Index

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

A

absoluteEncoder - Variable in class swervelib.motors.SparkFlexSwerve

Absolute encoder attached to the SparkMax (if exists)

absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve

Absolute encoder attached to the SparkMax (if exists)

absoluteEncoder - Variable in class swervelib.motors.SparkMaxSwerve

Absolute encoder attached to the SparkMax (if exists)

absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration

The Absolute Encoder for the swerve module.

absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson

Absolute encoder inversion state.

absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration

Whether the absolute encoder is inverted.

absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson

Absolute encoder offset from 0 in degrees.

absolutePositionCache - Variable in class swervelib.SwerveModule

Absolute encoder position cache.

addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController

Add slew rate limiters to all controls.

addValue(double) - Method in class swervelib.math.IMULinearMovingAverageFilter

Add a value to the DoubleCircularBuffer

addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive

Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.

addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive

Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.

ADIS16448Swerve - Class in swervelib.imu

IMU Swerve class for the ADIS16448_IMU device.

ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve

Construct the ADIS16448 imu and reset default configurations.

ADIS16470Swerve - Class in swervelib.imu

IMU Swerve class for the ADIS16470_IMU device.

ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve

Construct the ADIS16470 imu and reset default configurations.

ADXRS450Swerve - Class in swervelib.imu

IMU Swerve class for the ADXRS450_Gyro device.

ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve

Construct the ADXRS450 imu and reset default configurations.

Alert - Class in swervelib.telemetry

Class for managing persistent alerts to be sent over NetworkTables.

Alert(String, String, Alert.AlertType) - Constructor for class swervelib.telemetry.Alert

Creates a new Alert.

Alert(String, Alert.AlertType) - Constructor for class swervelib.telemetry.Alert

Creates a new Alert in the default group - "Alerts".

Alert.AlertType - Enum Class in swervelib.telemetry

Represents an alert's level of urgency.

AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders

Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.

AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Construct the Encoder given the analog input channel.

AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Construct the Thrifty Encoder as a Swerve Absolute Encoder.

AnalogGyroSwerve - Class in swervelib.imu

Creates a IMU for AnalogGyro devices, only uses yaw.

AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve

Analog port in which the gyroscope is connected.

angle - Variable in class swervelib.parser.json.ModuleJson

Angle motor device configuration.

angle - Variable in class swervelib.parser.json.modules.BoolMotorJson

Angle motor inversion state.

angle - Variable in class swervelib.parser.json.modules.ConversionFactorsJson

Angle motor conversion factors composition.

angle - Variable in class swervelib.parser.json.MotorConfigDouble

Angle motor.

angle - Variable in class swervelib.parser.json.MotorConfigInt

Angle motor.

angle - Variable in class swervelib.parser.json.PIDFPropertiesJson

The PIDF with Integral Zone used for the angle motor.

AngleConversionFactorsJson - Class in swervelib.parser.json.modules

Angle motor conversion factors composite JSON parse class.

AngleConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.AngleConversionFactorsJson

angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson

The minimum radius of the angle control joystick to allow for heading adjustment of the robot.

angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration

hypotenuse deadband for the robot angle control joystick.

angleLimiter - Variable in class swervelib.SwerveController

SlewRateLimiter for angular movement in radians/second.

angleModules(SwerveDrive, Rotation2d) - Static method in class swervelib.SwerveDriveTest

Set the angle of the modules to a given Rotation2d

angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration

The drive motor and angle motor of this swerve module.

angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

Current limits for the Swerve Module.

angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration

State of inversion of the angle motor.

angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

The time it takes for the motor to go from 0 to full throttle in seconds.

angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration

Angle offset in degrees for the Swerve Module.

anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration

PIDF configuration options for the angle motor closed-loop PID controller.

angularVelocityCoefficient - Variable in class swervelib.SwerveDrive

Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).

angularVelocityCorrection - Variable in class swervelib.SwerveDrive

Correct for skew that scales with angular velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean)

angularVelocitySkewCorrection(ChassisSpeeds) - Method in class swervelib.SwerveDrive

Correct for skew that worsens as angular velocity increases

antiJitter(SwerveModuleState, SwerveModuleState, double) - Static method in class swervelib.math.SwerveMath

Perform anti-jitter within modules if the speed requested is too low.

applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath

Algebraically apply a deadband using a piece wise function.

autonomousAngularVelocityCorrection - Variable in class swervelib.SwerveDrive

Correct for skew that scales with angular velocity in SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds) during auto.

autonomousChassisVelocityCorrection - Variable in class swervelib.SwerveDrive

Correct chassis velocity in SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds) (auto) using 254's correction during auto.

B

BoolMotorJson - Class in swervelib.parser.json.modules

Inverted motor JSON parsed class.

BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson

burnFlash() - Method in class swervelib.motors.SparkFlexSwerve

Save the configurations from flash to EEPROM.

burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Save the configurations from flash to EEPROM.

burnFlash() - Method in class swervelib.motors.SparkMaxSwerve

Save the configurations from flash to EEPROM.

burnFlash() - Method in class swervelib.motors.SwerveMotor

Save the configurations from flash to EEPROM.

burnFlash() - Method in class swervelib.motors.TalonFXSwerve

Save the configurations from flash to EEPROM.

burnFlash() - Method in class swervelib.motors.TalonSRXSwerve

Save the configurations from flash to EEPROM.

C

Cache<T> - Class in swervelib.parser

Cache for frequently requested data.

Cache(Supplier<T>, long) - Constructor for class swervelib.parser.Cache

Cache for arbitrary values.

calculate() - Method in class swervelib.math.IMULinearMovingAverageFilter

Calculate the average of the samples in the buffer

calculate() - Method in class swervelib.parser.json.modules.AngleConversionFactorsJson

Calculate the drive conversion factor.

calculate() - Method in class swervelib.parser.json.modules.DriveConversionFactorsJson

Calculate the drive conversion factor.

calculateDegreesPerSteeringRotation(double) - Static method in class swervelib.math.SwerveMath

Calculate the degrees per steering rotation for the integrated encoder.

calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath

Calculate the degrees per steering rotation for the integrated encoder.

calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath

Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.

calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath

Calculate the maximum theoretical acceleration without friction.

calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath

Calculate the maximum angular velocity.

calculateMetersPerRotation(double, double) - Static method in class swervelib.math.SwerveMath

Calculate the meters per rotation for the integrated encoder.

calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath

Calculate the meters per rotation for the integrated encoder.

CanandgyroSwerve - Class in swervelib.imu

SwerveIMU interface for the Boron Canandgyro by Redux Robotics

CanandgyroSwerve(int) - Constructor for class swervelib.imu.CanandgyroSwerve

Generate the SwerveIMU for Canandgyro.

CanAndMagSwerve - Class in swervelib.encoders

HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.

CanAndMagSwerve(int) - Constructor for class swervelib.encoders.CanAndMagSwerve

Create the Canandmag

canbus - Variable in class swervelib.parser.json.DeviceJson

The CAN bus name which the device resides on if using CAN.

CANCoderSwerve - Class in swervelib.encoders

Swerve Absolute Encoder for CTRE CANCoders.

CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve

Initialize the CANCoder on the standard CANBus.

CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve

Initialize the CANCoder on the CANivore.

canIdWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

An Alert for if the CAN ID is greater than 40.

centerModules(SwerveDrive) - Static method in class swervelib.SwerveDriveTest

Set the modules to center to 0.

chassisVelocityCorrection - Variable in class swervelib.SwerveDrive

Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) using 254's correction.

clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.encoders.CanAndMagSwerve

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Clear sticky faults on the encoder.

clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.imu.CanandgyroSwerve

Clear sticky faults on Canandgyro.

clearStickyFaults() - Method in class swervelib.imu.NavXSwerve

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve

Clear sticky faults on Pigeon2.

clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.imu.SwerveIMU

Clear sticky faults on IMU.

clearStickyFaults() - Method in class swervelib.motors.SparkFlexSwerve

Clear the sticky faults on the motor controller.

clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Clear the sticky faults on the motor controller.

clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve

Clear the sticky faults on the motor controller.

clearStickyFaults() - Method in class swervelib.motors.SwerveMotor

Clear the sticky faults on the motor controller.

clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve

Clear the sticky faults on the motor controller.

clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve

Clear the sticky faults on the motor controller.

config - Variable in class swervelib.SwerveController

SwerveControllerConfiguration object storing data to generate the PIDController for controlling the robot heading, and deadband for heading joystick.

configuration - Variable in class swervelib.SwerveModule

Swerve module configuration options.

configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Configure the absolute encoder to read from [0, 360) per second.

configure(boolean) - Method in class swervelib.encoders.CanAndMagSwerve

Configure the CANandMag to read from [0, 360) per second.

configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve

Configure the absolute encoder to read from [0, 360) per second.

configure(boolean) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

Configure the inversion state of the encoder.

configure(boolean) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Configure the absolute encoder to read from [0, 360) per second.

configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Configure the absolute encoder to read from [0, 360) per second.

configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Configure the absolute encoder to read from [0, 360) per second.

configureCANStatusFrames(int) - Method in class swervelib.motors.TalonFXSwerve

Set the CAN status frames.

configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve

Set the CAN status frames.

configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkFlexSwerve

Set the CAN status frames.

configureCANStatusFrames(int, int, int, int, int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the CAN status frames.

configureCANStatusFrames(int, int, int, int, int, int, int) - Method in class swervelib.motors.SparkMaxSwerve

Set the CAN status frames.

configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonFXSwerve

Set the CAN status frames.

configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve

Set the CAN status frames.

configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkFlexSwerve

Configure the integrated encoder for the swerve module.

configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Configure the integrated encoder for the swerve module.

configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve

Configure the integrated encoder for the swerve module.

configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor

Configure the integrated encoder for the swerve module.

configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve

Configure the integrated encoder for the swerve module.

configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve

Configure the integrated encoder for the swerve module.

configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkFlexSwerve

Configure the PIDF values for the closed loop controller.

configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Configure the PIDF values for the closed loop controller.

configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve

Configure the PIDF values for the closed loop controller.

configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor

Configure the PIDF values for the closed loop controller.

configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve

Configure the PIDF values for the closed loop controller.

configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve

Configure the PIDF values for the closed loop controller.

configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkFlexSwerve

Configure the PID wrapping for the position closed loop controller.

configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Configure the PID wrapping for the position closed loop controller.

configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve

Configure the PID wrapping for the position closed loop controller.

configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor

Configure the PID wrapping for the position closed loop controller.

configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve

Configure the PID wrapping for the position closed loop controller.

configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve

Configure the PID wrapping for the position closed loop controller.

controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser

Parsed controllerproperties.json

ControllerPropertiesJson - Class in swervelib.parser.json

SwerveController parsed class.

ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson

conversionFactor - Variable in class swervelib.parser.json.ModuleJson

Conversion factor for the module, if different from the one in swervedrive.json

conversionFactor - Variable in class swervelib.parser.json.PhysicalPropertiesJson

Conversion factor applied to the motor controllers PID loops.

conversionFactor - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

The conversion factors for the drive and angle motors, created by SwerveMath.calculateMetersPerRotation(double, double, double) and SwerveMath.calculateDegreesPerSteeringRotation(double, double).

conversionFactors - Variable in class swervelib.parser.json.ModuleJson

Conversion Factors composition.

conversionFactors - Variable in class swervelib.parser.json.PhysicalPropertiesJson

Conversion Factors composition.

conversionFactors - Variable in class swervelib.parser.SwerveModuleConfiguration

Conversion factor for drive motor onboard PID's and angle PID's.

ConversionFactorsJson - Class in swervelib.parser.json.modules

Conversion Factors parsed JSON class

ConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.ConversionFactorsJson

convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve

Convert the setpoint into native sensor units.

createConfigCustomTimeout(double) - Static method in class swervelib.SwerveDriveTest

Creates a SysIdRoutine.Config with a custom final timeout

createControllerConfiguration(SwerveDriveConfiguration, double) - Method in class swervelib.parser.json.ControllerPropertiesJson

Create the SwerveControllerConfiguration based on parsed and given data.

createDriveFeedforward(double, double, double) - Static method in class swervelib.math.SwerveMath

Create the drive feedforward for swerve modules.

createEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson

Create a SwerveAbsoluteEncoder from the current configuration.

createIMU() - Method in class swervelib.parser.json.DeviceJson

Create a SwerveIMU from the given configuration.

createIMUVelocity(SwerveIMU) - Static method in class swervelib.imu.IMUVelocity

Static factory for IMU Velocity.

createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson

Create the swerve module configuration based off of parsed data.

createModules(SwerveModuleConfiguration[], SimpleMotorFeedforward) - Method in class swervelib.parser.SwerveDriveConfiguration

Create modules based off of the SwerveModuleConfiguration.

createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson

Create a SwerveMotor from the given configuration.

createPhysicalProperties() - Method in class swervelib.parser.json.PhysicalPropertiesJson

Create the physical characteristics based off the parsed data.

createPIDController() - Method in class swervelib.parser.PIDFConfig

Create a PIDController from the PID values.

createSwerveDrive(double) - Method in class swervelib.parser.SwerveParser

Create SwerveDrive from JSON configuration directory.

createSwerveDrive(double, double, double) - Method in class swervelib.parser.SwerveParser

Create SwerveDrive from JSON configuration directory.

createSwerveDrive(SimpleMotorFeedforward, double) - Method in class swervelib.parser.SwerveParser

Create SwerveDrive from JSON configuration directory.

createSwerveDrive(SimpleMotorFeedforward, double, double, double) - Method in class swervelib.parser.SwerveParser

Create SwerveDrive from JSON configuration directory.

cubeTranslation(Translation2d) - Static method in class swervelib.math.SwerveMath

Cube the Translation2d magnitude given in Polar coordinates.

currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson

The current limit in AMPs to apply to the motors.

D

d - Variable in class swervelib.parser.PIDFConfig

Derivative Gain for PID.

desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

Describes the desired forward, sideways and angular velocity of the robot.

desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

An array of rotation and velocity values describing the desired state of each swerve module

DeviceJson - Class in swervelib.parser.json

Device JSON parsed class.

DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson

diameter - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson

Diameter of the wheel in inches.

drive - Variable in class swervelib.parser.json.ModuleJson

Drive motor device configuration.

drive - Variable in class swervelib.parser.json.modules.BoolMotorJson

Drive motor inversion state.

drive - Variable in class swervelib.parser.json.modules.ConversionFactorsJson

Drive motor conversion factors composition.

drive - Variable in class swervelib.parser.json.MotorConfigDouble

Drive motor.

drive - Variable in class swervelib.parser.json.MotorConfigInt

Drive motor.

drive - Variable in class swervelib.parser.json.PIDFPropertiesJson

The PIDF with Integral Zone used for the drive motor.

drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive

The primary method for controlling the drivebase.

drive(Translation2d, double, boolean, boolean, Translation2d) - Method in class swervelib.SwerveDrive

The primary method for controlling the drivebase.

drive(ChassisSpeeds) - Method in class swervelib.SwerveDrive

Secondary method for controlling the drivebase.

drive(ChassisSpeeds, boolean, Translation2d) - Method in class swervelib.SwerveDrive

The primary method for controlling the drivebase.

drive(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive

Secondary method for controlling the drivebase.

