared.bindings.DriverControllerConfig

Finds the first enabled trench zone that a straight-line path from the current pose to the target crosses.

FIRE_READY - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

Robot is primed to shoot Fuel.

fireReadySweepDelaySeconds - Variable in class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

Delay in seconds before the harvester arm sweeps Fuel toward the shooting array during fire ready.

followerEnabled - Variable in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

Enables or disables the follower motor.

followerMotorConfig - Variable in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

Motor configuration bundle for the follower shooter flywheel motor.

forwardSoftLimitDegrees - Variable in class frc.robot.shared.config.MotorConfig

Forward travel soft limit in degrees.

forwardVelocityRpm - Variable in class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

Default forward velocity used for transporting Fuel toward the indexer, in RPM.

forwardVelocityRpm - Variable in class frc.robot.subsystems.intake.config.IntakeSubsystemConfig

Default forward velocity used for pulling Fuel from the field into the feeder, in RPM.

frc.robot - package frc.robot

frc.robot.devices.motor - package frc.robot.devices.motor

frc.robot.shared.bindings - package frc.robot.shared.bindings

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

frc.robot.shared.config - package frc.robot.shared.config

frc.robot.shared.field - package frc.robot.shared.field

frc.robot.shared.logging - package frc.robot.shared.logging

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

frc.robot.shared.targeting - package frc.robot.shared.targeting

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

frc.robot.subsystems.apriltagvision.config - package frc.robot.subsystems.apriltagvision.config

frc.robot.subsystems.apriltagvision.io - package frc.robot.subsystems.apriltagvision.io

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

frc.robot.subsystems.drivebase.commands - package frc.robot.subsystems.drivebase.commands

frc.robot.subsystems.drivebase.config - package frc.robot.subsystems.drivebase.config

frc.robot.subsystems.drivebase.io - package frc.robot.subsystems.drivebase.io

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

frc.robot.subsystems.feeder.commands - package frc.robot.subsystems.feeder.commands

frc.robot.subsystems.feeder.config - package frc.robot.subsystems.feeder.config

frc.robot.subsystems.feeder.devices - package frc.robot.subsystems.feeder.devices

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

frc.robot.subsystems.gameplaystate.commands - package frc.robot.subsystems.gameplaystate.commands

frc.robot.subsystems.gameplaystate.config - package frc.robot.subsystems.gameplaystate.config

frc.robot.subsystems.gameplaystate.io - package frc.robot.subsystems.gameplaystate.io

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

frc.robot.subsystems.harvester.commands - package frc.robot.subsystems.harvester.commands

frc.robot.subsystems.harvester.config - package frc.robot.subsystems.harvester.config

frc.robot.subsystems.harvester.devices - package frc.robot.subsystems.harvester.devices

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

frc.robot.subsystems.indexer.commands - package frc.robot.subsystems.indexer.commands

frc.robot.subsystems.indexer.config - package frc.robot.subsystems.indexer.config

frc.robot.subsystems.indexer.devices - package frc.robot.subsystems.indexer.devices

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

frc.robot.subsystems.intake.commands - package frc.robot.subsystems.intake.commands

frc.robot.subsystems.intake.config - package frc.robot.subsystems.intake.config

frc.robot.subsystems.intake.devices - package frc.robot.subsystems.intake.devices

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

frc.robot.subsystems.robotpose.config - package frc.robot.subsystems.robotpose.config

frc.robot.subsystems.robotpose.io - package frc.robot.subsystems.robotpose.io

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

frc.robot.subsystems.shooter.commands - package frc.robot.subsystems.shooter.commands

frc.robot.subsystems.shooter.config - package frc.robot.subsystems.shooter.config

frc.robot.subsystems.shooter.devices - package frc.robot.subsystems.shooter.devices

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

frc.robot.subsystems.turret.commands - package frc.robot.subsystems.turret.commands

frc.robot.subsystems.turret.config - package frc.robot.subsystems.turret.config

frc.robot.subsystems.turret.devices - package frc.robot.subsystems.turret.devices

G

GameplayState - Enum Class in frc.robot.subsystems.gameplaystate

Enumerates the high-level operating modes the robot can be in during a match.

GameplayStateCommandFactory - Class in frc.robot.subsystems.gameplaystate.commands

Composes parallel command groups that coordinate multiple subsystems for each GameplayState.

GameplayStateCommandFactory(GameplayStateSubsystem, ShooterSubsystemCommandFactory, IndexerSubsystemCommandFactory, FeederSubsystemCommandFactory, IntakeSubsystemCommandFactory, HarvesterSubsystemCommandFactory, Supplier<Double>, Supplier<Boolean>) - Constructor for class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Creates a factory that composes gameplay state commands from individual subsystem command factories.

GameplayStateIO - Interface in frc.robot.subsystems.gameplaystate.io

Defines the contract for gameplay state telemetry inputs that AdvantageKit will log.

GameplayStateIO.GameplayStateIOInputs - Class in frc.robot.subsystems.gameplaystate.io

Container of gameplay state telemetry fields that AdvantageKit will persist.

GameplayStateIOInputs() - Constructor for class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

gameplayStateSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Gameplay state configuration bundle for state management and auto-transitions.

GameplayStateSubsystem - Class in frc.robot.subsystems.gameplaystate

Tracks the robot's high-level operating mode and publishes the current gameplay state for command factories and telemetry.

GameplayStateSubsystem(GameplayStateSubsystemConfig, Supplier<Double>, Supplier<String>) - Constructor for class frc.robot.subsystems.gameplaystate.GameplayStateSubsystem

Creates the Gameplay State subsystem with targeting telemetry suppliers.

GameplayStateSubsystemConfig - Class in frc.robot.subsystems.gameplaystate.config

Configuration bundle for the Gameplay State subsystem.

GameplayStateSubsystemConfig() - Constructor for class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

getActiveTargetName() - Method in class frc.robot.shared.field.FieldTargetSelector

Returns a human-readable name for the active field target based on the robot's current zone and alliance.

getActiveTargetPosition() - Method in class frc.robot.shared.field.FieldTargetSelector

Computes the active field target position based on the robot's current zone and alliance.

getAlliance() - Static method in class frc.robot.shared.config.RobotEnvironment

Returns the current alliance color, resolved from the FMS or dashboard override.

getAngularStandardDeviationBaseline() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the angular standard deviation baseline for pose estimation.

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

Returns the command to run during autonomous mode.

getAutoTransitionEnabled() - Method in class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

Returns whether FMS-based automatic state transitions are enabled.

getBufferMeters() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads the tunable buffer distance in meters.

getCameras() - Method in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Returns the configured camera map.

getCompensatedDistanceMeters() - Method in class frc.robot.subsystems.turret.commands.TrackFieldTargetCommand

Returns the most recent compensated distance computed by the SOTM solver.

getCompensatedDistanceMeters() - Method in class frc.robot.subsystems.turret.commands.TurretSubsystemCommandFactory

Returns the most recent SOTM-compensated distance from the active tracking command.

getConfig() - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Returns the subsystem configuration bundle for command factories and external consumers that need access to subsystem-specific settings.

getCriticalVoltageSpeedScale() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Reads the critical-voltage speed scale as a fraction (0.0–1.0).

getCriticalVoltageThresholdVolts() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Reads the battery voltage threshold below which critical-voltage speed scaling activates.

getCurrentState() - Method in class frc.robot.subsystems.gameplaystate.GameplayStateSubsystem

Returns the current gameplay state.

getDashboardPrefix() - Method in class frc.robot.shared.config.AbstractConfig

Returns the current SmartDashboard prefix used for tunable key resolution.

getDelaySeconds() - Method in class frc.robot.shared.config.SysIdRoutineConfig

Returns the delay between SysId phases in seconds.

getDeployedHoldToleranceDegrees() - Method in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Returns the maximum drift from deployed position before re-engaging the motor, tuned via SmartDashboard.

getDeployedPositionDegrees() - Method in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Returns the deployed arm position, tuned via SmartDashboard.

getDisplayName() - Method in enum class frc.robot.subsystems.gameplaystate.GameplayState

Returns a human-readable name for dashboard display and telemetry logging.

getDistanceRpmMultiplier() - Method in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

Returns the scale factor applied to interpolated distance-based RPM, tuned via SmartDashboard.

getDistanceToPointMeters(Translation2d) - Method in class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Computes the straight-line distance from the robot's current estimated position to a field-relative target point.

getDpadMaxAccelerationMetersPerSecondSquared() - Method in class frc.robot.shared.bindings.DriverControllerConfig

Reads the tunable maximum linear acceleration for d-pad pathfinding.

getDpadMaxAngularAccelerationDegreesPerSecondSquared() - Method in class frc.robot.shared.bindings.DriverControllerConfig

Reads the tunable maximum angular acceleration for d-pad pathfinding in degrees per second squared.

getDpadMaxAngularVelocityDegreesPerSecond() - Method in class frc.robot.shared.bindings.DriverControllerConfig

Reads the tunable maximum angular velocity for d-pad pathfinding in degrees per second.

getDpadMaxVelocityMetersPerSecond() - Method in class frc.robot.shared.bindings.DriverControllerConfig

Reads the tunable maximum linear velocity for d-pad pathfinding.

getDynamicTimeoutSeconds() - Method in class frc.robot.shared.config.SysIdRoutineConfig

Returns the dynamic SysId timeout in seconds.

getEnabled() - Method in class frc.robot.shared.bindings.DpadTargetConfig

Reads whether this d-pad target is enabled.

getEnabled() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads whether this trench zone is enabled.

getEnableVisionFusion() - Method in class frc.robot.subsystems.robotpose.config.RobotPoseSubsystemConfig

Returns whether vision fusion should be enabled.

getEndgameThresholdSeconds() - Method in class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

Returns the endgame match time threshold in seconds.

getEstimatedPose() - Method in class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Returns the current fused pose estimate.

getFeedVelocityRpm() - Method in class frc.robot.subsystems.indexer.config.IndexerSubsystemConfig

Returns the default feed velocity, tuned via SmartDashboard.

getFieldFacingMarginRadians() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Supplies the field-facing margin in radians.

getFieldFacingMarginRadians() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Returns the configured field-facing margin in radians.

getFieldRelativeVelocity() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Returns the robot's current velocity in the field coordinate frame.

getFieldResource() - Method in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

Returns the WPILib resource path for loading the official AprilTag field layout JSON.

getFieldType() - Method in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Returns the configured field type selector.

getFireReadySweepDelaySeconds() - Method in class frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig

Returns the delay in seconds before the harvester sweeps Fuel forward during fire ready.

getForwardSoftLimitDegrees() - Method in class frc.robot.shared.config.MotorConfig

Returns the forward soft limit in degrees.

getForwardSoftLimitRadians() - Method in class frc.robot.shared.config.MotorConfig

Returns the forward soft limit in radians.

getForwardVelocityRpm() - Method in class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

Returns the default forward transport velocity, tuned via SmartDashboard.

getForwardVelocityRpm() - Method in class frc.robot.subsystems.intake.config.IntakeSubsystemConfig

Returns the default forward intake velocity, tuned via SmartDashboard.

getFusedPose() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Returns the vision-fused pose from YAGSL's internal pose estimator (odometry + vision corrections).

