Index

A

aboveSafeHeight - Variable in class frc.robot.subsystems.CoralArm

Trigger that is active when the elevator is at a safe height.

aim(Pose2d) - Method in class frc.robot.helpers.CustomSwerveInput

Aim the SwerveDrive at this pose while driving.

aimWhile(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Enable aiming while the trigger is true.

aimWhile(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Enable aiming while the trigger is true.

ALGA_INVERTED - Static variable in class frc.robot.Constants.AlgaArmConstants

Whether the alga arm is inverted.

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

Array of points of interest for alga stations.

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

All consolidated points of interest on the field

allianceRelativeControl(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Modify the output ChassisSpeeds so that it is always relative to your alliance.

allianceRelativeControl(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Modify the output ChassisSpeeds so that it is always relative to your alliance.

ambiguity() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns the value of the ambiguity record component.

applyToConfig(ClosedLoopConfig) - Method in class frc.robot.helpers.PID

Applies the PID constants to a SparkMax configuration.

ApriltagAlgorithms - Class in frc.robot.subsystems.vision

 

ApriltagAlgorithms() - Constructor for class frc.robot.subsystems.vision.ApriltagAlgorithms

 

AprilTagCamera(ApriltagIO, Vision.AprilTagIOInputs, PhotonConfig, Alert) - Constructor for record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Creates an instance of a AprilTagCamera record class.

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

 

ApriltagIO - Class in frc.robot.subsystems.vision

 

ApriltagIO(PhotonConfig) - Constructor for class frc.robot.subsystems.vision.ApriltagIO

 

AprilTagIOInputs() - Constructor for class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

ARM_LENGTH - Static variable in class frc.robot.Constants.CoralArmConstants

Arm length.

ARM_SETPOINTS - Static variable in class frc.robot.Constants.CoralArmConstants

Predefined arm positions

ArmState(Angle, Distance) - Constructor for record class frc.robot.Constants.CoralArmConstants.ArmState

Creates an instance of a ArmState record class.

atBottom - Variable in class frc.robot.subsystems.Climb

Trigger that is active when the climb is at the bottom limit.

atTop - Variable in class frc.robot.subsystems.Climb

Trigger that is active when the climb is at the top limit.

AutoCommands - Class in frc.robot.commands

Container for autonomous command sequences used during the autonomous period.

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

Called once when autonomous mode is exited.

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

Called when autonomous mode is initialized.

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

Called periodically during autonomous mode.

B

BOTTOM_LIMIT_CHANNEL - Static variable in class frc.robot.Constants.ClimbConstants

Bottom limit channel for the climb.

C

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

Array of points of interest for cages.

camera - Variable in class frc.robot.subsystems.vision.ApriltagIO

 

CAMERA_DEBOUNCE_TIME - Static variable in class frc.robot.Constants.ApriltagConstants

Debounce time for camera reads in seconds

CAN_ID - Static variable in class frc.robot.Constants.AlgaArmConstants

CAN ID for the alga motor.

CAN_ID - Static variable in class frc.robot.Constants.ClimbConstants

CAN ID for the climb motor.

CAN_ID - Static variable in class frc.robot.Constants.CoralManipulatorConstants

CAN ID for manipulator motor

climb() - Method in class frc.robot.subsystems.Climb

Climbs until the top limit is reached.

Climb - Class in frc.robot.subsystems

Subsystem that controls the climbing mechanism.

CLIMB_POWER - Static variable in class frc.robot.Constants.ClimbConstants

Climb power for the climb.

config() - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Returns the value of the config record component.

connected - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

Constants - Class in frc.robot

Constants used throughout the robot code.

Constants.AlgaArmConstants - Class in frc.robot

Constants for the alga arm mechanism.

Constants.ApriltagConstants - Class in frc.robot

Constants for apriltag vision.

Constants.ClimbConstants - Class in frc.robot

Constants for the climbing mechanism.

Constants.CoralArmConstants - Class in frc.robot

Constants for the coral arm mechanism (elevator and elbow).

Constants.CoralArmConstants.ArmState - Record Class in frc.robot

Represents a specific position state of the arm

Constants.CoralManipulatorConstants - Class in frc.robot

Constants for the coral manipulator (intake/output mechanism).