DriveConversionFactorsJson - Class in swervelib.parser.json.modules

Drive motor composite JSON parse class.

DriveConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.DriveConversionFactorsJson

driveFieldOriented(ChassisSpeeds) - Method in class swervelib.SwerveDrive

Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.

driveFieldOriented(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive

Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.

driveFieldOrientedandRobotOriented(ChassisSpeeds, ChassisSpeeds) - Method in class swervelib.SwerveDrive

Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same time.

driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration

The drive motor and angle motor of this swerve module.

driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

Current limits for the Swerve Module.

driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration

State of inversion of the drive motor.

driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

The time it takes for the motor to go from 0 to full throttle in seconds.

drivePositionCache - Variable in class swervelib.SwerveModule

Drive motor position cache.

driveVelocityCache - Variable in class swervelib.SwerveModule

Drive motor velocity cache.

E

encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Encoder as Analog Input.

encoder - Variable in class swervelib.encoders.CanAndMagSwerve

The Canandmag representing the CANandMag on the CAN bus.

encoder - Variable in class swervelib.encoders.CANCoderSwerve

CANCoder with WPILib sendable and support.

encoder - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

The SparkAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.

encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve

The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.

encoder - Variable in class swervelib.motors.SparkFlexSwerve

Integrated encoder.

encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve

Integrated encoder.

encoder - Variable in class swervelib.motors.SparkMaxSwerve

Integrated encoder.

encoder - Variable in class swervelib.parser.json.ModuleJson

Absolute encoder device configuration.

ERROR - Enum constant in enum class swervelib.telemetry.Alert.AlertType

High priority alert - displayed first on the dashboard with a red "X" symbol.

ERROR_TRACE - Enum constant in enum class swervelib.telemetry.Alert.AlertType

High priority alert - displayed first on the dashboard with a red "X" symbol.

F

f - Variable in class swervelib.parser.PIDFConfig

Feedforward value for PID.

factor - Variable in class swervelib.parser.json.modules.AngleConversionFactorsJson

Calculated or given conversion factor.

factor - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson

Calculated conversion factor.

factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.encoders.CanAndMagSwerve

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Reset the encoder to factory defaults.

factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve

Reset IMU to factory default.

factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve

Reset IMU to factory default.

factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve

Reset IMU to factory default.

factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve

Reset IMU to factory default.

factoryDefault() - Method in class swervelib.imu.CanandgyroSwerve

Reset Canandgyro to factory default.

factoryDefault() - Method in class swervelib.imu.NavXSwerve

Reset offset to current gyro reading.

factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve

Reset Pigeon2 to factory default.

factoryDefault() - Method in class swervelib.imu.PigeonSwerve

Reset IMU to factory default.

factoryDefault() - Method in class swervelib.imu.SwerveIMU

Reset IMU to factory default.

factoryDefaults() - Method in class swervelib.motors.SparkFlexSwerve

Configure the factory defaults.

factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Configure the factory defaults.

factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve

Configure the factory defaults.

factoryDefaults() - Method in class swervelib.motors.SwerveMotor

Configure the factory defaults.

factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve

Configure the factory defaults.

factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve

Configure the factory defaults.

field - Variable in class swervelib.SwerveDrive

Field object.

findCouplingRatio(SwerveDrive, double, boolean) - Static method in class swervelib.SwerveDriveTest

Find the coupling ratio for all modules.

findDriveMotorKV(SwerveDrive, double, double, double) - Static method in class swervelib.SwerveDriveTest

Find the minimum amount of power required to move the swerve drive motors.

forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The direction the robot should be facing when the "Robot Rotation" is zero or blank.

front - Variable in class swervelib.parser.json.modules.LocationJson

Location of the swerve module in inches from the center of the robot horizontally.

G

gearRatio - Variable in class swervelib.parser.json.modules.AngleConversionFactorsJson

Gear ratio for the angle/steering/azimuth motor on the Swerve Module.

gearRatio - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson

Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.

generateSysIdCommand(SysIdRoutine, double, double, double) - Static method in class swervelib.SwerveDriveTest

Creates a command that can be mapped to a button or other trigger.

getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Get the instantiated absolute encoder Object.

getAbsoluteEncoder() - Method in class swervelib.encoders.CanAndMagSwerve

Get the instantiated absolute encoder Object.

getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve

Get the instantiated absolute encoder Object.

getAbsoluteEncoder() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

Get the encoder object.

getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Get the instantiated absolute encoder Object.

getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Get the instantiated absolute encoder Object.

getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Get the instantiated absolute encoder Object.

getAbsoluteEncoder() - Method in class swervelib.SwerveModule

Get the SwerveAbsoluteEncoder for the SwerveModule.

getAbsoluteEncoderReadIssue() - Method in class swervelib.SwerveModule

Get if the last Absolute Encoder had a read issue, such as it does not exist.

getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.encoders.CanAndMagSwerve

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Get the absolute position of the encoder.

getAbsolutePosition() - Method in class swervelib.SwerveModule

Get the absolute position.

getAccel() - Method in class swervelib.imu.ADIS16448Swerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.ADIS16470Swerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.ADXRS450Swerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.AnalogGyroSwerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.CanandgyroSwerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.NavXSwerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.Pigeon2Swerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.PigeonSwerve

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.imu.SwerveIMU

Fetch the acceleration [x, y, z] from the IMU in meters per second squared.

getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation

Fetch the acceleration [x, y, z] from the IMU in m/s/s.

getAccel() - Method in class swervelib.SwerveDrive

Gets current acceleration of the robot in m/s/s.

getAngleMotor() - Method in class swervelib.SwerveModule

Get the angle SwerveMotor for the SwerveModule.

getAnglePIDF() - Method in class swervelib.SwerveModule

Get the current angle/azimuth/steering motor PIDF values.

getAppliedOutput() - Method in class swervelib.motors.SparkFlexSwerve

Get the applied dutycycle output.

getAppliedOutput() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Get the applied dutycycle output.

getAppliedOutput() - Method in class swervelib.motors.SparkMaxSwerve

Get the applied dutycycle output.

getAppliedOutput() - Method in class swervelib.motors.SwerveMotor

Get the applied dutycycle output.

getAppliedOutput() - Method in class swervelib.motors.TalonFXSwerve

Get the applied dutycycle output.

getAppliedOutput() - Method in class swervelib.motors.TalonSRXSwerve

Get the applied dutycycle output.

getConfiguration() - Method in class swervelib.SwerveModule

Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.

getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration

Calculate the Drive Base Radius

getDriveMotor() - Method in class swervelib.SwerveModule

Get the drive SwerveMotor for the SwerveModule.

getDrivePIDF() - Method in class swervelib.SwerveModule

Get the current drive motor PIDF values.

getFieldVelocity() - Method in class swervelib.SwerveDrive

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

getGyro() - Method in class swervelib.SwerveDrive

Getter for the SwerveIMU.

getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation

Gets the estimated gyro Rotation3d of the robot.

getGyroRotation3d() - Method in class swervelib.SwerveDrive

Gets the current gyro Rotation3d of the robot, as reported by the imu.

getIMU() - Method in class swervelib.imu.ADIS16448Swerve

Get the instantiated IMU object.

getIMU() - Method in class swervelib.imu.ADIS16470Swerve

Get the instantiated IMU object.

getIMU() - Method in class swervelib.imu.ADXRS450Swerve

Get the instantiated IMU object.

getIMU() - Method in class swervelib.imu.AnalogGyroSwerve

Get the instantiated IMU object.

getIMU() - Method in class swervelib.imu.CanandgyroSwerve

Get the instantiated Canandgyro IMU object.

getIMU() - Method in class swervelib.imu.NavXSwerve

Get the instantiated NavX(AHRS) IMU object.