getHeadingDegrees() - Method in class frc.robot.shared.bindings.DpadTargetConfig

Reads the tunable heading in degrees.

getHorizontalOffsetRadians() - Method in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Returns the horizontal offset angle in radians.

getIdleVelocityRadiansPerSecond() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the default idle velocity in radians per second.

getIdleVelocityRpm() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the default idle velocity, tuned via SmartDashboard.

getIdleVelocityRpm() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Returns the configured idle velocity in RPM.

getIgnoredTagIds() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the tag IDs to ignore during pose estimation.

getInitialPoseAcceptanceCount() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the number of initial pose observations to accept without odometry deviation checking.

getInitialPositionRadians() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the initial position in radians.

getInitialVelocityRadiansPerSecond() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the initial velocity in radians per second.

getInstance(Class<T>) - Static method in class frc.robot.shared.logging.Logger

Returns an instance of Logger for the specified class

getInstance(Class<T>, boolean) - Static method in class frc.robot.shared.logging.Logger

Returns an instance of Logger for the specified class with a fixed verbosity setting.

getInstance(Class<T>, BooleanSupplier) - Static method in class frc.robot.shared.logging.Logger

Returns an instance of Logger for the specified class with a dynamic verbosity supplier.

getInstance(String) - Static method in class frc.robot.shared.logging.Logger

Returns an instance of Logger for the specified name

getInstance(String, boolean) - Static method in class frc.robot.shared.logging.Logger

Returns an instance of Logger for the specified name with a fixed verbosity setting.

getInstance(String, BooleanSupplier) - Static method in class frc.robot.shared.logging.Logger

Returns an instance of Logger for the specified name with a dynamic verbosity supplier.

getIntegratorRangeMax() - Method in class frc.robot.shared.config.PidConfig

Returns the maximum integrator output range, tuned via SmartDashboard.

getIZone() - Method in class frc.robot.shared.config.PidConfig

Returns the IZone threshold, tuned via SmartDashboard.

getJoystickDeadband() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable joystick deadband for driver stick inputs.

getkA() - Method in class frc.robot.shared.config.FeedforwardConfig

Returns the acceleration feedforward gain, tuned via SmartDashboard.

getkD() - Method in class frc.robot.shared.config.PidConfig

Returns the derivative gain, tuned via SmartDashboard.

getkG() - Method in class frc.robot.shared.config.FeedforwardConfig

Returns the gravity feedforward gain, tuned via SmartDashboard.

getkI() - Method in class frc.robot.shared.config.PidConfig

Returns the integral gain, tuned via SmartDashboard.

getkP() - Method in class frc.robot.shared.config.PidConfig

Returns the proportional gain, tuned via SmartDashboard.

getkS() - Method in class frc.robot.shared.config.FeedforwardConfig

Returns the static feedforward gain, tuned via SmartDashboard.

getkV() - Method in class frc.robot.shared.config.FeedforwardConfig

Returns the velocity feedforward gain, tuned via SmartDashboard.

getLeftStickXResponseExponent() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable response curve exponent for the left stick X axis.

getLeftStickYResponseExponent() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable response curve exponent for the left stick Y axis.

getLinearStandardDeviationBaseline() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the linear standard deviation baseline for pose estimation.

getLocation() - Static method in class frc.robot.shared.config.RobotEnvironment

Returns the driver station position number (1, 2, or 3).

getLowVoltageSpeedScale() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Reads the low-voltage speed scale as a fraction (0.0–1.0).

getLowVoltageThresholdVolts() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Reads the battery voltage threshold below which low-voltage speed scaling activates.

getMatchTimeSeconds() - Static method in class frc.robot.shared.config.RobotEnvironment

Returns the approximate match time remaining in the current period in seconds.

getMaximumAccelerationDegreesPerSecondSquared() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the maximum profile acceleration, tuned via SmartDashboard.

getMaximumAccelerationRadiansPerSecondSquared() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the maximum profile acceleration in radians per second squared.

getMaximumAccelerationRadiansPerSecondSquared() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the maximum acceleration in radians per second squared.

getMaximumAccelerationRpmPerSecond() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the maximum acceleration for the velocity ramp, tuned via SmartDashboard.

getMaximumAmbiguity() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the maximum ambiguity threshold for single-tag observations.

getMaximumAngularSpeedRadiansPerSecond() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Supplies the maximum angular speed in radians per second.

getMaximumLinearSpeedMetersPerSecond() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Supplies the maximum linear speed in meters per second.

getMaximumMultiTagAmbiguity() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the maximum ambiguity threshold for multi-tag observations.

getMaximumPoseDeviationMeters() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the maximum pose deviation threshold.

getMaximumSetpointDegrees() - Method in class frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

Returns the maximum setpoint derived from the motor's forward soft limit.

getMaximumSetpointRadians() - Method in class frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

Returns the maximum setpoint derived from the motor's forward soft limit.

getMaximumTagDistanceMeters() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the maximum average tag distance threshold.

getMaximumVelocityDegreesPerSecond() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the maximum profile velocity, tuned via SmartDashboard.

getMaximumVelocityRadiansPerSecond() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the maximum profile velocity in radians per second.

getMaximumVelocityRadiansPerSecond() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the maximum mechanism velocity in radians per second.

getMaximumVelocityRpm() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the maximum mechanism velocity, tuned via SmartDashboard.

getMaximumZHeightMeters() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the maximum absolute Z height for pose validation.

getMaxXMeters() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads the tunable maximum X-coordinate of the zone in meters.

getMaxYMeters() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads the tunable maximum Y-coordinate of the zone in meters.

getMeasuredPosition() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Provides the measured mechanism position.

getMeasuredPositionDegrees() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Returns the current measured position in degrees.

getMeasuredPositionRadians() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Returns the current measured position of the mechanism in radians.

getMeasuredVelocity() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Provides the measured mechanism velocity.

getMeasuredVelocityRadiansPerSecond() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Returns the current measured velocity of the mechanism in radians per second.

getMeasuredVelocityRpm() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Returns the current measured velocity in RPM.

getMinimumSetpointDegrees() - Method in class frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

Returns the minimum setpoint derived from the motor's reverse soft limit.

getMinimumSetpointRadians() - Method in class frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

Returns the minimum setpoint derived from the motor's reverse soft limit.

getMinXMeters() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads the tunable minimum X-coordinate of the zone in meters.

getMinYMeters() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads the tunable minimum Y-coordinate of the zone in meters.

getMotorCanId() - Method in class frc.robot.shared.config.MotorConfig

Returns the CAN ID of the motor controller.

getMotorInverted() - Method in class frc.robot.shared.config.MotorConfig

Returns whether the motor output is inverted.

getMotorRotationsPerMechanismRotation() - Method in class frc.robot.shared.config.MotorConfig

Returns the gear ratio (motor rotations per mechanism rotation).

getName() - Method in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

Returns the human-readable name of this field layout.

getNormalSpeedScale() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable normal (no trigger) speed scale.

getOdometryOnlyPose() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Returns the raw odometry-only pose derived from wheel encoders and gyro.

getOnTargetPositionToleranceDegrees() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the on-target position tolerance for the turret readiness check.

getPathRotation() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Returns the path following rotation PID config.

getPathTranslation() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Returns the path following translation PID config.

getPoseFilter() - Method in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Returns the pose filter configuration.

getPositionRadians() - Method in class frc.robot.devices.motor.AbstractMotor

Reports the current measured position in radians.

getPositionRadians() - Method in class frc.robot.devices.motor.CompositeMotor

Returns the primary motor's measured position in radians.

getPositionRadians() - Method in class frc.robot.devices.motor.DisabledMotor

Reports a neutral encoder position of 0.

getPositionRadians() - Method in interface frc.robot.devices.motor.Motor

Reports the current mechanism position.

getPositionToleranceRadians() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the allowed position error in radians.

getQuasistaticTimeoutSeconds() - Method in class frc.robot.shared.config.SysIdRoutineConfig

Returns the quasistatic SysId timeout in seconds.

getRampRateVoltsPerSecond() - Method in class frc.robot.shared.config.SysIdRoutineConfig

Returns the quasistatic voltage ramp rate for SysId characterization.

getReversePulseDurationSeconds() - Method in class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

Returns the duration of the reverse pulse used to unstick Fuel before running forward, tuned via SmartDashboard.

getReverseSoftLimitDegrees() - Method in class frc.robot.shared.config.MotorConfig

Returns the reverse soft limit in degrees.

getReverseSoftLimitRadians() - Method in class frc.robot.shared.config.MotorConfig

Returns the reverse soft limit in radians.

getReverseVelocityRpm() - Method in class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

Returns the reverse velocity for clearing Fuel, tuned via SmartDashboard.

getReverseVelocityRpm() - Method in class frc.robot.subsystems.indexer.config.IndexerSubsystemConfig

Returns the reverse velocity for clearing jams, tuned via SmartDashboard.

getReverseVelocityRpm() - Method in class frc.robot.subsystems.intake.config.IntakeSubsystemConfig

Returns the reverse velocity for ejecting Fuel, tuned via SmartDashboard.

getRightStickXResponseExponent() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable response curve exponent for the right stick X axis.

getRotationalLeadTimeSeconds() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the rotational lead time used for yaw-rate compensation.

getRotationToleranceRadians() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Supplies the rotation tolerance in radians.

getRotationToleranceRadians() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Returns the configured rotation tolerance in radians for heading convergence checks.

getRpmAdjustmentAmountRpm() - Method in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

Returns the RPM adjustment applied by the operator boost and cut triggers, tuned via SmartDashboard.

getRpmOffset() - Method in class frc.robot.subsystems.shooter.ShooterSubsystem

Returns the current operator RPM offset.

getSelectedAutoName() - Method in class frc.robot.subsystems.drivebase.commands.PathPlannerCommandFactory

Returns the auto name currently selected on the dashboard chooser.

getSettleTimeSeconds() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns how long the velocity must remain within tolerance before reporting ready.

getShootingSpeedScale() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Reads the shooting speed scale as a fraction (0.0–1.0).

getSimulationOmegaScale() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Supplies the additional joystick rotation scale applied during simulation.

getSimulationTranslationScale() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Supplies the additional joystick translation scale applied during simulation.

getSlowSpeedScale() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable slow (left trigger) speed scale.

getSmartCurrentLimitAmps() - Method in class frc.robot.shared.config.MotorConfig

Returns the smart current limit in amps.

getSotmConvergenceToleranceSeconds() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the convergence tolerance for the SOTM Newton solver.

getSotmDragCoefficient() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the SOTM drag coefficient for inherited ball velocity decay during flight.

getSotmMaxIterations() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the maximum Newton iterations for the SOTM solver.

getSotmMinSpeedMetersPerSecond() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the minimum robot speed required to activate SOTM compensation.

getSprintSpeedScale() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable sprint (right trigger) speed scale.

getStepVoltage() - Method in class frc.robot.shared.config.SysIdRoutineConfig

Returns the step voltage applied during SysId dynamic tests.

getStowedPositionDegrees() - Method in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Returns the stowed arm position, tuned via SmartDashboard.

getSubsystem() - Method in class frc.robot.shared.commands.AbstractSubsystemCommandFactory

Exposes the shared subsystem instance so callers can apply configuration or tuning hooks.