Constants.FieldConstants - Class in frc.robot

Constants for field positions and points of interest

Constants.OIConstants - Class in frc.robot

Constants for operator interface (OI).

Constants.RobotConstants - Class in frc.robot

Constants for basic robot characteristics.

copy() - Method in class frc.robot.helpers.CustomSwerveInput

Copy the CustomSwerveInput object.

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

Array of points of interest for coral reef bars.

CoralArm - Class in frc.robot.subsystems

Subsystem that controls the Coral Arm, responsible for moving the arm to different positions.

CoralManipulator - Class in frc.robot.subsystems

Subsystem that controls the coral manipulator (intake/output mechanism).

createPointToClosestSupplier(POI[]) - Method in class frc.robot.subsystems.Swerve

Deprecated.

createPointToClosestSupplier(POI[], String) - Method in class frc.robot.subsystems.Swerve

Creates a supplier that returns a Rotation2d pointing toward the closest POI with a specific tag.

cubeRotationControllerAxis(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Cube the angular velocity controller axis for a non-linear controls scheme.

cubeRotationControllerAxis(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Cube the angular velocity controller axis for a non-linear controls scheme.

cubeTranslationControllerAxis(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Cube the translation axis magnitude for a non-linear control scheme

cubeTranslationControllerAxis(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Cube the translation axis magnitude for a non-linear control scheme.

CURRENT_LIMIT - Static variable in class frc.robot.Constants.CoralManipulatorConstants

Current limit for manipulator motor in amps

CustomSwerveInput - Class in frc.robot.helpers

Helper class to easily transform Controller inputs into workable Chassis speeds.

CustomSwerveInput(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.helpers.CustomSwerveInput

Create a CustomSwerveInput for an easy way to generate ChassisSpeeds from a driver controller.

CustomSwerveInput(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.helpers.CustomSwerveInput

Create a CustomSwerveInput for an easy way to generate ChassisSpeeds from a driver controller.

D

d - Variable in class frc.robot.helpers.PID

Derivative gain.

deadband(double) - Method in class frc.robot.helpers.CustomSwerveInput

Set a deadband for all controller axis.

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

Called once when disabled mode is exited.

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

Called once when the robot is disabled.

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

Called periodically when the robot is disabled.

disconnectedAlert() - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Returns the value of the disconnectedAlert record component.

doesntHaveCoral - Variable in class frc.robot.subsystems.CoralManipulator

Trigger that is active when the Coral Manipulator does not have a coral.

driveFieldOriented(Supplier<ChassisSpeeds>) - Method in class frc.robot.subsystems.Swerve

Creates a command to drive the robot in field-oriented mode.

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

Driver controller port.

DRIVER_DEADBAND - Static variable in class frc.robot.Constants.OIConstants

Deadband for driver controller input.

driveToPose(Pose2d) - Method in class frc.robot.subsystems.Swerve

Creates a command to autonomously drive the robot to a specific pose using PathPlanner.

driveToPose(Supplier<Pose2d>, ProfiledPIDController, ProfiledPIDController) - Method in class frc.robot.helpers.CustomSwerveInput

Drive to a given pose with the provided ProfiledPIDControllers

driveToPose(Supplier<Pose2d>, ProfiledPIDController, ProfiledPIDController, ProfiledPIDController) - Method in class frc.robot.helpers.CustomSwerveInput

Drive to a given pose with the provided ProfiledPIDControllers

driveToPoseEnabled(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Enable driving to the target pose.

driveToPoseEnabled(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Enable driving to the target pose.

drop() - Method in class frc.robot.subsystems.CoralManipulator

Drops a coral until the sensor no longer detects it.

DROP_POWER - Static variable in class frc.robot.Constants.AlgaArmConstants

Drop power for the alga arm.

DROP_POWER - Static variable in class frc.robot.Constants.CoralManipulatorConstants

Power level for dropping coral

E

eject() - Method in class frc.robot.subsystems.CoralManipulator

Ejects a alga off the reef.