getIMU() - Method in class swervelib.imu.Pigeon2Swerve

Get the instantiated Pigeon2 object.

getIMU() - Method in class swervelib.imu.PigeonSwerve

Get the instantiated WPI_PigeonIMU IMU object.

getIMU() - Method in class swervelib.imu.SwerveIMU

Get the instantiated IMU object.

getJoystickAngle(double, double) - Method in class swervelib.SwerveController

Get the angle in radians based off of the heading joysticks.

getMaximumAngularVelocity() - Method in class swervelib.SwerveDrive

Get the maximum angular velocity, either SwerveDrive.attainableMaxRotationalVelocityRadiansPerSecond or SwerveControllerConfiguration.maxAngularVelocity.

getMaximumVelocity() - Method in class swervelib.SwerveDrive

Get the maximum velocity from SwerveDrive.attainableMaxTranslationalSpeedMetersPerSecond or SwerveDrive.maxSpeedMPS whichever is higher.

getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser

Get the swerve module by the json name.

getModuleMap() - Method in class swervelib.SwerveDrive

Get the SwerveModule's as a HashMap where the key is the swerve module configuration name.

getModulePositions() - Method in class swervelib.SwerveDrive

Gets the current module positions (azimuth and wheel position (meters)).

getModules() - Method in class swervelib.SwerveDrive

Get the SwerveModules associated with the SwerveDrive.

getMotor() - Method in class swervelib.motors.SparkFlexSwerve

Get the motor object from the module.

getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Get the motor object from the module.

getMotor() - Method in class swervelib.motors.SparkMaxSwerve

Get the motor object from the module.

getMotor() - Method in class swervelib.motors.SwerveMotor

Get the motor object from the module.

getMotor() - Method in class swervelib.motors.TalonFXSwerve

Get the motor object from the module.

getMotor() - Method in class swervelib.motors.TalonSRXSwerve

Get the motor object from the module.

getOdometryHeading() - Method in class swervelib.SwerveDrive

Fetch the latest odometry heading, should be trusted over SwerveDrive.getYaw().

getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation

Pitch is not simulated currently, always returns 0.

getPitch() - Method in class swervelib.SwerveDrive

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

getPose() - Method in class swervelib.SwerveDrive

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

getPosition() - Method in class swervelib.motors.SparkFlexSwerve

Get the position of the integrated encoder.

getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Get the position of the integrated encoder.

getPosition() - Method in class swervelib.motors.SparkMaxSwerve

Get the position of the integrated encoder.

getPosition() - Method in class swervelib.motors.SwerveMotor

Get the position of the integrated encoder.

getPosition() - Method in class swervelib.motors.TalonFXSwerve

Get the position of the integrated encoder.

getPosition() - Method in class swervelib.motors.TalonSRXSwerve

Get the position of the integrated encoder.

getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation

Get the simulated swerve module position.

getPosition() - Method in class swervelib.SwerveModule

Get the position of the swerve module.

getRate() - Method in class swervelib.imu.ADIS16448Swerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.ADIS16470Swerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.ADXRS450Swerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.AnalogGyroSwerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.CanandgyroSwerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.NavXSwerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.Pigeon2Swerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.PigeonSwerve

Fetch the rotation rate from the IMU in degrees per second.

getRate() - Method in class swervelib.imu.SwerveIMU

Fetch the rotation rate from the IMU in degrees per second.

getRawAbsolutePosition() - Method in class swervelib.SwerveModule

Get the absolute position.

getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.CanandgyroSwerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.NavXSwerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve

Fetch the Rotation3d from the IMU without any zeroing.

getRawRotation3d() - Method in class swervelib.imu.SwerveIMU

Fetch the Rotation3d from the IMU without any zeroing.

getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController

Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.

getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController

Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.

getRelativePosition() - Method in class swervelib.SwerveModule

Get the relative angle in degrees.

getRobotVelocity() - Method in class swervelib.SwerveDrive

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

getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation

Roll is not simulated currently, always returns 0.

getRoll() - Method in class swervelib.SwerveDrive

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

getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.CanandgyroSwerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.NavXSwerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.PigeonSwerve

Fetch the Rotation3d from the IMU.

getRotation3d() - Method in class swervelib.imu.SwerveIMU

Fetch the Rotation3d from the IMU.

getState() - Method in class swervelib.simulation.SwerveModuleSimulation

Get the SwerveModuleState of the simulated module.

getState() - Method in class swervelib.SwerveModule

Get the Swerve Module state.

getStates() - Method in class swervelib.SwerveDrive

Gets the current module states (azimuth and velocity)

getSwerveController() - Method in class swervelib.SwerveDrive

Helper function to get the SwerveDrive.swerveController for the SwerveDrive which can be used to generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply SlewRateLimiter to given inputs.

getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath

Get the fruthest module from center based on the module locations.

getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive

Get the swerve module poses and on the field relative to the robot.

getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController

Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.

getTargetSpeeds(double, double, double, double, double, double) - Method in class swervelib.SwerveController

Get the chassis speeds based on controller input of 2 joysticks.

getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController

Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.

getValue() - Method in class swervelib.parser.Cache

Get the most up to date cached value.

getVelocity() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.encoders.CanAndMagSwerve

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.encoders.CANCoderSwerve

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Get the velocity in degrees/sec.

getVelocity() - Method in class swervelib.imu.IMUVelocity

Get the robot's angular velocity based on averaged meaasurements from the IMU.

getVelocity() - Method in class swervelib.motors.SparkFlexSwerve

Get the velocity of the integrated encoder.

getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Get the velocity of the integrated encoder.

getVelocity() - Method in class swervelib.motors.SparkMaxSwerve

Get the velocity of the integrated encoder.

getVelocity() - Method in class swervelib.motors.SwerveMotor

Get the velocity of the integrated encoder.

getVelocity() - Method in class swervelib.motors.TalonFXSwerve

Get the velocity of the integrated encoder.

getVelocity() - Method in class swervelib.motors.TalonSRXSwerve

Get the velocity of the integrated encoder.

getVoltage() - Method in class swervelib.motors.SparkFlexSwerve

Get the voltage output of the motor controller.

getVoltage() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Get the voltage output of the motor controller.

getVoltage() - Method in class swervelib.motors.SparkMaxSwerve

Get the voltage output of the motor controller.

getVoltage() - Method in class swervelib.motors.SwerveMotor

Get the voltage output of the motor controller.

getVoltage() - Method in class swervelib.motors.TalonFXSwerve

Get the voltage output of the motor controller.

getVoltage() - Method in class swervelib.motors.TalonSRXSwerve

Get the voltage output of the motor controller.

getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation

Get the estimated angle of the robot.

getYaw() - Method in class swervelib.SwerveDrive

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

H

heading - Variable in class swervelib.parser.json.ControllerPropertiesJson

The PID used to control the robot heading.

headingCalculate(double, double) - Method in class swervelib.SwerveController

Calculate the angular velocity given the current and target heading angle in radians.

headingCorrection - Variable in class swervelib.SwerveDrive

Whether to correct heading when driving translationally.

headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration

PIDF for the heading of the robot.

HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Full swerve drive data is sent back in both human and machine readable forms.

I

i - Variable in class swervelib.parser.PIDFConfig

Integral Gain for PID.

i2cLockupWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

An Alert for if there is an I2C lockup issue on the roboRIO.

id - Variable in class swervelib.parser.json.DeviceJson

The CAN ID or pin ID of the device.

imu - Variable in class swervelib.parser.json.SwerveDriveJson

Robot IMU used to determine heading of the robot.

imu - Variable in class swervelib.parser.SwerveDriveConfiguration

Swerve IMU

IMULinearMovingAverageFilter - Class in swervelib.math

A linear filter that does not calculate() each time a value is added to the DoubleCircularBuffer.