getSweepPositionDegrees() - Method in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Returns the sweep arm position, tuned via SmartDashboard.

getSwerveConfigDirectory() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Returns the swerve configuration directory name relative to the deploy folder.

getSwerveDrive() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Provides access to the configured swerve drive for command factories and testing helpers.

getSysIdRoutine() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Exposes the underlying SysId routine so command factories can build characterization commands without subsystems manufacturing commands.

getTagSwitchStdDevMultiplier() - Method in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Returns the standard deviation multiplier for tag-switch frames.

getTargetVelocityRpm() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Returns the current target velocity in RPM.

getTimeOfFlightSeconds(double) - Method in class frc.robot.subsystems.shooter.ShooterSubsystem

Returns the estimated time of flight for a ball to reach a target at the given distance.

getTrenchCenterYMeters() - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Reads the tunable trench center Y-coordinate in meters.

getTriggerDeadband() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads the tunable deadband threshold for trigger activation.

getTuningEnabled() - Method in class frc.robot.shared.bindings.TriggerBindingsConfig

Reads whether tuning mode is enabled for trigger bindings.

getTurretFieldPosition(Pose2d) - Method in class frc.robot.subsystems.turret.TurretSubsystem

Computes the turret pivot position on the field by transforming the configured component offset from robot-relative to field-relative coordinates.

getTurretZeroOffsetDegrees() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns the turret zero offset in degrees.

getUseSetpointLimits() - Method in class frc.robot.shared.config.MotorConfig

Returns whether the motor should enforce minimum and maximum setpoint limits.

getVelocityRadiansPerSecond() - Method in class frc.robot.devices.motor.AbstractMotor

Reports the current measured velocity in radians per second.

getVelocityRadiansPerSecond() - Method in class frc.robot.devices.motor.CompositeMotor

Returns the primary motor's measured velocity in radians per second.

getVelocityRadiansPerSecond() - Method in class frc.robot.devices.motor.DisabledMotor

Reports a neutral encoder velocity of 0.

getVelocityRadiansPerSecond() - Method in interface frc.robot.devices.motor.Motor

Reports the current mechanism velocity.

getVelocityToleranceRadiansPerSecond() - Method in class frc.robot.shared.config.SetAndSeekMotionConfig

Returns the allowed velocity error in radians per second.

getVelocityToleranceRadiansPerSecond() - Method in class frc.robot.shared.config.VelocityMotionConfig

Returns the acceptable velocity error in radians per second.

getVerbose() - Method in class frc.robot.shared.config.AbstractSubsystemConfig

Returns whether verbose logging is enabled, tuned via SmartDashboard.

getVoltage() - Method in class frc.robot.devices.motor.AbstractMotor

getVoltage() - Method in class frc.robot.devices.motor.CompositeMotor

Returns the voltage applied to the primary motor.

getVoltage() - Method in class frc.robot.devices.motor.DisabledMotor

Reports the last commanded voltage as a neutral voltage measurement.

getVoltage() - Method in interface frc.robot.devices.motor.Motor

Reports the applied voltage.

getXMeters() - Method in class frc.robot.shared.bindings.DpadTargetConfig

Reads the tunable X-coordinate of the target in meters.

getYawRateRadiansPerSecond() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Returns the robot's current yaw rate (rotational velocity around the vertical axis).

getYMeters() - Method in class frc.robot.shared.bindings.DpadTargetConfig

Reads the tunable Y-coordinate of the target in meters.

goalState - Variable in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Desired goal state for the trapezoid profile.

gyroYaw - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Current gyro yaw reading.

H

handleSeekInterrupted() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Hook for subclasses to respond when a seek command is interrupted.

HARVEST_READY - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

Robot is configured to collect Fuel from the field.

HarvesterMotor - Class in frc.robot.subsystems.harvester.devices

SparkMax-backed harvester arm motor with baked-in limits, gearing, and telemetry.

HarvesterSimMotor - Class in frc.robot.subsystems.harvester.devices

Simulation-only harvester arm motor wrapper configured from the harvester subsystem config.

harvesterSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Harvester configuration bundle.

HarvesterSubsystem - Class in frc.robot.subsystems.harvester

Harvester subsystem that swings the intake arm between a stowed (upright) position and a deployed (lowered) position using a profiled motor.

HarvesterSubsystem(HarvesterSubsystemConfig) - Constructor for class frc.robot.subsystems.harvester.HarvesterSubsystem

Builds the harvester subsystem with a single profiled motor for arm positioning.

HarvesterSubsystemCommandFactory - Class in frc.robot.subsystems.harvester.commands

Factory that creates harvester arm commands and wires default behaviors.

HarvesterSubsystemCommandFactory(HarvesterSubsystem) - Constructor for class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Creates a factory for commands that share the given harvester subsystem instance.

HarvesterSubsystemConfig - Class in frc.robot.subsystems.harvester.config

Configuration bundle for the harvester arm mechanism.

HarvesterSubsystemConfig() - Constructor for class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

hashCode() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.TargetObservation

Returns a hash code value for this object.

hasVisionMeasurement - Variable in class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

True when a vision measurement has been received.

headingCorrectionEnabled - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Whether YAGSL heading correction is enabled.

headingDegrees - Variable in class frc.robot.shared.bindings.DpadTargetConfig

Target heading in degrees (blue-alliance perspective).

HoldHarvesterDeployedPositionCommand - Class in frc.robot.subsystems.harvester.commands

Default command that monitors the harvester arm while deployed and re-engages the motor if something pushes it away from the deployed position.

HoldHarvesterDeployedPositionCommand(HarvesterSubsystem) - Constructor for class frc.robot.subsystems.harvester.commands.HoldHarvesterDeployedPositionCommand

Creates the hold command for the given harvester subsystem.

horizontalOffsetDegrees - Variable in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Angle offset from the encoder's zero position to the arm's horizontal reference, in degrees.

hubPositionXMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

X-coordinate of the Alliance Hub target in meters (Blue alliance perspective).

hubPositionYMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

Y-coordinate of the Alliance Hub target in meters, aligned with the field center divider.

I

IDLE - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

All mechanisms at rest.

IdleFeederCommand - Class in frc.robot.subsystems.feeder.commands

Default command that maintains the feeder belt at the configured idle RPM.

IdleFeederCommand(FeederSubsystem) - Constructor for class frc.robot.subsystems.feeder.commands.IdleFeederCommand

Creates an idle command for the feeder.

IdleIndexerCommand - Class in frc.robot.subsystems.indexer.commands

Default command that maintains the indexer at the configured idle RPM (typically 0 to keep the roller stopped).

IdleIndexerCommand(IndexerSubsystem) - Constructor for class frc.robot.subsystems.indexer.commands.IdleIndexerCommand

Creates an idle command for the indexer.

IdleIntakeCommand - Class in frc.robot.subsystems.intake.commands

Default command that maintains the intake rollers at the configured idle RPM (typically zero).

IdleIntakeCommand(IntakeSubsystem) - Constructor for class frc.robot.subsystems.intake.commands.IdleIntakeCommand

Creates an idle command for the intake.

IdleShooterCommand - Class in frc.robot.subsystems.shooter.commands

Default command that maintains the shooter flywheel at the configured idle RPM.

IdleShooterCommand(ShooterSubsystem) - Constructor for class frc.robot.subsystems.shooter.commands.IdleShooterCommand

Creates an idle command for the shooter.

idleVelocityRpm - Variable in class frc.robot.shared.config.VelocityMotionConfig

Default idle velocity in RPM.

IGNORED_TAGS - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

All observed tags are in the ignored tag list.

ignoredTagIds - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

AprilTag IDs to ignore.

ignoredTagIds() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the ignoredTagIds record component.

IndexerMotor - Class in frc.robot.subsystems.indexer.devices

SparkMax-backed indexer motor configured from the indexer subsystem config.

IndexerSimMotor - Class in frc.robot.subsystems.indexer.devices

Simulation-only indexer motor wrapper configured from the indexer subsystem config.

indexerSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Indexer configuration bundle.

IndexerSubsystem - Class in frc.robot.subsystems.indexer

Indexer subsystem that controls when Fuel leaves the robot and enters the shooter.

IndexerSubsystem(IndexerSubsystemConfig) - Constructor for class frc.robot.subsystems.indexer.IndexerSubsystem

Builds the indexer subsystem with a single SparkMax-driven roller motor.

IndexerSubsystemCommandFactory - Class in frc.robot.subsystems.indexer.commands

Factory that creates indexer commands and wires default behaviors.

IndexerSubsystemCommandFactory(IndexerSubsystem) - Constructor for class frc.robot.subsystems.indexer.commands.IndexerSubsystemCommandFactory

Creates a factory for commands that share the given indexer subsystem instance.

IndexerSubsystemConfig - Class in frc.robot.subsystems.indexer.config

Configuration bundle for the indexer subsystem.

IndexerSubsystemConfig() - Constructor for class frc.robot.subsystems.indexer.config.IndexerSubsystemConfig

info(String) - Method in class frc.robot.shared.logging.Logger

Logs an informational message to the console.

init() - Method in class frc.robot.devices.motor.AbstractMotor

Applies hardware configuration after the subclass has finished assigning its config.

initAllianceChooser() - Static method in class frc.robot.shared.config.RobotEnvironment

Initializes the alliance dashboard chooser with Auto and alliance/station options.

initialize() - Method in class frc.robot.shared.commands.AbstractSubsystemCommand

initializeNestedDashboardPrefixes() - Method in class frc.robot.shared.config.AbstractConfig

Recursively sets the SmartDashboard prefix on nested AbstractConfig fields so their tunable keys appear under the parent's namespace.

initialPoseAcceptanceCount - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Number of vision poses to accept without checking odometry deviation at startup.

initialPoseAcceptanceCount() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the initialPoseAcceptanceCount record component.

initialPositionDegrees - Variable in class frc.robot.shared.config.SetAndSeekMotionConfig

Starting position used to seed the initial profile state, in degrees.

initialVelocityDegreesPerSecond - Variable in class frc.robot.shared.config.SetAndSeekMotionConfig

Starting velocity used to seed the initial profile state, in degrees per second.

IntakeMotor - Class in frc.robot.subsystems.intake.devices

SparkMax-backed intake roller motor configured from the intake subsystem config.

IntakeSimMotor - Class in frc.robot.subsystems.intake.devices

Simulation-only intake motor wrapper configured from the intake subsystem config.

intakeSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Intake configuration bundle.

IntakeSubsystem - Class in frc.robot.subsystems.intake

Intake subsystem that spins rollers to pull Fuel from the field into the feeder.

IntakeSubsystem(IntakeSubsystemConfig) - Constructor for class frc.robot.subsystems.intake.IntakeSubsystem

Builds the intake subsystem with a single motor-driven roller.

IntakeSubsystemCommandFactory - Class in frc.robot.subsystems.intake.commands

Factory that creates intake commands and wires default behaviors.

IntakeSubsystemCommandFactory(IntakeSubsystem) - Constructor for class frc.robot.subsystems.intake.commands.IntakeSubsystemCommandFactory

Creates a factory for commands that share the given intake subsystem instance.

IntakeSubsystemConfig - Class in frc.robot.subsystems.intake.config

Configuration bundle for the intake subsystem.