EJECT_POWER - Static variable in class frc.robot.Constants.CoralManipulatorConstants

Power level for ejecting stuck objects

ejectOrDrop() - Method in class frc.robot.subsystems.CoralManipulator

Command that toggles between different states: - If stopped: Drops coral if detected, otherwise ejects - If already running: Stops all operations

ELBOW_ANGLE_PER_ROTATION - Static variable in class frc.robot.Constants.CoralArmConstants

Angle traveled per motor rotation.

ELBOW_BACK_ANGLE - Static variable in class frc.robot.Constants.CoralArmConstants

Minimum elbow angle.

ELBOW_BACK_LIMIT_CHANNEL - Static variable in class frc.robot.Constants.CoralArmConstants

DIO channel for elbow back limit switch

ELBOW_CAN_ID - Static variable in class frc.robot.Constants.CoralArmConstants

CAN ID for elbow motor.

ELBOW_CURRENT_LIMIT - Static variable in class frc.robot.Constants.CoralArmConstants

Current limit for elbow motor in amps

ELBOW_FRONT_ANGLE - Static variable in class frc.robot.Constants.CoralArmConstants

Maximum elbow angle.

ELBOW_FRONT_LIMIT_CHANNEL - Static variable in class frc.robot.Constants.CoralArmConstants

DIO channel for elbow front limit switch

ELBOW_INVERTED - Static variable in class frc.robot.Constants.CoralArmConstants

Whether elbow motor is inverted

ELBOW_PID - Static variable in class frc.robot.Constants.CoralArmConstants

PID constants for elbow control.

ELBOW_RAMP_RATE - Static variable in class frc.robot.Constants.CoralArmConstants

Ramp rate for elbow motor (seconds from 0 to full throttle)

ELBOW_ZEROING_POWER - Static variable in class frc.robot.Constants.CoralArmConstants

Power to use when zeroing elbow

elbowAngle() - Method in record class frc.robot.Constants.CoralArmConstants.ArmState

Returns the value of the elbowAngle record component.

ELEVATOR_BOTTOM_LIMIT_CHANNEL - Static variable in class frc.robot.Constants.CoralArmConstants

DIO channel for elevator bottom limit switch

ELEVATOR_CAN_ID - Static variable in class frc.robot.Constants.CoralArmConstants

CAN ID for elevator motor.

ELEVATOR_CURRENT_LIMIT - Static variable in class frc.robot.Constants.CoralArmConstants

Current limit for elevator motor in amps

ELEVATOR_DISTANCE_PER_ROTATION - Static variable in class frc.robot.Constants.CoralArmConstants

Distance traveled per motor rotation.

ELEVATOR_INVERTED - Static variable in class frc.robot.Constants.CoralArmConstants

Whether elevator motor is inverted

ELEVATOR_MAX_POSITION - Static variable in class frc.robot.Constants.CoralArmConstants

Maximum elevator height.

ELEVATOR_MIN_POSITION - Static variable in class frc.robot.Constants.CoralArmConstants

Minimum elevator height.

ELEVATOR_PID - Static variable in class frc.robot.Constants.CoralArmConstants

PID constants for elevator control.

ELEVATOR_RAMP_RATE - Static variable in class frc.robot.Constants.CoralArmConstants

Ramp rate for elevator motor (seconds from 0 to full throttle)

ELEVATOR_TOP_LIMIT_CHANNEL - Static variable in class frc.robot.Constants.CoralArmConstants

CANifier pin for elevator top limit

ELEVATOR_ZEROING_POWER_DOWN - Static variable in class frc.robot.Constants.CoralArmConstants

Power to use when zeroing elevator down

ELEVATOR_ZEROING_POWER_UP - Static variable in class frc.robot.Constants.CoralArmConstants

Power to use when zeroing elevator up

elevatorHeight() - Method in record class frc.robot.Constants.CoralArmConstants.ArmState

Returns the value of the elevatorHeight record component.

endgame - Variable in class frc.robot.RobotContainer

 

equals(Object) - Method in record class frc.robot.Constants.CoralArmConstants.ArmState

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

equals(Object) - Method in record class frc.robot.helpers.PhotonConfig

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

equals(Object) - Method in record class frc.robot.subsystems.vision.PoseObservation

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

equals(Object) - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

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

F

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

Field layout for apriltags.