IMULinearMovingAverageFilter(int) - Constructor for class swervelib.math.IMULinearMovingAverageFilter

Construct a linear moving average fitler

imuReadingCache - Variable in class swervelib.SwerveDrive

IMU reading cache for robot readings.

IMUVelocity - Class in swervelib.imu

Generic IMU Velocity filter.

IMUVelocity(SwerveIMU, double, int) - Constructor for class swervelib.imu.IMUVelocity

Constructor for the IMU Velocity.

INFO - Enum constant in enum class swervelib.telemetry.Alert.AlertType

Low priority alert - displayed last on the dashboard with a green "i" symbol.

INFO - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Medium telemetry data, swerve directory

inverted - Variable in class swervelib.parser.json.ModuleJson

Defines which motors are inverted.

invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson

Invert the IMU of the robot.

isAngleEmpty() - Method in class swervelib.parser.json.modules.ConversionFactorsJson

Check if the conversion factors are set for the angle motor.

isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkFlexSwerve

Queries whether the absolute encoder is directly attached to the motor controller.

isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Queries whether the absolute encoder is directly attached to the motor controller.

isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SparkMaxSwerve

Queries whether the absolute encoder is directly attached to the motor controller.

isAttachedAbsoluteEncoder() - Method in class swervelib.motors.SwerveMotor

Queries whether the absolute encoder is directly attached to the motor controller.

isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonFXSwerve

Queries whether the absolute encoder is directly attached to the motor controller.

isAttachedAbsoluteEncoder() - Method in class swervelib.motors.TalonSRXSwerve

Queries whether the absolute encoder is directly attached to the motor controller.

isDriveEmpty() - Method in class swervelib.parser.json.modules.ConversionFactorsJson

Check if the conversion factors are set for the drive motor.

isDriveMotor - Variable in class swervelib.motors.SwerveMotor

Whether the swerve motor is a drive motor.

isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

State of simulation of the Robot, used to optimize retrieval.

isStale() - Method in class swervelib.parser.Cache

Return whether the cache is stale.

iz - Variable in class swervelib.parser.PIDFConfig

Integral zone of the PID.

K

kinematics - Variable in class swervelib.SwerveDrive

Swerve Kinematics object.

L

lastAngleScalar - Variable in class swervelib.SwerveController

Last angle as a scalar [-1,1] the robot was set to.

left - Variable in class swervelib.parser.json.modules.LocationJson

Location of the swerve module in inches from the center of the robot vertically.

limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath

Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).

location - Variable in class swervelib.parser.json.ModuleJson

The location of the swerve module from the center of the robot in inches.

LocationJson - Class in swervelib.parser.json.modules

Location JSON parsed class.

LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson

lockPose() - Method in class swervelib.SwerveDrive

Point all modules toward the robot center, thus making the robot very difficult to move.

logAngularMotorActivity(SwerveModule, SysIdRoutineLog, Supplier<Double>) - Static method in class swervelib.SwerveDriveTest

Logs info about the angle motor to the SysIdRoutineLog

logAngularMotorDutyCycle(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest

Logs info about the angle motor to the SysIdRoutineLog.

logAngularMotorVoltage(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest

Logs info about the angle motor to the SysIdRoutineLog

logDriveMotorActivity(SwerveModule, SysIdRoutineLog, Supplier<Double>) - Static method in class swervelib.SwerveDriveTest

Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog

logDriveMotorDutyCycle(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest

Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog
Although SysIdRoutine expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly adjusted values in the analysis for use in this library.

logDriveMotorVoltage(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest

Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog

LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Low telemetry data, only post the robot position on the field.

M

MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Only send the machine readable data related to swerve drive.

mass - Variable in class swervelib.math.Matter

Mass in kg of object.

massMoment() - Method in class swervelib.math.Matter

Get the center mass of the object.

Matter - Class in swervelib.math

Object with significant mass that needs to be taken into account.

Matter(Translation3d, double) - Constructor for class swervelib.math.Matter

Construct an object representing some significant matter on the robot.

max - Variable in class swervelib.parser.deserializer.PIDFRange

Maximum value.

maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration

Maximum angular velocity in rad/s

maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The maximum achievable angular velocity of the robot.

maximumRetries - Variable in class swervelib.encoders.SwerveAbsoluteEncoder

The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.

maximumRetries - Variable in class swervelib.motors.SwerveMotor

The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.

maxSpeed - Variable in class swervelib.SwerveModule

Maximum speed of the drive motors in meters per second.

maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The maximum achievable speed of the modules, used to adjust the size of the vectors.

measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The maximum achievable angular velocity of the robot.

measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

An array of rotation and velocity values describing the measured state of each swerve module

min - Variable in class swervelib.parser.deserializer.PIDFRange

Minimum value.

moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration

Number of modules on the robot.

moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The number of swerve modules

ModuleJson - Class in swervelib.parser.json

SwerveModule JSON parsed class.

ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson

moduleJsons - Static variable in class swervelib.parser.SwerveParser

Array holding the module jsons given in SwerveDriveJson.

moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration

Swerve module location relative to the robot.

moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration

Swerve Module locations.

moduleNumber - Variable in class swervelib.SwerveModule

Module number for kinematics, usually 0 to 3.

modules - Variable in class swervelib.parser.json.SwerveDriveJson

Module JSONs in order clockwise order starting from front left.

modules - Variable in class swervelib.parser.SwerveDriveConfiguration

Swerve Modules.

MotorConfigDouble - Class in swervelib.parser.json

Used to store doubles for motor configuration.

MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble

Default constructor.

MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble

Default constructor.

MotorConfigInt - Class in swervelib.parser.json

Used to store ints for motor configuration.

MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt

Default constructor.

MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt

Default constructor with values.

N

name - Variable in class swervelib.parser.SwerveModuleConfiguration

Name for the swerve module for telemetry.

NavXSwerve - Class in swervelib.imu

Communicates with the NavX(AHRS) as the IMU.

NavXSwerve(I2C.Port) - Constructor for class swervelib.imu.NavXSwerve

Constructor for the NavX(AHRS) swerve.

NavXSwerve(SerialPort.Port) - Constructor for class swervelib.imu.NavXSwerve

Constructor for the NavX(AHRS) swerve.

NavXSwerve(SPI.Port) - Constructor for class swervelib.imu.NavXSwerve

Constructor for the NavX(AHRS) swerve.

NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

No telemetry data is sent back.

normalizeAngle(double) - Static method in class swervelib.math.SwerveMath

Normalize an angle to be within 0 to 360.

O

optimalVoltage - Variable in class swervelib.parser.json.PhysicalPropertiesJson

The voltage to use for the smart motor voltage compensation, default is 12.

optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

The voltage to use for the smart motor voltage compensation.

output - Variable in class swervelib.parser.PIDFConfig

The PIDF output range.

P

p - Variable in class swervelib.parser.PIDFConfig

Proportional Gain for PID.

physicalCharacteristics - Variable in class swervelib.parser.SwerveDriveConfiguration

Physical characteristics of the swerve drive from physicalproperties.json.

physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration

Physical characteristics of the swerve module.

physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser

Parsed modules/physicalproperties.json

PhysicalPropertiesJson - Class in swervelib.parser.json

SwerveModulePhysicalCharacteristics parsed data.

PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson

pid - Variable in class swervelib.motors.SparkFlexSwerve

Closed-loop PID controller.

pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve

Closed-loop PID controller.

pid - Variable in class swervelib.motors.SparkMaxSwerve

Closed-loop PID controller.

PIDFConfig - Class in swervelib.parser

Hold the PIDF and Integral Zone values for a PID.

PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig

Used when parsing PIDF values from JSON.

PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig

PIDF Config constructor to contain the values.

PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig

PIDF Config constructor to contain the values.

PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig

PIDF Config constructor to contain the values.

PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig

PIDF Config constructor to contain the values.

pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser

Parsed modules/pidfproperties.json

PIDFPropertiesJson - Class in swervelib.parser.json

SwerveModule PID with Feedforward for the drive motor and angle motor.

PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson

PIDFRange - Class in swervelib.parser.deserializer

Class to hold the minimum and maximum input or output of the PIDF.

PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange

Pigeon2Swerve - Class in swervelib.imu

SwerveIMU interface for the Pigeon2

Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve

Generate the SwerveIMU for Pigeon2.

Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve

Generate the SwerveIMU for Pigeon2.

PigeonSwerve - Class in swervelib.imu

SwerveIMU interface for the WPI_PigeonIMU.

PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve

Generate the SwerveIMU for WPI_PigeonIMU.

placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath

Put an angle within the 360 deg scope of a reference.

POSE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Info level + field info

PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath

Logical inverse of the Pose exponential from 254.

position - Variable in class swervelib.math.Matter

Position in meters from robot center in 3d space.

postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive

Post the trajectory to the field

powerAngleMotorsDutyCycle(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest

Power the angle motors for the swerve drive to a set percentage.

powerAngleMotorsVoltage(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest

Power the angle motors for the swerve drive to a set voltage.

powerDriveMotorsDutyCycle(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest

Power the drive motors for the swerve drive to a set duty cycle percentage.

powerDriveMotorsVoltage(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest

Power the drive motors for the swerve drive to a set voltage.

pushOffsetsToEncoders() - Method in class swervelib.SwerveDrive

Pushes the Absolute Encoder offsets to the Encoder or Motor Controller, depending on type.

pushOffsetsToEncoders() - Method in class swervelib.SwerveModule

Push absolute encoder offset in the memory of the encoder or controller.

PWMDutyCycleEncoderSwerve - Class in swervelib.encoders

DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder." attached via a PWM lane.

PWMDutyCycleEncoderSwerve(int) - Constructor for class swervelib.encoders.PWMDutyCycleEncoderSwerve

Constructor for the PWM duty cycle encoder.

Q

queueSynchronizeEncoders() - Method in class swervelib.SwerveModule

Queue synchronization of the integrated angle encoder with the absolute encoder.

R

rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson

The minimum number of seconds to take for the motor to go from 0 to full throttle.

readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder

Last angle reading was faulty.

replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive

Setup the swerve module feedforward.

resetDriveEncoders() - Method in class swervelib.SwerveDrive

Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.

resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive

Resets odometry to the given pose.

restoreInternalOffset() - Method in class swervelib.SwerveDrive

Restores Internal YAGSL Encoder offsets and sets the Encoder stored offset back to 0

restoreInternalOffset() - Method in class swervelib.SwerveModule

Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.

robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The robot's current rotation based on odometry or gyro readings

rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The units of the module rotations and robot rotation

S

scaleTranslation(Translation2d, double) - Static method in class swervelib.math.SwerveMath

Scale the Translation2d Polar coordinate magnitude.

serialCommsIssueWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

NavX serial comm issue.

set(boolean) - Method in class swervelib.telemetry.Alert

Sets whether the alert should currently be displayed.

set(double) - Method in class swervelib.motors.SparkFlexSwerve

Set the percentage output.

set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the percentage output.

set(double) - Method in class swervelib.motors.SparkMaxSwerve

Set the percentage output.

set(double) - Method in class swervelib.motors.SwerveMotor

Set the percentage output.

set(double) - Method in class swervelib.motors.TalonFXSwerve

Set the percentage output.

set(double) - Method in class swervelib.motors.TalonSRXSwerve

Set the percentage output.

setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkFlexSwerve

Set the absolute encoder to be a compatible absolute encoder.

setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the absolute encoder to be a compatible absolute encoder.

setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve

Set the absolute encoder to be a compatible absolute encoder.

setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor

Set the absolute encoder to be a compatible absolute encoder.

setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve

Set the absolute encoder to be a compatible absolute encoder.

setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve

Set the absolute encoder to be a compatible absolute encoder.

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve

Cannot Set the offset of an Analog Absolute Encoder.

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CanAndMagSwerve

Cannot set the offset of the CANandMag.

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CANCoderSwerve

Sets the Absolute Encoder Offset within the CANcoder's Memory.

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.PWMDutyCycleEncoderSwerve

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Sets the Absolute Encoder offset at the Encoder Level.

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve

Sets the Absolute Encoder Offset inside of the SparkMax's Memory.

setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SwerveAbsoluteEncoder

Sets the Absolute Encoder offset at the Encoder Level.

setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation

Set the heading of the robot.

setAngle(double) - Method in class swervelib.SwerveModule

Set the angle for the module.

setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveDrive

Set the conversion factor for the angle/azimuth motor controller.

setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveModule

Set the conversion factor for the angle/azimuth motor controller.

setAngleMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule

Set the voltage compensation for the swerve module motor.

setAnglePIDF(PIDFConfig) - Method in class swervelib.SwerveModule

Set the angle/azimuth/steering motor PID

setAngleSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive) - Static method in class swervelib.SwerveDriveTest

Sets up the SysId runner and logger for the angle motors

setAngularVelocityCompensation(boolean, boolean, double) - Method in class swervelib.SwerveDrive

Enables angular velocity skew correction in teleop and/or autonomous and sets the angular velocity coefficient for both modes

setAntiJitter(boolean) - Method in class swervelib.SwerveModule

Set the antiJitter functionality, if true the modules will NOT auto center.

setAutoCenteringModules(boolean) - Method in class swervelib.SwerveDrive

Enable auto-centering module wheels.

setChassisDiscretization(boolean, boolean, double) - Method in class swervelib.SwerveDrive

Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto

setChassisDiscretization(boolean, double) - Method in class swervelib.SwerveDrive

Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop

setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive

Set chassis speeds with closed-loop velocity control.

setCosineCompensator(boolean) - Method in class swervelib.SwerveDrive

Enable or disable the SwerveModuleConfiguration.useCosineCompensator for all SwerveModule's in the swerve drive.

setCurrentLimit(int) - Method in class swervelib.motors.SparkFlexSwerve

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.

setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.

setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.

setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.

setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.

setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve

Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.

setDesiredState(SwerveModuleState, boolean, boolean) - Method in class swervelib.SwerveModule

Set the desired state of the swerve module.

setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveDrive

Set the conversion factor for the drive motor controller.

setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveModule

Set the conversion factor for the drive motor controller.

setDriveMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule

Set the voltage compensation for the swerve module motor.

setDrivePIDF(PIDFConfig) - Method in class swervelib.SwerveModule

Set the drive PIDF values.

setDriveSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest

Sets up the SysId runner and logger for the drive motors

setEncoderAutoSynchronize(boolean) - Method in class swervelib.SwerveModule

Enable auto synchronization for encoders during a match.

setEncoderAutoSynchronize(boolean, double) - Method in class swervelib.SwerveModule

Enable auto synchronization for encoders during a match.

setFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveModule

Set the feedforward attributes to the given parameters.

setGyro(Rotation3d) - Method in class swervelib.SwerveDrive

Set the expected gyroscope angle using a Rotation3d object.

setGyroOffset(Rotation3d) - Method in class swervelib.SwerveDrive

Set the gyro scope offset to a desired known rotation.

setHeadingCorrection(boolean) - Method in class swervelib.SwerveDrive

Set the heading correction capabilities of YAGSL.

setHeadingCorrection(boolean, double) - Method in class swervelib.SwerveDrive

Set the heading correction capabilities of YAGSL.

setInverted(boolean) - Method in class swervelib.imu.ADIS16448Swerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.ADIS16470Swerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.ADXRS450Swerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.AnalogGyroSwerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.CanandgyroSwerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.NavXSwerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.Pigeon2Swerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.PigeonSwerve