IntakeSubsystemConfig() - Constructor for class frc.robot.subsystems.intake.config.IntakeSubsystemConfig

integratorRangeMax - Variable in class frc.robot.shared.config.PidConfig

Maximum absolute value of the integral term's output contribution in volts.

intersectsLineSegment(Pose2d, Pose2d) - Method in class frc.robot.shared.bindings.TrenchZoneConfig

Tests whether the straight-line segment from one pose to another intersects this trench zone rectangle.

isApplyPowerManagementInAuto() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Returns whether state-based power management applies during autonomous mode.

isAtShootingVelocity() - Method in class frc.robot.subsystems.shooter.ShooterSubsystem

Reports whether the flywheel is spinning at a meaningful shooting velocity and is within tolerance of its current target.

isAtTargetVelocity() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Reports whether the measured velocity is within tolerance of the target and has been stable for the configured settle time.

isAutonomous - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

True when the robot is in the autonomous match phase.

isAutonomous() - Static method in class frc.robot.shared.config.RobotEnvironment

Reports whether the robot is currently in autonomous mode.

isDisabled - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

True when the robot is disabled.

isDisabled() - Static method in class frc.robot.shared.config.RobotEnvironment

Reports whether the robot is currently disabled.

isEndgameSuggested() - Method in class frc.robot.subsystems.gameplaystate.GameplayStateSubsystem

Returns true when the endgame threshold has been reached.

isFeeding() - Method in class frc.robot.subsystems.indexer.IndexerSubsystem

Returns true when the indexer is being commanded to feed forward toward the shooter.

isFinished() - Method in class frc.robot.shared.commands.AbstractIdleVelocityCommand

isFinished() - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommand

isFinished() - Method in class frc.robot.shared.commands.AbstractVelocityCommand

isFinished() - Method in class frc.robot.shared.commands.SetAndSeekSettleCommand

isFinished() - Method in class frc.robot.subsystems.harvester.commands.HoldHarvesterDeployedPositionCommand

isFinished() - Method in class frc.robot.subsystems.turret.commands.TrackFieldTargetCommand

Returns false so the command tracks continuously until interrupted.

isFMSAttached() - Static method in class frc.robot.shared.config.RobotEnvironment

Reports whether the robot is currently attached to the FMS.

isFMSAttached() - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Reports whether the robot is attached to the FMS at call time.

isHeadingCorrectionEnabled() - Method in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Returns whether YAGSL heading correction is enabled.

isInDeployedMode() - Method in class frc.robot.subsystems.harvester.HarvesterSubsystem

Reports whether the arm's current goal is the deployed position.

isInitialized() - Method in class frc.robot.devices.motor.AbstractMotor

Reports whether the motor has been initialized with hardware configuration.

isOfficial() - Method in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

Returns true when this layout comes from the official WPILib field resource.

isOnTarget() - Method in class frc.robot.subsystems.turret.TurretSubsystem

Checks whether the turret is aimed close enough to shoot, ignoring velocity.

isProfileSettled() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

States whether the profiled controller is within both position and velocity tolerances of its goal.

isReady() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Reports whether the subsystem is ready for downstream consumers.

isReal() - Static method in class frc.robot.shared.config.RobotEnvironment

Reports whether the code is running on real robot hardware.

isSimulation() - Static method in class frc.robot.shared.config.RobotEnvironment

Reports whether the code is running in WPILib simulation.

isSimulation() - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Reports whether the code is running in WPILib simulation.

isSotmEnabled() - Method in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Returns whether shoot-on-the-move translational compensation is enabled.

isSubsystemDisabled() - Method in class frc.robot.shared.subsystems.AbstractSubsystem

States whether this subsystem is marked as disabled in configuration.

isTeleop - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

True when the robot is in the teleop match phase.

isTeleop() - Static method in class frc.robot.shared.config.RobotEnvironment

Reports whether the robot is currently in teleop mode.

isVerbose() - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Reports whether verbose telemetry and debug output are enabled for this subsystem.

isVerboseLoggingEnabled() - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Reports whether verbose AdvantageKit output should be recorded this cycle.

isWithinInitialAcceptanceWindow() - Method in class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator

Returns whether the estimator is still within the initial pose acceptance window.

isWithinTolerance() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Reports whether the measured velocity is currently within tolerance of the target, without requiring the settle timer.

iZone - Variable in class frc.robot.shared.config.PidConfig

Maximum error (in process-variable units) at which the integral term accumulates.

J

joystickDeadband - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Joystick deadband for driver stick inputs.

K

kA - Variable in class frc.robot.shared.config.FeedforwardConfig

Acceleration feedforward gain in volts per radian per second squared.

kD - Variable in class frc.robot.shared.config.PidConfig

Derivative gain for the controller.

kDt - Static variable in class frc.robot.shared.subsystems.AbstractSubsystem

Nominal loop period in seconds for controller updates.

kG - Variable in class frc.robot.shared.config.FeedforwardConfig

Gravity feedforward gain in volts.

kI - Variable in class frc.robot.shared.config.PidConfig

Integral gain for the controller.

kP - Variable in class frc.robot.shared.config.PidConfig

Proportional gain for the controller.

kS - Variable in class frc.robot.shared.config.FeedforwardConfig

Static feedforward gain in volts.

kV - Variable in class frc.robot.shared.config.FeedforwardConfig

Velocity feedforward gain in volts per radian per second.

L

lastVisionPose - Variable in class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

Most recent vision pose in meters and radians.

lastVisionTimestampSeconds - Variable in class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

Timestamp of the last vision pose in seconds.

latestTargetObservation - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.AprilTagVisionIOInputs

Latest target yaw/pitch observation from the camera.

leftStickXResponseExponent - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Response curve exponent for the left stick X axis (left/right translation).

leftStickYResponseExponent - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Response curve exponent for the left stick Y axis (forward/backward translation).

leftZonePositionXMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

X-coordinate of the left zone rally point in meters (Blue alliance perspective).

leftZonePositionYMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

Y-coordinate of the left zone rally point in meters.

linearStandardDeviationBaseline - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Standard deviation for linear (x/y) pose measurements at 1 meter with a single tag.

linearStdDevBaseline() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the linearStdDevBaseline record component.

load(String, Class<TConfig>) - Static method in class frc.robot.shared.config.ConfigurationLoader

Loads a configuration file from the deploy directory and maps it to a type.

loadLayout() - Method in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Builds an AprilTag field layout using the configured field type and origin.

log - Variable in class frc.robot.devices.motor.AbstractMotor

Shared logger instance used for warnings and verbose updates.

log - Variable in class frc.robot.shared.commands.AbstractSubsystemCommand

Logger scoped to the concrete command class.

log - Variable in class frc.robot.shared.subsystems.AbstractSubsystem

Logger instance scoped to the subsystem.

logDisabled(String) - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Logs a standardized message when a call is skipped due to disable state.

Logger - Class in frc.robot.shared.logging

Logger is a utility class for logging messages with different levels of severity.

Logger(String, BooleanSupplier) - Constructor for class frc.robot.shared.logging.Logger

Creates a logger scoped to the provided class name.

logSysIdEnd() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Logs the successful completion of a SysId routine.

logSysIdInterrupted() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Logs when a SysId routine is interrupted before completion.

logSysIdStart() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Logs the start of a SysId routine for operator awareness.

lowVoltageSpeedScalePercent - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Percentage of maximum drive speed applied when battery voltage is below DriveBaseSubsystemConfig.lowVoltageThresholdVolts but above DriveBaseSubsystemConfig.criticalVoltageThresholdVolts.

lowVoltageThresholdVolts - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Battery voltage threshold below which the drive base begins scaling speed to conserve power.

M

main(String...) - Static method in class frc.robot.Main

Starts the robot application using WPILib's lifecycle.

Main - Class in frc.robot

Entry point that launches the WPILib robot framework.

mapDriverOmega(double) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Converts a pre-shaped driver omega axis into a scaled angular speed in radians per second.

mapDriverOmegaSupplier(Supplier<Double>) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Wraps DriveBaseSubsystem.mapDriverOmega(double) in a supplier so callers can hand the mapping function directly to commands.

mapDriverTranslation(double, double) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Converts pre-shaped driver axes into scaled translation speeds in meters per second.

mapDriverTranslationSupplier(Supplier<Double>, Supplier<Double>) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Wraps DriveBaseSubsystem.mapDriverTranslation(double, double) in a supplier so callers can hand the mapping function directly to commands.

matchTimeSeconds - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

Match time remaining in seconds, or -1.0 when unavailable.

maxAmbiguity() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the maxAmbiguity record component.

maximumAccelerationDegreesPerSecondSquared - Variable in class frc.robot.shared.config.SetAndSeekMotionConfig

Maximum acceleration for the trapezoidal profile, in degrees per second squared.

maximumAccelerationRpmPerSecond - Variable in class frc.robot.shared.config.VelocityMotionConfig

Maximum acceleration in RPM per second for the velocity ramp.

maximumAmbiguity - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Maximum pose ambiguity allowed for single-tag observations.

maximumAngularSpeedDegreesPerSecond - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Maximum angular speed in degrees per second.

maximumLinearSpeedFeetPerSecond - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Maximum linear speed in feet per second.

maximumMultiTagAmbiguity - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Maximum ambiguity for multi-tag PnP solves.

maximumPoseDeviationMeters - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Maximum allowed deviation in meters between the vision-estimated pose and the current odometry pose.

maximumTagDistanceMeters - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Maximum average tag distance in meters.

maximumVelocityDegreesPerSecond - Variable in class frc.robot.shared.config.SetAndSeekMotionConfig

Maximum velocity for the trapezoidal profile, in degrees per second.

maximumVelocityRpm - Variable in class frc.robot.shared.config.VelocityMotionConfig

Maximum allowed mechanism velocity in RPM.

maximumZHeightMeters - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Maximum absolute Z height in meters for the estimated robot pose.

maxMultiTagAmbiguity() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the maxMultiTagAmbiguity record component.

maxPoseDeviationMeters() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the maxPoseDeviationMeters record component.

maxTagDistance() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the maxTagDistance record component.

maxTagDistanceMeters - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

Maximum distance in meters from the camera to a tag before the tag is excluded from observations.

maxTagDistanceMeters() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the maxTagDistanceMeters record component.

maxXMeters - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Maximum X-coordinate of the trench zone in meters (field coordinates).

maxYMeters - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Maximum Y-coordinate of the trench zone in meters (field coordinates).

maxZHeightMeters() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the maxZHeightMeters record component.

measurement() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Returns the value of the measurement record component.

minXMeters - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Minimum X-coordinate of the trench zone in meters (field coordinates).

minYMeters - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Minimum Y-coordinate of the trench zone in meters (field coordinates).

MODULE_BACK_LEFT - Static variable in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Module index for the back-left swerve module in the YAGSL modules array.

MODULE_BACK_RIGHT - Static variable in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Module index for the back-right swerve module in the YAGSL modules array.

MODULE_FRONT_LEFT - Static variable in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Module index for the front-left swerve module in the YAGSL modules array.