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

Field dimensions for 2025 Reefscape

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

Field width in meters.

frc.robot - package frc.robot

 

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

 

frc.robot.helpers - package frc.robot.helpers

 

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

 

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

 

G

get() - Method in class frc.robot.helpers.CustomSwerveInput

Gets a ChassisSpeeds

get(DriverStation.Alliance) - Method in class frc.robot.helpers.POI

Gets the pose of the POI for the given alliance.

getAddr() - Method in class frc.robot.helpers.POI

Gets the addr for the POI

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

Provides the command to run during autonomous mode.

getClosestPOI(POI[]) - Method in class frc.robot.subsystems.Swerve

Finds the closest point from an array of field POIs to the robot's current position.

getClosestPOIByTag(POI[], String) - Method in class frc.robot.subsystems.Swerve

Finds the closest POI with a specific tag to the robot's current position.

getClosestPoint(Pose2d[]) - Method in class frc.robot.subsystems.Swerve

Finds the closest point from an array of positions to the robot's current position.

getCurrentElbowAngle() - Method in class frc.robot.subsystems.CoralArm

Gets the current elbow angle

getCurrentElevatorHeight() - Method in class frc.robot.subsystems.CoralArm

Gets the current elevator height

getEstimationStdDevs(Pose2d, List<PhotonTrackedTarget>) - Static method in class frc.robot.subsystems.vision.ApriltagAlgorithms

 

getField2d() - Method in class frc.robot.subsystems.Swerve

Get the drivebase's field 2d object.

getInstance() - Static method in class frc.robot.Robot

 

getInstance() - Static method in class frc.robot.subsystems.Climb

Gets the singleton instance of the Climb subsystem.

getInstance() - Static method in class frc.robot.subsystems.CoralArm

Gets the singleton instance of the CoralArm subsystem.

getInstance() - Static method in class frc.robot.subsystems.CoralManipulator

Gets the singleton instance of the CoralManipulator subsystem.

getInstance() - Static method in class frc.robot.subsystems.Swerve

Returns the singleton instance of the Swerve subsystem.

getInstance() - Static method in class frc.robot.subsystems.vision.Vision

Returns the singleton instance of the Vision subsystem.

getMotor() - Method in class frc.robot.helpers.LimitedPID

Gets the motor controller for this subsystem.

getPoiByTagAndAddress(String, String) - Static method in class frc.robot.Constants.FieldConstants

Finds a specific POI by its tag and address

getPose() - Method in class frc.robot.subsystems.Swerve

Retrieves the current estimated pose of the robot on the field.

getPosition() - Method in class frc.robot.helpers.LimitedPID

Gets the current position of the mechanism.

getRobotVelocity() - Method in class frc.robot.subsystems.Swerve

Gets the current velocity of the robot.

getState() - Method in class frc.robot.helpers.LimitedPID

Gets the current state of the subsystem.

getSwerveDrive() - Method in class frc.robot.subsystems.Swerve

Gets the underlying SwerveDrive object.

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

Returns the NetworkTable used for debugging.

getTag() - Method in class frc.robot.helpers.POI

Gets the descriptive tag for this POI

H

hasCoral - Variable in class frc.robot.subsystems.CoralManipulator

Trigger that is active when the Coral Manipulator has a coral.

hashCode() - Method in record class frc.robot.Constants.CoralArmConstants.ArmState

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.helpers.PhotonConfig

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Returns a hash code value for this object.

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

Get whether the robot has left disabled

hasReceivedGlobalPose() - Method in class frc.robot.subsystems.vision.Vision

 

headingOffset(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Heading offset enable

headingOffset(Rotation2d) - Method in class frc.robot.helpers.CustomSwerveInput

Set the heading offset angle.

headingOffset(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Heading offset enabled boolean supplier.

headingWhile(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Set the heading enable state.

headingWhile(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Output ChassisSpeeds based on heading while the supplier is True.