Set the gyro to invert its default direction

setInverted(boolean) - Method in class swervelib.imu.SwerveIMU

Set the gyro to invert its default direction.

setInverted(boolean) - Method in class swervelib.motors.SparkFlexSwerve

Set the motor to be inverted.

setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the motor to be inverted.

setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve

Set the motor to be inverted.

setInverted(boolean) - Method in class swervelib.motors.SwerveMotor

Set the motor to be inverted.

setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve

Set the motor to be inverted.

setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve

Set the motor to be inverted.

setLoopRampRate(double) - Method in class swervelib.motors.SparkFlexSwerve

Set the maximum rate the open/closed loop output can change by.

setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the maximum rate the open/closed loop output can change by.

setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve

Set the maximum rate the open/closed loop output can change by.

setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor

Set the maximum rate the open/closed loop output can change by.

setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve

Set the maximum rate the open/closed loop output can change by.

setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve

Set the maximum rate the open/closed loop output can change by.

setMaximumAngularVelocity(double) - Method in class swervelib.SwerveController

Set a new maximum angular velocity that is different from the auto-generated one.

setMaximumSpeed(double) - Method in class swervelib.SwerveDrive

Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the SwerveDrive.setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.

setMaximumSpeed(double, boolean, double) - Method in class swervelib.SwerveDrive

Set the maximum speed of the drive motors, modified SwerveDrive.maxSpeedMPS which is used for the SwerveDrive.setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean) function and SwerveController.getTargetSpeeds(double, double, double, double, double) functions.

setMaximumSpeeds(double, double, double) - Method in class swervelib.SwerveDrive

Set the maximum speeds for desaturation.

setModuleEncoderAutoSynchronize(boolean, double) - Method in class swervelib.SwerveDrive

Enable auto synchronization for encoders during a match.

setModuleStates(SwerveModuleState[], boolean) - Method in class swervelib.SwerveDrive

Set the module states (azimuth and velocity) directly.

setMotorBrake(boolean) - Method in class swervelib.motors.SparkFlexSwerve

Set the idle mode.

setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the idle mode.

setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve

Set the idle mode.

setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor

Set the idle mode.

setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve

Set the idle mode.

setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve

Set the idle mode.

setMotorBrake(boolean) - Method in class swervelib.SwerveModule

Set the brake mode.

setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive

Sets the drive motors to brake/coast mode.

setOdometryPeriod(double) - Method in class swervelib.SwerveDrive

Set the odometry update period in seconds.

setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.CanandgyroSwerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve

Set the gyro offset.

setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU

Set the gyro offset.

setPosition(double) - Method in class swervelib.motors.SparkFlexSwerve

Set the integrated encoder position.

setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the integrated encoder position.

setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve

Set the integrated encoder position.

setPosition(double) - Method in class swervelib.motors.SwerveMotor

Set the integrated encoder position.

setPosition(double) - Method in class swervelib.motors.TalonFXSwerve

Set the integrated encoder position.

setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve

Set the integrated encoder position.

setReference(double, double) - Method in class swervelib.motors.SparkFlexSwerve

Set the closed loop PID controller reference point.

setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the closed loop PID controller reference point.

setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve

Set the closed loop PID controller reference point.

setReference(double, double) - Method in class swervelib.motors.SwerveMotor

Set the closed loop PID controller reference point.

setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve

Set the closed loop PID controller reference point.

setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve

Set the closed loop PID controller reference point.

setReference(double, double, double) - Method in class swervelib.motors.SparkFlexSwerve

Set the closed loop PID controller reference point.

setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the closed loop PID controller reference point.

setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve

Set the closed loop PID controller reference point.

setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor

Set the closed loop PID controller reference point.

setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve

Set the closed loop PID controller reference point.

setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve

Set the closed loop PID controller reference point.

setText(String) - Method in class swervelib.telemetry.Alert

Updates current alert text.

setVisionMeasurementStdDevs(Matrix<N3, N1>) - Method in class swervelib.SwerveDrive

Sets the pose estimator's trust of global measurements.

setVoltage(double) - Method in class swervelib.motors.SparkFlexSwerve

Set the voltage of the motor.

setVoltage(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the voltage of the motor.

setVoltage(double) - Method in class swervelib.motors.SparkMaxSwerve

Set the voltage of the motor.

setVoltage(double) - Method in class swervelib.motors.SwerveMotor

Set the voltage of the motor.

setVoltage(double) - Method in class swervelib.motors.TalonFXSwerve

Set the voltage of the motor.

setVoltage(double) - Method in class swervelib.motors.TalonSRXSwerve

Set the voltage of the motor.

setVoltageCompensation(double) - Method in class swervelib.motors.SparkFlexSwerve

Set the voltage compensation for the swerve module motor.

setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve

Set the voltage compensation for the swerve module motor.

setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve

Set the voltage compensation for the swerve module motor.

setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor

Set the voltage compensation for the swerve module motor.

setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve

Set the voltage compensation for the swerve module motor.

setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve

Set the voltage compensation for the swerve module motor.

sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The distance between the front and back modules.

sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The distance between the left and right modules.

SparkFlexSwerve - Class in swervelib.motors

An implementation of CANSparkFlex as a SwerveMotor.

SparkFlexSwerve(int, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve

Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.

SparkFlexSwerve(CANSparkFlex, boolean) - Constructor for class swervelib.motors.SparkFlexSwerve

Initialize the swerve motor.

SparkMaxAnalogEncoderSwerve - Class in swervelib.encoders

SparkMax absolute encoder, attached through the data port analog pin.

SparkMaxAnalogEncoderSwerve(SwerveMotor, double) - Constructor for class swervelib.encoders.SparkMaxAnalogEncoderSwerve

Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the CANSparkMax motor data port analog pin.

SparkMaxBrushedMotorSwerve - Class in swervelib.motors

Brushed motor control with CANSparkMax.

SparkMaxBrushedMotorSwerve(int, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve

Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.

SparkMaxBrushedMotorSwerve(CANSparkMax, boolean, SparkRelativeEncoder.Type, int, boolean) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve

Initialize the swerve motor.

SparkMaxEncoderSwerve - Class in swervelib.encoders

SparkMax absolute encoder, attached through the data port.

SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve

Create the SparkMaxEncoderSwerve object as a duty cycle from the CANSparkMax motor.

SparkMaxSwerve - Class in swervelib.motors

An implementation of CANSparkMax as a SwerveMotor.

SparkMaxSwerve(int, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve

Initialize the SwerveMotor as a CANSparkMax connected to a Brushless Motor.

SparkMaxSwerve(CANSparkMax, boolean) - Constructor for class swervelib.motors.SparkMaxSwerve

Initialize the swerve motor.

STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.encoders.CANCoderSwerve

Wait time for status frames to show up.

STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.CanandgyroSwerve

Wait time for status frames to show up.

STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.Pigeon2Swerve

Wait time for status frames to show up.

STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.motors.TalonFXSwerve

Wait time for status frames to show up.

stopOdometryThread() - Method in class swervelib.SwerveDrive

Stop the odometry thread in favor of manually updating odometry.

SwerveAbsoluteEncoder - Class in swervelib.encoders

Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..

SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder

swerveController - Variable in class swervelib.SwerveDrive

Swerve controller for controlling heading of the robot.

SwerveController - Class in swervelib

Controller class used to convert raw inputs into robot speeds.

SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController

Construct the SwerveController object which is used for determining the speeds of the robot based on controller input.

SwerveControllerConfiguration - Class in swervelib.parser

Swerve Controller configuration class which is used to configure SwerveController.

SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration

Construct the swerve controller configuration.

SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration

Construct the swerve controller configuration.