MODULE_FRONT_RIGHT - Static variable in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Module index for the front-right swerve module in the YAGSL modules array.

moduleStates - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Measured swerve module states.

moduleTargets - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Target swerve module states requested by the controller.

motionProfile - Variable in class frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

Trapezoidal motion profile parameters for this set-and-seek subsystem.

motionProfile - Variable in class frc.robot.shared.config.AbstractVelocitySubsystemConfig

Velocity motion profile parameters for this velocity subsystem.

motor - Variable in class frc.robot.devices.motor.AbstractMotor

Hardware controller that actually drives the motor output.

motor - Variable in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Motor used to drive the mechanism.

Motor - Interface in frc.robot.devices.motor

Minimal motor control surface for set-and-seek style mechanisms.

motorCanId - Variable in class frc.robot.shared.config.MotorConfig

CAN device ID of the motor controller.

motorConfig - Variable in class frc.robot.shared.config.AbstractMotorSubsystemConfig

Motor configuration bundle for this subsystem's primary motor.

MotorConfig - Class in frc.robot.shared.config

Base configuration bundle for a single motor controller and its mechanism limits.

MotorConfig() - Constructor for class frc.robot.shared.config.MotorConfig

motorInputs - Variable in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Logged motor inputs snapshot used for telemetry and replay.

motorInverted - Variable in class frc.robot.shared.config.MotorConfig

True when the motor output should be inverted.

MotorIO - Interface in frc.robot.devices.motor

Defines the telemetry surface for a motor controller so AdvantageKit can mirror hardware readings.

MotorIO.MotorIOInputs - Class in frc.robot.devices.motor

Container of motor state fields captured for telemetry.

MotorIOInputs() - Constructor for class frc.robot.devices.motor.MotorIO.MotorIOInputs

motorRotationsPerMechanismRotation - Variable in class frc.robot.shared.config.MotorConfig

Gear ratio expressed as motor rotations per one mechanism rotation.

MoveFieldManualCommand - Class in frc.robot.subsystems.drivebase.commands

Drives the robot field-relative using continuously supplied chassis speeds.

MoveFieldManualCommand(DriveBaseSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.subsystems.drivebase.commands.MoveFieldManualCommand

Creates a manual drive command that issues field-relative chassis speeds.

MoveFieldManualWithHeadingCommand - Class in frc.robot.subsystems.drivebase.commands

Drives the robot field-relative using driver-supplied translation while locking the heading to a PID-controlled target angle.

MoveFieldManualWithHeadingCommand(DriveBaseSubsystem, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.subsystems.drivebase.commands.MoveFieldManualWithHeadingCommand

Creates a heading-locked manual drive command.

MoveHarvesterToPositionCommand - Class in frc.robot.subsystems.harvester.commands

Drives the harvester arm toward a target angle using its trapezoidal profile.

MoveHarvesterToPositionCommand(HarvesterSubsystem, double) - Constructor for class frc.robot.subsystems.harvester.commands.MoveHarvesterToPositionCommand

Builds a profiled harvester move command that drives to a fixed angle.

MoveHarvesterToPositionCommand(HarvesterSubsystem, Supplier<Double>) - Constructor for class frc.robot.subsystems.harvester.commands.MoveHarvesterToPositionCommand

Builds a profiled harvester move command that reads the target angle from a supplier.

MoveTurretToAngleCommand - Class in frc.robot.subsystems.turret.commands

Drives the turret toward a target angle using its trapezoidal profile.

MoveTurretToAngleCommand(TurretSubsystem, double) - Constructor for class frc.robot.subsystems.turret.commands.MoveTurretToAngleCommand

Builds a profiled turret move command that drives to a fixed angle.

MoveTurretToAngleCommand(TurretSubsystem, Supplier<Double>) - Constructor for class frc.robot.subsystems.turret.commands.MoveTurretToAngleCommand

Builds a profiled turret move command that reads the target angle from a supplier.

MULTI_TAG_AMBIGUITY - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Multi-tag observation exceeded the ambiguity threshold.

N

name - Variable in class frc.robot.devices.motor.AbstractMotor

Friendly name used in log messages and dashboard keys.

NO_TAGS - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

No tags were detected in the observation.

NOMINAL_VOLTAGE - Static variable in class frc.robot.devices.motor.AbstractMotor

Nominal voltage used for reference calculations.

normalSpeedScale - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Fraction of maximum linear speed used during normal driving (no trigger held).

O

ODOMETRY_DEVIATION - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Vision pose deviates too far from the current odometry pose.

odometryOnlyPose - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Raw odometry-only pose derived from wheel encoders and gyro, without any vision fusion.

odometryOnlyPose - Variable in class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

Raw odometry-only pose from wheel encoders and gyro, without vision corrections.

odometryTimestampSeconds - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Timestamp for the latest odometry update in seconds.

onInitialize() - Method in class frc.robot.shared.commands.AbstractIdleVelocityCommand

onInitialize() - Method in class frc.robot.shared.commands.AbstractSetAndSeekCommand

onInitialize() - Method in class frc.robot.shared.commands.AbstractSubsystemCommand

Optional hook for subclasses to run logic during initialize after the start log.

onInitialize() - Method in class frc.robot.shared.commands.AbstractVelocityCommand

onInitialize() - Method in class frc.robot.shared.commands.SetAndSeekSettleCommand

onInitialize() - Method in class frc.robot.subsystems.drivebase.commands.MoveFieldManualCommand

Clears any pose targets so manual control can fully own the drivebase.

onInitialize() - Method in class frc.robot.subsystems.drivebase.commands.MoveFieldManualWithHeadingCommand

Resets the heading PID controller so stale integral error does not produce a large initial output.

onInitialize() - Method in class frc.robot.subsystems.harvester.commands.HoldHarvesterDeployedPositionCommand

onInitialize() - Method in class frc.robot.subsystems.turret.commands.TrackFieldTargetCommand

Seeds the turret target with the current field-relative angle on first run.

onTargetPositionToleranceDegrees - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Position error threshold for the on-target readiness check, in degrees.

ORIGIN - Static variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Enum name for the AprilTag layout origin to apply.

OUTSIDE_FIELD - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Estimated pose is outside the field boundaries.

P

Params(double, double, double, double, double, double, double, double, double, int[], double, int) - Constructor for record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Creates an instance of a Params record class.

PathPlannerCommandFactory - Class in frc.robot.subsystems.drivebase.commands

Builds autonomous command sequences for each driver-station position.

PathPlannerCommandFactory() - Constructor for class frc.robot.subsystems.drivebase.commands.PathPlannerCommandFactory

Creates a new factory and pre-loads all known autos.

pathRotation - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

PID gains for the path following rotation controller.

pathTranslation - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

PID gains for the path following translation controller.

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

Runs once per robot loop to perform non-subsystem periodic checks.

periodic() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Refreshes feedforward configuration when not attached to the FMS, and logs motor inputs every cycle.

periodic() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Refreshes motor configuration and profile constraints when not attached to the FMS.

periodic() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Refreshes motor, feedforward, and PID configuration when not attached to the FMS, and logs common velocity telemetry.

periodic() - Method in class frc.robot.shared.targeting.BallFlightSimulator

Advances all in-flight balls, checks for new launches, and logs positions to AdvantageKit.

periodic() - Method in class frc.robot.subsystems.apriltagvision.AprilTagVisionSubsystem

Pulls the latest frames from each camera, filters pose observations, and forwards accepted measurements to the robot state estimator.

periodic() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Called every robot tick to update voltage smoothing and publish telemetry.

periodic() - Method in class frc.robot.subsystems.gameplaystate.GameplayStateSubsystem

Evaluates automatic state transitions and logs telemetry each robot loop.

periodic() - Method in class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Reads the latest fused pose from the drivebase estimator and logs telemetry each robot loop.

pid - Variable in class frc.robot.shared.config.AbstractMotorSubsystemConfig

PID controller gains for this motor subsystem.

PidConfig - Class in frc.robot.shared.config

Configuration bundle for PID controller gains.

PidConfig() - Constructor for class frc.robot.shared.config.PidConfig

pitch - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Robot-to-camera pitch in radians.

pose - Variable in class frc.robot.subsystems.drivebase.io.DriveBaseIO.DriveBaseIOInputs

Current robot pose estimate in meters and radians.

pose() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Returns the value of the pose record component.

pose() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the pose record component.

Pose2dDeserializer - Class in frc.robot.shared.config

Jackson deserializer for a Pose2d stored as JSON with fields x, y (meters), and rotation in degrees.

Pose2dDeserializer() - Constructor for class frc.robot.shared.config.Pose2dDeserializer

poseFilter - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Pose quality filters and trust parameters.

PoseFilterConfig - Class in frc.robot.subsystems.apriltagvision.config

Filtering and trust parameters for AprilTag pose estimation.

PoseFilterConfig() - Constructor for class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

PoseObservation(double, Pose3d, double, int, double, double, int[]) - Constructor for record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Creates an instance of a PoseObservation record class.

poseObservations - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.AprilTagVisionIOInputs

Pose estimates derived from current AprilTag observations.

positionDegrees - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Measured mechanism position in degrees (post conversion).

positionRadians - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Measured mechanism position in radians (post conversion).

positionToleranceDegrees - Variable in class frc.robot.shared.config.SetAndSeekMotionConfig

Acceptable position error when deciding if the mechanism is at its goal, in degrees.

processInputs(String, LoggableInputs) - Method in class frc.robot.shared.logging.Logger

Records an auto-logged input snapshot with the logger prefix applied.

Q

quasistaticTimeoutSeconds - Variable in class frc.robot.shared.config.SysIdRoutineConfig

Timeout for the quasistatic (slow ramp) portion of SysId in seconds.

R

rampRateVoltsPerSecond - Variable in class frc.robot.shared.config.SysIdRoutineConfig

Quasistatic voltage ramp rate for SysId characterization in volts per second.

readTunableBoolean(String, boolean) - Method in class frc.robot.shared.config.AbstractConfig

Reads a tunable boolean backed by AdvantageKit's logged network inputs so tweaks are captured in logs and respected during replay, but still falls back to the default when attached to FMS to avoid match-time latency.

readTunableDegrees(String, double) - Method in class frc.robot.shared.config.AbstractConfig

Reads a tunable number that represents degrees.

readTunableDegreesAsRadians(String, double) - Method in class frc.robot.shared.config.AbstractConfig

Reads a tunable number stored in degrees and returns the value in radians.

readTunableNumber(String, double) - Method in class frc.robot.shared.config.AbstractConfig

Reads a tunable number backed by AdvantageKit's logged network inputs so tweaks are captured in logs and respected during replay, but still falls back to the default when attached to FMS to avoid match-time latency.

readTunableString(String, String) - Method in class frc.robot.shared.config.AbstractConfig

Reads a tunable string backed by AdvantageKit's logged network inputs so tweaks are captured in logs and respected during replay, but still falls back to the default when attached to FMS to avoid match-time latency.

recordOutput(String, boolean) - Method in class frc.robot.shared.logging.Logger

Records a boolean to AdvantageKit using the class name as a prefix.

recordOutput(String, double) - Method in class frc.robot.shared.logging.Logger

Records a numeric value to AdvantageKit using the class name as a prefix.

recordOutput(String, double[]) - Method in class frc.robot.shared.logging.Logger

Records an array of numeric values to AdvantageKit using the class name as a prefix.