I

i - Variable in class frc.robot.helpers.PID

Integral gain.

id() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns the value of the id record component.

inputs() - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Returns the value of the inputs record component.

inSafeAngle - Variable in class frc.robot.subsystems.CoralArm

Trigger that is active when the elbow angle won't hit the elevator tower

instantStop() - Method in class frc.robot.subsystems.CoralManipulator

Instantly stops the coral manipulator.

intake() - Method in class frc.robot.subsystems.CoralManipulator

Intakes a coral until the sensor detects it.

INTAKE_POWER - Static variable in class frc.robot.Constants.AlgaArmConstants

Intake power for the alga arm.

INTAKE_POWER - Static variable in class frc.robot.Constants.CoralManipulatorConstants

Power level for intake operation

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

Array of points of interest for intake stations.

INVERTED - Static variable in class frc.robot.Constants.CoralManipulatorConstants

Whether manipulator motor is inverted

io() - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Returns the value of the io record component.

IS_INVERTED - Static variable in class frc.robot.Constants.ClimbConstants

Whether the climb is inverted.

isAtMaxLimit() - Method in class frc.robot.helpers.LimitedPID

Checks if the mechanism is at the maximum limit.

isAtMinLimit() - Method in class frc.robot.helpers.LimitedPID

Checks if the mechanism is at the minimum limit.

isFront() - Method in record class frc.robot.Constants.CoralArmConstants.ArmState

Checks if the arm is on the front side.

isUsable(PhotonTrackedTarget) - Static method in class frc.robot.subsystems.vision.ApriltagAlgorithms

 

K

KNOWN - Enum constant in enum class frc.robot.helpers.LimitedPID.SubsystemState

The subsystem's position is known.

L

leftToReef() - Static method in class frc.robot.commands.AutoCommands

Autonomous routine that starts from the left spawn position, delivers coral to a reef location, acquires more coral from the left intake station, and delivers it to another reef location.

LimitedPID - Class in frc.robot.helpers

Represents a PID-controlled subsystem with limit switches and position control.

LimitedPID(int, double, double, double, PID, int, int, double, boolean, double, int) - Constructor for class frc.robot.helpers.LimitedPID

Creates a new motor subsystem with position control and limit switches.

LimitedPID.SubsystemState - Enum Class in frc.robot.helpers

State of position knowledge for a subsystem.

lockWheels() - Method in class frc.robot.subsystems.Swerve

Locks the swerve modules in an X pattern to prevent the robot from moving.

M

main(String...) - Static method in class frc.robot.Main

Main initialization function.

Main - Class in frc.robot

Robot initialization class that starts the robot code execution.

MAX_CAMERA_RESULTS - Static variable in class frc.robot.Constants.ApriltagConstants

Maximum number of camera results to keep in memory

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

Maximum speed of the robot in meters per second.

MAXIMUM_AMBIGUITY - Static variable in class frc.robot.Constants.ApriltagConstants

Maximum allowed ambiguity for pose estimation (0-1, lower is better)

method() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns the value of the method record component.

MULTI_TAG_STD_DEVS - Static variable in class frc.robot.Constants.ApriltagConstants

Standard deviations for multi-tag pose estimation

N

name() - Method in record class frc.robot.helpers.PhotonConfig

Returns the value of the name record component.

NO_AMBIGUITY - Static variable in class frc.robot.Constants.ApriltagConstants

Value indicating no ambiguity in pose estimation

O

of(SwerveDrive, DoubleSupplier, DoubleSupplier) - Static method in class frc.robot.helpers.CustomSwerveInput

Create basic CustomSwerveInput without any rotation components.

onFront - Variable in class frc.robot.subsystems.CoralArm

Trigger that is active when the elbow is on the front side.

P

p - Variable in class frc.robot.helpers.PID

Proportional gain.

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

 

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

 

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

 

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

Resets the odometry if the robot has not received a global pose from the AprilTag system.

periodic() - Method in class frc.robot.subsystems.vision.Vision

 

PHOTON_CAMERAS - Static variable in class frc.robot.Constants.ApriltagConstants

Photon cameras.

PhotonConfig - Record Class in frc.robot.helpers

Apriltag camera configuration.