SwerveDrive - Class in swervelib

Swerve Drive class representing and controlling the swerve drive.

SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double) - Constructor for class swervelib.SwerveDrive

Creates a new swerve drivebase subsystem.

swerveDriveConfiguration - Variable in class swervelib.SwerveDrive

Swerve drive configuration.

SwerveDriveConfiguration - Class in swervelib.parser

Swerve drive configurations used during SwerveDrive construction.

SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SimpleMotorFeedforward, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveDriveConfiguration

Create swerve drive configuration.

swerveDriveJson - Static variable in class swervelib.parser.SwerveParser

Parsed swervedrive.json

SwerveDriveJson - Class in swervelib.parser.json

SwerveDrive JSON parsed class.

SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson

swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive

Swerve odometry.

SwerveDriveTelemetry - Class in swervelib.telemetry

Telemetry to describe the SwerveDrive following frc-web-components.

SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry

SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry

Verbosity of telemetry data sent back.

SwerveDriveTest - Class in swervelib

Class to perform tests on the swerve drive.

SwerveDriveTest() - Constructor for class swervelib.SwerveDriveTest

SwerveIMU - Class in swervelib.imu

Swerve IMU abstraction to define a standard interface with a swerve drive.

SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU

SwerveIMUSimulation - Class in swervelib.simulation

Simulation for SwerveDrive IMU.

SwerveIMUSimulation() - Constructor for class swervelib.simulation.SwerveIMUSimulation

Create the swerve drive IMU simulation.

swervelib - package swervelib

Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.

swervelib.encoders - package swervelib.encoders

Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.

swervelib.imu - package swervelib.imu

IMUs used for controlling the robot heading.

swervelib.math - package swervelib.math

Mathematics for swerve drives.

swervelib.motors - package swervelib.motors

Swerve motor controller wrappers which implement SwerveMotor.

swervelib.parser - package swervelib.parser

JSON Parser for YAGSL configurations.

swervelib.parser.deserializer - package swervelib.parser.deserializer

Deserialize specific variables for outside the parser.

swervelib.parser.json - package swervelib.parser.json

JSON Mapped classes for parsing configuration files.

swervelib.parser.json.modules - package swervelib.parser.json.modules

JSON Mapped Configuration types for modules.

swervelib.simulation - package swervelib.simulation

Classes used to simulate the swerve drive.

swervelib.telemetry - package swervelib.telemetry

Telemetry package for sending data to NT4 or SmartDashboard.

SwerveMath - Class in swervelib.math

Mathematical functions which pertain to swerve drive.

SwerveMath() - Constructor for class swervelib.math.SwerveMath

SwerveModule - Class in swervelib

The Swerve Module class which represents and controls Swerve Modules for the swerve drive.

SwerveModule(int, SwerveModuleConfiguration, SimpleMotorFeedforward) - Constructor for class swervelib.SwerveModule

Construct the swerve module and initialize the swerve module motors and absolute encoder.

SwerveModuleConfiguration - Class in swervelib.parser

Swerve Module configuration class which is used to configure SwerveModule.

SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration

Construct a configuration object for swerve modules.

SwerveModuleConfiguration(SwerveMotor, SwerveMotor, MotorConfigDouble, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration

Construct a configuration object for swerve modules.

SwerveModulePhysicalCharacteristics - Class in swervelib.parser

Configuration class which stores physical characteristics shared between every swerve module.

SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics

Construct the swerve module physical characteristics.

SwerveModulePhysicalCharacteristics(MotorConfigDouble, double, double, int, int, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics

Construct the swerve module physical characteristics.

SwerveModuleSimulation - Class in swervelib.simulation

Class to hold simulation data for SwerveModule

SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation

Create simulation class and initialize module at 0.

SwerveMotor - Class in swervelib.motors

Swerve motor abstraction which defines a standard interface for motors within a swerve module.

SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor

SwerveParser - Class in swervelib.parser

Helper class used to parse the JSON directory with specified configuration options.

SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser

Construct a swerve parser.

synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive

Synchronize angle motor integrated encoders with data from absolute encoders.

T

TalonFXSwerve - Class in swervelib.motors

TalonFX Swerve Motor.

TalonFXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonFXSwerve

Construct the TalonFX swerve motor given the ID.

TalonFXSwerve(int, String, boolean) - Constructor for class swervelib.motors.TalonFXSwerve

Construct the TalonFX swerve motor given the ID and CANBus.

TalonFXSwerve(TalonFX, boolean) - Constructor for class swervelib.motors.TalonFXSwerve

Constructor for TalonFX swerve motor.

TalonSRXSwerve - Class in swervelib.motors

WPI_TalonSRX Swerve Motor.

TalonSRXSwerve(int, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve

Construct the TalonSRX swerve motor given the ID.

TalonSRXSwerve(WPI_TalonSRX, boolean) - Constructor for class swervelib.motors.TalonSRXSwerve

Constructor for TalonSRX swerve motor.

thetaController - Variable in class swervelib.SwerveController

PID Controller for the robot heading.

type - Variable in class swervelib.parser.json.DeviceJson

The device type, e.g.

U

update() - Method in class swervelib.parser.Cache

Update the cache value and timestamp.

updateCacheValidityPeriods(long, long, long) - Method in class swervelib.SwerveDrive

Update the cache validity period for the robot.

updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry

Upload data to smartdashboard

updateOdometry() - Method in class swervelib.SwerveDrive

Update odometry should be run every loop.

updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation

Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.

updateStateAndPosition(SwerveModuleState) - Method in class swervelib.simulation.SwerveModuleSimulation

Update the position and state of the module.

updateSupplier(Supplier<T>) - Method in class swervelib.parser.Cache

Update the supplier to a new source.

updateTelemetry() - Method in class swervelib.SwerveModule

Update data sent to SmartDashboard.

updateValidityPeriod(long) - Method in class swervelib.parser.Cache

Update the validity period for the cached value, also updates the value.

useCosineCompensator - Variable in class swervelib.parser.json.ModuleJson

Should do cosine compensation when not pointing correct direction;.

useCosineCompensator - Variable in class swervelib.parser.SwerveModuleConfiguration

Should do cosine compensation when not pointing correct direction;.

V

valueOf(String) - Static method in enum class swervelib.telemetry.Alert.AlertType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Returns the enum constant of this class with the specified name.

values() - Static method in enum class swervelib.telemetry.Alert.AlertType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity

Returns an array containing the constants of this enum class, in the order they are declared.

velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration

PIDF configuration options for the drive motor closed-loop PID controller.

verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The current telemetry verbosity level.

W

WARNING - Enum constant in enum class swervelib.telemetry.Alert.AlertType

Medium priority alert - displayed second on the dashboard with a yellow "!" symbol.

WARNING_TRACE - Enum constant in enum class swervelib.telemetry.Alert.AlertType

Medium priority alert - displayed second on the dashboard with a yellow "!" symbol.

wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson

The grip tape coefficient of friction on carpet.

wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics

Wheel grip tape coefficient of friction on carpet, as described by the vendor.

wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry

The Locations of the swerve drive wheels.

withinHypotDeadband(double, double) - Method in class swervelib.SwerveController

Calculate the hypot deadband and check if the joystick is within it.

X

x - Variable in class swervelib.parser.json.modules.LocationJson

Location of the swerve module in inches from the center of the robot horizontally.

xLimiter - Variable in class swervelib.SwerveController

SlewRateLimiter for movement in the X direction in meters/second.

Y

y - Variable in class swervelib.parser.json.modules.LocationJson

Location of the swerve module in inches from the center of the robot vertically.

yLimiter - Variable in class swervelib.SwerveController

SlewRateLimiter for movement in the Y direction in meters/second.

Z

zeroGyro() - Method in class swervelib.SwerveDrive

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

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