recordOutput(String, String) - Method in class frc.robot.shared.logging.Logger

Records a string value to AdvantageKit using the class name as a prefix.

recordOutput(String, T) - Method in class frc.robot.shared.logging.Logger

Records a struct-serializable value to AdvantageKit using the class name as a prefix.

recordOutput(String, T...) - Method in class frc.robot.shared.logging.Logger

Records an array of struct-serializable values to AdvantageKit using the class name as a prefix.

recordOutput(String, T[][]) - Method in class frc.robot.shared.logging.Logger

Records a 2D array of struct-serializable values to AdvantageKit using the class name as a prefix.

recordVerboseOutput(String, boolean) - Method in class frc.robot.shared.logging.Logger

Records a boolean to AdvantageKit only when not attached to the FMS and verbose is enabled.

recordVerboseOutput(String, double) - Method in class frc.robot.shared.logging.Logger

Records a numeric value to AdvantageKit only when not attached to the FMS and verbose is enabled.

recordVerboseOutput(String, double[]) - Method in class frc.robot.shared.logging.Logger

Records an array of numeric values to AdvantageKit only when not attached to the FMS and verbose is enabled.

recordVerboseOutput(String, String) - Method in class frc.robot.shared.logging.Logger

Records a string value to AdvantageKit only when not attached to the FMS and verbose is enabled.

recordVerboseOutput(String, T) - Method in class frc.robot.shared.logging.Logger

Records a struct-serializable value to AdvantageKit only when not attached to the FMS and verbose is enabled.

recordVerboseOutput(String, T...) - Method in class frc.robot.shared.logging.Logger

Records an array of struct-serializable values to AdvantageKit only when not attached to the FMS and verbose is enabled.

recordVerboseOutput(String, T[][]) - Method in class frc.robot.shared.logging.Logger

Records a 2D array of struct-serializable values to AdvantageKit only when not attached to the FMS and verbose is enabled.

refreshCycle() - Static method in class frc.robot.shared.config.RobotEnvironment

Refreshes cached environment state once per robot loop.

refreshFeedforward() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Re-reads feedforward gains from config so live tuning updates affect voltage estimates immediately.

refreshFeedforward() - Method in class frc.robot.subsystems.harvester.HarvesterSubsystem

Re-reads arm feedforward gains from config so live tuning updates affect voltage estimates immediately.

rejected(AprilTagPoseEstimator.RejectionReason) - Static method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Creates a rejected result with the given reason.

rejectionReason() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Returns the value of the rejectionReason record component.

reportError(String, StackTraceElement[]) - Static method in class frc.robot.shared.config.RobotEnvironment

Reports a fatal or high-severity error to the Driver Station console.

reportWarning(String, boolean) - Static method in class frc.robot.shared.config.RobotEnvironment

Reports a recoverable warning to the Driver Station console.

reportWarning(String, boolean) - Method in class frc.robot.shared.subsystems.AbstractSubsystem

Reports a recoverable warning to the Driver Station console.

requestedState - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

Name of the most recently requested state before it was applied.

requestState(GameplayState, String) - Method in class frc.robot.subsystems.gameplaystate.GameplayStateSubsystem

Requests a transition to the specified gameplay state.

resetEncoderPosition() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Resets the motor encoder to the configured initial position and reinitializes the profile state.

resetHeadingController() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Resets the heading PID controller so accumulated integral error does not carry over between commands.

resetPose(Pose2d) - Method in class frc.robot.RobotContainer

Resets the robot pose for both the drivebase and the robot state estimator.

resetPose(Pose2d) - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Resets odometry and gyro heading to the supplied pose.

resetPose(Pose2d) - Method in class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Resets all pose tracking to the provided pose.

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

Resets the robot pose using the latest vision measurement from the cameras.

resetPoseFromVision() - Method in class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Resets the robot pose to the most recent vision measurement.

resetRawOdometry(Pose2d) - Method in class frc.robot.subsystems.drivebase.io.DriveBaseIOYagsl

Resets the raw odometry tracker to a given pose.

resetWarmStart() - Method in class frc.robot.shared.targeting.ShootOnTheMoveCalculator

Resets the warm-start state.

ReverseFeederCommand - Class in frc.robot.subsystems.feeder.commands

Command that spins the feeder belt in reverse to clear Fuel back toward the intake.

ReverseFeederCommand(FeederSubsystem, double) - Constructor for class frc.robot.subsystems.feeder.commands.ReverseFeederCommand

Creates a reverse command that drives the belt at a fixed negative RPM.

ReverseFeederCommand(FeederSubsystem, Supplier<Double>) - Constructor for class frc.robot.subsystems.feeder.commands.ReverseFeederCommand

Creates a reverse command that reads its target RPM from a supplier.

ReverseIndexerCommand - Class in frc.robot.subsystems.indexer.commands

Command that spins the indexer roller in reverse to back Fuel toward the feeder.

ReverseIndexerCommand(IndexerSubsystem, double) - Constructor for class frc.robot.subsystems.indexer.commands.ReverseIndexerCommand

Creates a reverse command that drives the roller at a fixed negative RPM.

ReverseIndexerCommand(IndexerSubsystem, Supplier<Double>) - Constructor for class frc.robot.subsystems.indexer.commands.ReverseIndexerCommand

Creates a reverse command that reads its target RPM from a supplier.

reversePulseDurationSeconds - Variable in class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

Duration of the reverse pulse used to unstick Fuel before running the belt forward, in seconds.

reverseSoftLimitDegrees - Variable in class frc.robot.shared.config.MotorConfig

Reverse travel soft limit in degrees.

reverseVelocityRpm - Variable in class frc.robot.subsystems.feeder.config.FeederSubsystemConfig

Reverse velocity used for clearing Fuel back toward the intake, in RPM.

reverseVelocityRpm - Variable in class frc.robot.subsystems.indexer.config.IndexerSubsystemConfig

Reverse velocity used for clearing jams or backing Fuel toward the feeder, in RPM.

reverseVelocityRpm - Variable in class frc.robot.subsystems.intake.config.IntakeSubsystemConfig

Reverse velocity used for ejecting Fuel back onto the field, in RPM.

rightStickXResponseExponent - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Response curve exponent for the right stick X axis (rotation/omega).

rightZonePositionXMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

X-coordinate of the right zone rally point in meters (Blue alliance perspective).

rightZonePositionYMeters - Variable in class frc.robot.shared.field.FieldTargetConfig

Y-coordinate of the right zone rally point in meters.

Robot - Class in frc.robot

Main robot class that owns the command scheduler and logging setup.

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

Creates the robot and initializes logging, replay, and container wiring.

RobotContainer - Class in frc.robot

Central wiring hub for subsystems, commands, and driver inputs.

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

Builds the robot container and wires subsystems, command factories, and bindings.

RobotEnvironment - Class in frc.robot.shared.config

Single source of truth for robot environment state: FMS attachment, simulation detection, alliance info, and Driver Station reporting.

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

Runs once every scheduler cycle regardless of robot mode.

RobotPoseIO - Interface in frc.robot.subsystems.robotpose.io

Defines the contract for robot pose telemetry inputs that AdvantageKit will log.

RobotPoseIO.RobotPoseIOInputs - Class in frc.robot.subsystems.robotpose.io

Container of robot pose telemetry fields that AdvantageKit will persist.

RobotPoseIOInputs() - Constructor for class frc.robot.subsystems.robotpose.io.RobotPoseIO.RobotPoseIOInputs

robotPoseSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Robot pose configuration bundle.

RobotPoseSubsystem - Class in frc.robot.subsystems.robotpose

Centralized pose tracking subsystem that serves as the single authority for robot field pose.

RobotPoseSubsystem(RobotPoseSubsystemConfig, Supplier<Pose2d>, Supplier<Pose2d>, VisionMeasurementConsumer, Consumer<Pose2d>) - Constructor for class frc.robot.subsystems.robotpose.RobotPoseSubsystem

Creates the Robot Pose subsystem with all cross-subsystem dependencies.

RobotPoseSubsystemConfig - Class in frc.robot.subsystems.robotpose.config

Configuration bundle for the Robot Pose subsystem.

RobotPoseSubsystemConfig() - Constructor for class frc.robot.subsystems.robotpose.config.RobotPoseSubsystemConfig

robotToCamera - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

Transform from robot center to the camera position.

roll - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Robot-to-camera roll in radians.

rotationalLeadTimeSeconds - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Look-ahead time for rotational velocity compensation in seconds.

rotationToleranceDegrees - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Allowed heading error in degrees.

rpm - Variable in class frc.robot.subsystems.shooter.config.DistanceRpmPoint

Target flywheel RPM at this distance.

rpmAdjustmentAmountRpm - Variable in class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

RPM amount added or subtracted when the operator uses the boost or cut triggers.

rpmToDegreesPerSecond(double) - Static method in class frc.robot.shared.config.VelocityMotionConfig

Converts an RPM value to degrees per second.

rpmToRadiansPerSecond(double) - Static method in class frc.robot.shared.config.VelocityMotionConfig

Converts an RPM value to radians per second.

S

seekTarget() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Advances the trapezoidal profile by one cycle and hands the setpoint to the subclass for actuation.

seekVelocity() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Advances the velocity controller by one cycle: updates motor inputs, steps the optional velocity ramp, computes PID + feedforward, and applies the voltage to the motor.

SetAndSeekMotionConfig - Class in frc.robot.shared.config

Configuration bundle for trapezoidal motion profile parameters used by set-and-seek subsystems.

SetAndSeekMotionConfig() - Constructor for class frc.robot.shared.config.SetAndSeekMotionConfig

SetAndSeekSettleCommand<TSubsystem extends AbstractSetAndSeekSubsystem<?>> - Class in frc.robot.shared.commands

Retargets a set-and-seek subsystem to its current position and runs the profiled controller until it reports settled, then stops the motor.