PhotonConfig(String, Transform3d, PhotonPoseEstimator.PoseStrategy) - Constructor for record class frc.robot.helpers.PhotonConfig

Creates an instance of a PhotonConfig record class.

PID - Class in frc.robot.helpers

PID control constants container.

PID(double, double, double) - Constructor for class frc.robot.helpers.PID

Creates new PID constants.

POI - Class in frc.robot.helpers

Point of Interest on the field Contains a pose, alliance designation, and a descriptive tag

POI(Pose2d, String, String) - Constructor for class frc.robot.helpers.POI

Creates a new POI.

PoseObservation - Record Class in frc.robot.subsystems.vision

 

PoseObservation(Pose3d, double, double, int, Matrix<N3, N1>, PhotonPoseEstimator.PoseStrategy) - Constructor for record class frc.robot.subsystems.vision.PoseObservation

Creates an instance of a PoseObservation record class.

POSITION_TOLERANCE - Static variable in class frc.robot.Constants.CoralArmConstants

Maximum allowed offset when hitting limit switches.

R

RAMP_RATE - Static variable in class frc.robot.Constants.CoralManipulatorConstants

Ramp rate for manipulator motor (seconds from 0 to full throttle)

rejectedAprilTagPoses - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

rejectedCorners - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

rejectedIds - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

rejectedPoseObservations - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

rejectedPoses - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

resetOdometry() - Method in class frc.robot.subsystems.Swerve

Resets the robot's odometry to the center of the field (8.774m, 4.026m), with rotation based on alliance (0° for blue, 180° for red).

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

Resets the robot's odometry to a specific pose.

rightToReef() - Static method in class frc.robot.commands.AutoCommands

Autonomous routine that starts from the right spawn position, delivers coral to a reef location, acquires more coral from the right intake station, and delivers it to another reef location.

Robot - Class in frc.robot

Main robot class that manages the robot's lifecycle and operational modes.

RobotContainer - Class in frc.robot

Main robot configuration class that binds controls and commands to subsystems.

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

Creates a new RobotContainer and initializes all robot subsystems and commands.

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

Periodic function called every 20ms in all robot modes.

robotPose() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns the value of the robotPose record component.

robotRelative(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Set the stream to output robot relative ChassisSpeeds

robotRelative(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Set the stream to output robot relative ChassisSpeeds

running - Variable in class frc.robot.subsystems.CoralManipulator

Trigger that is active when the Coral Manipulator is running.

S

SAFE_ANGLE_DEADZONE_BACK - Static variable in class frc.robot.Constants.CoralArmConstants

Safe angle deadzone back

SAFE_ANGLE_DEADZONE_FRONT - Static variable in class frc.robot.Constants.CoralArmConstants

Safe angle deadzone front

SAFE_ELEVATOR_HEIGHT - Static variable in class frc.robot.Constants.CoralArmConstants

Safe elevator height.

scaleRotation(double) - Method in class frc.robot.helpers.CustomSwerveInput

Scale the rotation axis input for CustomSwerveInput to reduce the range in which they operate.

scaleTranslation(double) - Method in class frc.robot.helpers.CustomSwerveInput

Scale the translation axis for CustomSwerveInput by a constant scalar value.

scaleTranslation(BooleanSupplier, double) - Method in class frc.robot.helpers.CustomSwerveInput

Scale the translation axis based on a boolean supplier.

SENSOR_CHANNEL - Static variable in class frc.robot.Constants.AlgaArmConstants

Sensor channel for the alga sensor.

SENSOR_CHANNEL - Static variable in class frc.robot.Constants.CoralManipulatorConstants

DIO channel for coral sensor

setClimb() - Method in class frc.robot.subsystems.CoralArm

Command to move the arm to the CLIMB position

setHigh() - Method in class frc.robot.subsystems.CoralArm

Command to move the arm to the HIGH position

setIntake() - Method in class frc.robot.subsystems.CoralArm

Command to move the arm to the INTAKE position

setLow() - Method in class frc.robot.subsystems.CoralArm

Command to move the arm to the LOW position

setMid() - Method in class frc.robot.subsystems.CoralArm

Command to move the arm to the MID position

setPosition(double) - Method in class frc.robot.helpers.LimitedPID

Sets the target position of the mechanism.

setPosition(String) - Method in class frc.robot.subsystems.CoralArm

Creates a command to set the arm position based on a predefined setpoint name

setupPathPlanner() - Method in class frc.robot.subsystems.Swerve

Configures PathPlanner for autonomous path following.

setZero() - Method in class frc.robot.subsystems.CoralArm

Command to move the arm to the ZERO position

simpleBackwardDrive() - Static method in class frc.robot.commands.AutoCommands

Creates a simple test command that drives the robot backward at a fixed speed for a set time.