SetAndSeekSettleCommand(TSubsystem) - Constructor for class frc.robot.shared.commands.SetAndSeekSettleCommand

Creates a settle command for the given subsystem.

setDashboardPrefix(String) - Method in class frc.robot.shared.config.AbstractConfig

Overrides the SmartDashboard prefix used for tunable key resolution.

setDefaultHoldDeployedPositionCommand() - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a hold command and sets it as the default command for the harvester subsystem.

setDefaultIdleCommand() - Method in class frc.robot.shared.commands.AbstractVelocityCommandFactory

Sets the idle command as the default command for this velocity subsystem.

setDefaultIdleCommand() - Method in class frc.robot.subsystems.gameplaystate.commands.GameplayStateCommandFactory

Sets the idle command as the default behavior for the gameplay state subsystem.

setDefaultManualDriveCommand(Supplier<Double>, Supplier<Double>, Supplier<Double>) - Method in class frc.robot.subsystems.drivebase.commands.DriveBaseSubsystemCommandFactory

Builds and sets the default manual drive command using a driver controller.

setDefaultStowCommand() - Method in class frc.robot.subsystems.harvester.commands.HarvesterSubsystemCommandFactory

Builds a stow command and sets it as the default command for the harvester subsystem.

setDefaultTrackFieldTargetCommand(RobotPoseSubsystem, Supplier<Translation2d>, Supplier<Double>, Supplier<ChassisSpeeds>, DoubleUnaryOperator) - Method in class frc.robot.subsystems.turret.commands.TurretSubsystemCommandFactory

Builds and sets the default turret tracking command with shoot-on-the-move compensation.

setEncoderPosition(double) - Method in class frc.robot.devices.motor.AbstractMotor

Overwrites the encoder's stored position so the mechanism's logical zero matches its physical location.

setEncoderPosition(double) - Method in class frc.robot.devices.motor.AbstractSimMotor

Overwrites the real encoder, the SparkMaxSim, and the physics model position.

setEncoderPosition(double) - Method in class frc.robot.devices.motor.CompositeMotor

Overwrites the encoder position on the primary motor and all followers.

setEncoderPosition(double) - Method in class frc.robot.devices.motor.DisabledMotor

Ignores encoder position changes because no hardware exists.

setEncoderPosition(double) - Method in interface frc.robot.devices.motor.Motor

Overwrites the encoder's stored position so the mechanism's logical zero matches its physical location.

setFeedVelocity() - Method in class frc.robot.subsystems.indexer.IndexerSubsystem

Convenience method that sets the roller to the configured default feed velocity.

setForwardVelocity() - Method in class frc.robot.subsystems.feeder.FeederSubsystem

Convenience method that sets the belt to the configured forward transport velocity.

setForwardVelocity() - Method in class frc.robot.subsystems.intake.IntakeSubsystem

Convenience method that sets the rollers to the configured forward intake velocity.

setpointState - Variable in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Current setpoint state produced by the trapezoid profile.

setReverseVelocity() - Method in class frc.robot.subsystems.feeder.FeederSubsystem

Convenience method that sets the belt to reverse at the configured clearing velocity.

setReverseVelocity() - Method in class frc.robot.subsystems.indexer.IndexerSubsystem

Convenience method that sets the roller to reverse at the configured reverse velocity.

setReverseVelocity() - Method in class frc.robot.subsystems.intake.IntakeSubsystem

Convenience method that sets the rollers to reverse at the configured eject velocity.

setRpmOffset(double) - Method in class frc.robot.subsystems.shooter.ShooterSubsystem

Sets the operator RPM offset applied on top of every target velocity.

setTarget(double) - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Sets a new goal for the motion profile.

setTarget(double) - Method in class frc.robot.subsystems.turret.TurretSubsystem

Sets a new turret goal after normalizing the angle into the [-180, 180] range.

setTargetVelocityRpm(double) - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Sets a new target velocity for the mechanism.

setTargetVelocityRpm(double) - Method in class frc.robot.subsystems.shooter.ShooterSubsystem

Sets a new target velocity, applies the operator RPM offset, and clamps to forward-only rotation.

settleAtCurrentPosition() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Retargets the profile using the latest measured position and velocity to settle without oscillation.

settleTimeSeconds - Variable in class frc.robot.shared.config.VelocityMotionConfig

How long the velocity must stay within tolerance before reporting ready, in seconds.

setVoltage(Voltage) - Method in class frc.robot.devices.motor.AbstractMotor

setVoltage(Voltage) - Method in class frc.robot.devices.motor.CompositeMotor

Sends a voltage command to the primary motor and all followers.

setVoltage(Voltage) - Method in class frc.robot.devices.motor.DisabledMotor

Ignores voltage requests and records the last value for telemetry.

setVoltage(Voltage) - Method in interface frc.robot.devices.motor.Motor

Commands the motor with a voltage request.

ShooterMotor - Class in frc.robot.subsystems.shooter.devices

SparkMax-backed shooter flywheel motor configured from the shooter subsystem config.

ShooterSimMotor - Class in frc.robot.subsystems.shooter.devices

Simulation-only shooter motor wrapper configured from the shooter subsystem config.

shooterSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Shooter configuration bundle.

ShooterSubsystem - Class in frc.robot.subsystems.shooter

Shooter subsystem that spins a flywheel to launch Fuel into the scoring hub.

ShooterSubsystem(ShooterSubsystemConfig) - Constructor for class frc.robot.subsystems.shooter.ShooterSubsystem

Builds the shooter subsystem with a primary motor and an optional follower motor.

ShooterSubsystemCommandFactory - Class in frc.robot.subsystems.shooter.commands

Generates commands that operate on the shooter subsystem so RobotContainer can stay focused on wiring.

ShooterSubsystemCommandFactory(ShooterSubsystem) - Constructor for class frc.robot.subsystems.shooter.commands.ShooterSubsystemCommandFactory

Creates a factory for commands that share the given shooter subsystem instance.

ShooterSubsystemConfig - Class in frc.robot.subsystems.shooter.config

Configuration bundle for the shooter subsystem.

ShooterSubsystemConfig() - Constructor for class frc.robot.subsystems.shooter.config.ShooterSubsystemConfig

shootingSpeedScalePercent - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Percentage of maximum drive speed allowed when the robot is actively shooting (FIRE_READY or AUTO_CYCLE).

ShootOnTheMoveCalculator - Class in frc.robot.shared.targeting

Shoot-on-the-move solver that computes a compensated aim point and distance for the turret.

ShootOnTheMoveCalculator(double, double, int, double) - Constructor for class frc.robot.shared.targeting.ShootOnTheMoveCalculator

Creates a solver with the given tuning parameters.

ShootOnTheMoveCalculator.ShotSolution - Record Class in frc.robot.shared.targeting

Immutable result of the SOTM solve.

SHOP - Enum constant in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

Obots shop.

SHOP_FIELD - Static variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Deploy-relative path for the shop field layout.

ShotSolution(Translation2d, double, double, int, boolean) - Constructor for record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Creates an instance of a ShotSolution record class.

silenceJoystickConnectionWarning(boolean) - Static method in class frc.robot.shared.config.RobotEnvironment

Silences the joystick connection warning that fires in simulation when no controllers are plugged in.

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

Runs once when the simulator first starts.

simulationOmegaScale - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Additional rotation scale applied in simulation.

simulationPeriodic() - Method in class frc.robot.subsystems.turret.TurretSubsystem

Publishes the simulated turret's 3D pose for AdvantageScope animation.

simulationTranslationScale - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Additional translation scale applied in simulation.

SINGLE_TAG_AMBIGUITY - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Single-tag observation exceeded the ambiguity threshold.

slowSpeedScale - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Fraction of maximum linear speed used when the left trigger (precision/slow) is held.

smartCurrentLimitAmps - Variable in class frc.robot.shared.config.MotorConfig

Smart current limit for the motor in amps.

solve(Translation2d, ChassisSpeeds, double, double, double, Translation2d, DoubleUnaryOperator) - Method in class frc.robot.shared.targeting.ShootOnTheMoveCalculator

Solves for the compensated aim point given the robot's current state.

sotmActive() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns the value of the sotmActive record component.

sotmConvergenceToleranceSeconds - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Convergence threshold for the Newton solver in seconds.

sotmDragCoefficient - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Aerodynamic drag coefficient applied to the ball's inherited robot velocity during flight.

sotmEnabled - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Enables or disables the shoot-on-the-move translational compensation.

sotmMaxIterations - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Maximum Newton iterations before falling back to the uncompensated TOF.

sotmMinSpeedMetersPerSecond - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Robot speed below which SOTM is disabled and the turret aims straight at the target.

sprintSpeedScale - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Fraction of maximum linear speed used when the right trigger (sprint) is held.

standardDeviations() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Returns the value of the standardDeviations record component.

staticSolution(Translation2d, double, double) - Static method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Construct a static (no-SOTM) solution from raw values.

stepVoltage - Variable in class frc.robot.shared.config.SysIdRoutineConfig

Step voltage applied during SysId dynamic tests in volts.

stop() - Method in class frc.robot.devices.motor.AbstractMotor

Stops motor output immediately.

stop() - Method in class frc.robot.devices.motor.CompositeMotor

Stops the primary motor and all followers immediately.

stop() - Method in class frc.robot.devices.motor.DisabledMotor

Stops output by clearing the stored voltage request.

stop() - Method in interface frc.robot.devices.motor.Motor

Stops the motor output.

stop() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Stops the motor and resets subsystem state to a safe idle condition.

stop() - Method in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

Resets the profiled controller and goal state, then stops the motor.

stop() - Method in class frc.robot.shared.subsystems.AbstractVelocitySubsystem

Resets velocity controller state to zero and stops the motor.

stop() - Method in class frc.robot.subsystems.drivebase.DriveBaseSubsystem

Stops all motion and locks the modules in their current orientation.

stowArm() - Method in class frc.robot.subsystems.harvester.HarvesterSubsystem

Commands the arm to stow in the upright match-start position.

stowedPositionDegrees - Variable in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Arm angle when stowed upright inside the robot perimeter, in degrees.

subsystem - Variable in class frc.robot.shared.commands.AbstractSubsystemCommand

Subsystem instance this command requires and operates on.

subsystem - Variable in class frc.robot.shared.commands.AbstractSubsystemCommandFactory

Subsystem instance shared by all commands created by this factory.

SubsystemsConfig - Class in frc.robot.shared.config

Root configuration bundle for every subsystem.

SubsystemsConfig() - Constructor for class frc.robot.shared.config.SubsystemsConfig

supplyCurrentAmps - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Reported supply/phase current draw in amps.

sweepArm() - Method in class frc.robot.subsystems.harvester.HarvesterSubsystem

Commands the arm to the sweep position to push Fuel from the back of the hopper toward the shooting array.

sweepPositionDegrees - Variable in class frc.robot.subsystems.harvester.config.HarvesterSubsystemConfig

Arm angle raised to push Fuel from the back of the hopper toward the shooting array, in degrees.

swerveConfigDirectory - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

Name of the swerve configuration directory under the deploy folder (e.g., "swerve" or "swerve-test").

sysId - Variable in class frc.robot.shared.config.AbstractMotorSubsystemConfig

SysId routine parameters for this motor subsystem.

sysId - Variable in class frc.robot.subsystems.drivebase.config.DriveBaseSubsystemConfig

SysId routine parameters shared by all drive base motors (drive and angle).

SysIdHelper - Class in frc.robot.shared.subsystems

Factory for building SysId routines with consistent logging and unit handling.

SysIdRoutineConfig - Class in frc.robot.shared.config

Configuration bundle for WPILib SysId characterization routine parameters.

SysIdRoutineConfig() - Constructor for class frc.robot.shared.config.SysIdRoutineConfig

T

tagCount() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the tagCount record component.

tagIds - Variable in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.AprilTagVisionIOInputs

IDs of tags observed in the most recent update.

tagIds() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the tagIds record component.

tagSwitchStdDevMultiplier - Variable in class frc.robot.subsystems.apriltagvision.config.PoseFilterConfig

Standard deviation multiplier applied when the set of observed tag IDs changes between consecutive accepted observations from the same camera.

tagSwitchStdDevMultiplier() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns the value of the tagSwitchStdDevMultiplier record component.

TargetObservation(Rotation2d, Rotation2d) - Constructor for record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.TargetObservation

Creates an instance of a TargetObservation record class.

targetPositionRads - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Last commanded target position in radians, if applicable.

targetVelocityRadPerSec - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Last commanded target velocity in radians per second, if applicable.

targetWasClamped - Variable in class frc.robot.shared.subsystems.AbstractSetAndSeekSubsystem

True when the most recent target was clamped to the setpoint limits, meaning the mechanism cannot reach the requested position.

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

Runs once when the robot exits teleop mode; no-op by default.

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

Seeds the robot pose and cancels any lingering autonomous command when teleop begins.

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

Runs each loop during teleop; command scheduler handles execution.

temperatureCelsius - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Motor temperature in degrees Celsius.

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

Runs once when the robot exits test mode; no-op by default.

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

Cancels all active commands when test mode begins.

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

Runs each loop during test mode; no-op by default.

timeOfFlightSeconds - Variable in class frc.robot.subsystems.shooter.config.DistanceRpmPoint

Estimated time of flight in seconds for a ball launched at this distance's RPM to reach the target.

timeOfFlightSeconds() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns the value of the timeOfFlightSeconds record component.

timestamp() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns the value of the timestamp record component.

timestampSeconds() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Returns the value of the timestampSeconds record component.

TOO_FAR - Enum constant in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Average tag distance exceeded the maximum allowed distance.

toPose2d() - Method in class frc.robot.shared.bindings.DpadTargetConfig

Converts the configured target to a WPILib Pose2d in blue-alliance coordinates.

toString() - Method in record class frc.robot.shared.targeting.ShootOnTheMoveCalculator.ShotSolution

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.Params

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.PoseObservation

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.TargetObservation

Returns a string representation of this record class.

toTransform3d() - Method in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Converts this config object to a WPILib Transform3d.

toTranslation3d() - Method in class frc.robot.shared.config.AbstractConfig.ComponentPoseConfig

Converts the configured pivot offsets to a WPILib Translation3d.

TrackFieldTargetCommand - Class in frc.robot.subsystems.turret.commands

Continuously aims the turret at a field-relative target position with shoot-on-the-move compensation.

TrackFieldTargetCommand(TurretSubsystem, RobotPoseSubsystem, Supplier<Translation2d>, Supplier<Double>, Supplier<ChassisSpeeds>, DoubleUnaryOperator, ShootOnTheMoveCalculator) - Constructor for class frc.robot.subsystems.turret.commands.TrackFieldTargetCommand

Creates a command that tracks a field-relative target position with shoot-on-the-move compensation.

transitionSource - Variable in class frc.robot.subsystems.gameplaystate.io.GameplayStateIO.GameplayStateIOInputs

Source that triggered the most recent state transition (e.g., "operator", "fms", "auto", "timer").

TRAVEL - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

Safe transit mode for moving across the field.

TRENCH_TRAVEL - Enum constant in enum class frc.robot.subsystems.gameplaystate.GameplayState

Low-profile transit mode for passing under field obstacles such as the trench.

trenchCenterYMeters - Variable in class frc.robot.shared.bindings.TrenchZoneConfig

Y-coordinate of the trench center in meters (field coordinates), derived from the AprilTags centered on the trench opening.

TrenchZoneConfig - Class in frc.robot.shared.bindings

Defines a rectangular trench zone on the field and provides geometric detection for whether a straight-line path crosses it.

TrenchZoneConfig() - Constructor for class frc.robot.shared.bindings.TrenchZoneConfig

trenchZones - Variable in class frc.robot.shared.bindings.DriverControllerConfig

Trench zones that require heading alignment when the robot pathfinds through them.

triggerBindings - Variable in class frc.robot.shared.config.SubsystemsConfig

Trigger bindings configuration bundle for driver controller sensitivity and tuning mode.

TriggerBindings - Class in frc.robot.shared.bindings

Maps the driver controller to robot commands so RobotContainer stays lean.

TriggerBindings(DriveBaseSubsystemCommandFactory, TriggerBindingsConfig, TurretSubsystemCommandFactory, ShooterSubsystemCommandFactory, IndexerSubsystemCommandFactory, FeederSubsystemCommandFactory, IntakeSubsystemCommandFactory, HarvesterSubsystemCommandFactory, GameplayStateCommandFactory) - Constructor for class frc.robot.shared.bindings.TriggerBindings

Creates trigger bindings with the default driver controller port.

TriggerBindings(DriveBaseSubsystemCommandFactory, TriggerBindingsConfig, TurretSubsystemCommandFactory, ShooterSubsystemCommandFactory, IndexerSubsystemCommandFactory, FeederSubsystemCommandFactory, IntakeSubsystemCommandFactory, HarvesterSubsystemCommandFactory, GameplayStateCommandFactory, int, int) - Constructor for class frc.robot.shared.bindings.TriggerBindings

Creates trigger bindings using explicit controller ports.

TriggerBindingsConfig - Class in frc.robot.shared.bindings

Configuration bundle for driver controller input shaping and speed tiers.

TriggerBindingsConfig() - Constructor for class frc.robot.shared.bindings.TriggerBindingsConfig

triggerDeadband - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Minimum trigger axis value required to consider a trigger "pressed."

tuningEnabled - Variable in class frc.robot.shared.bindings.TriggerBindingsConfig

Enables tuning mode for trigger bindings.

TurretMotor - Class in frc.robot.subsystems.turret.devices

SparkMax-backed turret motor with baked-in limits, gearing, and telemetry.

TurretSimMotor - Class in frc.robot.subsystems.turret.devices

Simulation-only turret motor wrapper configured from the turret subsystem config.

turretSubsystem - Variable in class frc.robot.shared.config.SubsystemsConfig

Turret configuration bundle.

TurretSubsystem - Class in frc.robot.subsystems.turret

Turret subsystem with a single profiled motor.

TurretSubsystem(TurretSubsystemConfig) - Constructor for class frc.robot.subsystems.turret.TurretSubsystem

Builds the turret subsystem with a single SparkMax-driven motor and default motion profile values.

TurretSubsystemCommandFactory - Class in frc.robot.subsystems.turret.commands

Generates commands that operate on the turret subsystem so RobotContainer can stay focused on wiring.

TurretSubsystemCommandFactory(TurretSubsystem) - Constructor for class frc.robot.subsystems.turret.commands.TurretSubsystemCommandFactory

Creates a factory for commands that share the given turret subsystem instance.

TurretSubsystemConfig - Class in frc.robot.subsystems.turret.config

Configuration bundle for the turret mechanism.

TurretSubsystemConfig() - Constructor for class frc.robot.subsystems.turret.config.TurretSubsystemConfig

turretZeroOffsetDegrees - Variable in class frc.robot.subsystems.turret.config.TurretSubsystemConfig

Zero offset between the turret's mechanical zero and robot-forward in degrees.

tx() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.TargetObservation

Returns the value of the tx record component.

ty() - Method in record class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO.TargetObservation

Returns the value of the ty record component.

U

updateAndLogMotorInputs() - Method in class frc.robot.shared.subsystems.AbstractMotorSubsystem

Refreshes motor sensor data and logs it via AdvantageKit for telemetry and replay.

updateInputs(MotorIO.MotorIOInputs) - Method in class frc.robot.devices.motor.AbstractMotor

updateInputs(MotorIO.MotorIOInputs) - Method in class frc.robot.devices.motor.AbstractSimMotor

Updates the physics model and then exports sensor values from the simulated Spark MAX.

updateInputs(MotorIO.MotorIOInputs) - Method in class frc.robot.devices.motor.CompositeMotor

Updates telemetry inputs from the primary motor's encoder and sensors.

updateInputs(MotorIO.MotorIOInputs) - Method in class frc.robot.devices.motor.DisabledMotor

Populates the telemetry inputs with neutral values.

updateInputs(MotorIO.MotorIOInputs) - Method in interface frc.robot.devices.motor.MotorIO

Populates the inputs structure with the most recent readings from the motor controller.

updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in interface frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO

Refreshes the inputs structure with the latest state from the vision subsystem.

updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVisionSim

updateInputs(DriveBaseIO.DriveBaseIOInputs) - Method in interface frc.robot.subsystems.drivebase.io.DriveBaseIO

Refreshes the inputs structure with the latest state from the drive base sensors.

updateInputs(DriveBaseIO.DriveBaseIOInputs) - Method in class frc.robot.subsystems.drivebase.io.DriveBaseIOYagsl

updateInputs(GameplayStateIO.GameplayStateIOInputs) - Method in interface frc.robot.subsystems.gameplaystate.io.GameplayStateIO

Refreshes the inputs structure with the latest gameplay state telemetry.

updateInputs(RobotPoseIO.RobotPoseIOInputs) - Method in interface frc.robot.subsystems.robotpose.io.RobotPoseIO

Refreshes the inputs structure with the latest robot pose telemetry.

useSetpointLimits - Variable in class frc.robot.shared.config.MotorConfig

True when the motor should enforce forward and reverse soft limits.

V

valueOf(String) - Static method in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class frc.robot.subsystems.gameplaystate.GameplayState

Returns the enum constant of this class with the specified name.

values() - Static method in enum class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.RejectionReason

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class frc.robot.subsystems.gameplaystate.GameplayState

Returns an array containing the constants of this enum class, in the order they are declared.

VelocityMotionConfig - Class in frc.robot.shared.config

Configuration bundle for velocity motion profile parameters used by velocity-controlled subsystems.

VelocityMotionConfig() - Constructor for class frc.robot.shared.config.VelocityMotionConfig

velocityMotorRpm - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Measured motor shaft velocity in RPM (pre gear-reduction).

velocityRadPerSec - Variable in class frc.robot.devices.motor.MotorIO.MotorIOInputs

Measured mechanism velocity in radians per second (post conversion).

velocityToleranceDegreesPerSecond - Variable in class frc.robot.shared.config.SetAndSeekMotionConfig

Acceptable velocity error when deciding if the mechanism is at its goal, in degrees per second.

velocityToleranceRpm - Variable in class frc.robot.shared.config.VelocityMotionConfig

Acceptable velocity error when deciding if the mechanism is at its target, in RPM.

verbose - Variable in class frc.robot.shared.config.AbstractSubsystemConfig

Enables verbose logging for the subsystem that owns this config.

verbose - Variable in class frc.robot.shared.subsystems.AbstractSubsystem

True when verbose logging is enabled for this subsystem.

verbose(String) - Method in class frc.robot.shared.logging.Logger

Logs a verbose message to the console if verbose output is enabled.

VisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Constructor for record class frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement

Creates an instance of a VisionMeasurement record class.

VisionMeasurementConsumer - Interface in frc.robot.shared.subsystems

Functional interface for accepting a vision-based robot pose measurement along with its uncertainty.

W

warning(String) - Method in class frc.robot.shared.logging.Logger

Logs a warning message to the console and activates a persistent dashboard Alert.

WELDED - Enum constant in enum class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.FieldLayoutType

The welded field layout.

WELDED_FIELD - Static variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig

Enum name of the welded field layout to load.

X

x - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Robot-to-camera X offset in meters (forward positive).

xMeters - Variable in class frc.robot.shared.bindings.DpadTargetConfig

X-coordinate of the target position on the field in meters (blue-alliance perspective).

Y

y - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Robot-to-camera Y offset in meters (left positive).

yaw - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Robot-to-camera yaw in radians.

yMeters - Variable in class frc.robot.shared.bindings.DpadTargetConfig

Y-coordinate of the target position on the field in meters (blue-alliance perspective).

Z

z - Variable in class frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Robot-to-camera Z offset in meters (up positive).

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