SINGLE_TAG_CUTOFF_METER - Static variable in class frc.robot.Constants.ApriltagConstants

BULLSHIT

SINGLE_TAG_STD_DEVS - Static variable in class frc.robot.Constants.ApriltagConstants

Standard deviations for single tag pose estimation

stdDevs() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns the value of the stdDevs record component.

stop() - Method in class frc.robot.subsystems.Climb

Stops the climb.

stop() - Method in class frc.robot.subsystems.CoralManipulator

Stops the coral manipulator.

strategy() - Method in record class frc.robot.helpers.PhotonConfig

Returns the value of the strategy record component.

Swerve - Class in frc.robot.subsystems

Manages the robot's swerve drive system, providing control over movement, autonomous path following, and odometry tracking.

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

Creates a new Swerve subsystem that manages drive control, path following, and odometry.

T

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

Called once when operator control is exited.

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

Called when operator control is initialized.

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

Called periodically during operator control.

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

Called once when test mode is exited.

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

Called when test mode is initialized.

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

Called periodically during test mode.

timestampSeconds() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns the value of the timestampSeconds record component.

TOP_LIMIT_CHANNEL - Static variable in class frc.robot.Constants.ClimbConstants

Top limit channel for the climb.

toString() - Method in record class frc.robot.Constants.CoralArmConstants.ArmState

Returns a string representation of this record class.

toString() - Method in record class frc.robot.helpers.PhotonConfig

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.vision.PoseObservation

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.vision.Vision.AprilTagCamera

Returns a string representation of this record class.

transform() - Method in record class frc.robot.helpers.PhotonConfig

Returns the value of the transform record component.

translationOnlyWhile(boolean) - Method in class frc.robot.helpers.CustomSwerveInput

Enable locking of rotation and only translating, overrides everything.

translationOnlyWhile(BooleanSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Enable locking of rotation and only translating, overrides everything.

U

UNKNOWN - Enum constant in enum class frc.robot.helpers.LimitedPID.SubsystemState

The subsystem's position is unknown.

UNKNOWN_STATE_POWER - Static variable in class frc.robot.Constants.CoralArmConstants

Power applied when zeroing unknown positions (-1.0 to 1.0).

update() - Method in class frc.robot.helpers.LimitedPID

Updates the mechanism status by checking limit switches.

updateInputs(Vision.AprilTagIOInputs) - Method in class frc.robot.subsystems.vision.ApriltagIO

 

V

validAprilTagPoses - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

validCorners - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

validIds - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

validPoseObservations - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

validPoses - Variable in class frc.robot.subsystems.vision.Vision.AprilTagIOInputs

 

valueOf(String) - Static method in enum class frc.robot.helpers.LimitedPID.SubsystemState

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

values() - Static method in enum class frc.robot.helpers.LimitedPID.SubsystemState

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

victoryLap() - Static method in class frc.robot.commands.AutoCommands

Creates a command that follows the PathPlanner path "Victory Lap".

Vision - Class in frc.robot.subsystems.vision

 

Vision.AprilTagCamera - Record Class in frc.robot.subsystems.vision

 

Vision.AprilTagIOInputs - Class in frc.robot.subsystems.vision

 

W

withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Add heading axis for Heading based control.

withControllerRotationAxis(DoubleSupplier) - Method in class frc.robot.helpers.CustomSwerveInput

Add a rotation axis for Angular Velocity control

withHeading(Supplier<Rotation2d>) - Method in class frc.robot.helpers.CustomSwerveInput

Add direct heading supplier for Heading based control.