All Classes and Interfaces
Class
Description
Shorthand for getting the robot's alliance.
Similar to
SendableChooser, this class implements a selector over
NetworkTables for choosing a command to run during the autonomous period.The Autos class declares autonomous modes, and adds them
to the dashboard to be selected by the drive team.
A command builder.
The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
constants.
Utility class for disabling
Watchdog instances inside objects.A dummy subsystem.
Utility for interfacing with the generated
Epilogue
class.A container for
Pose2d objects that enables live tuning via
NetworkTables, and dynamically returns flipped variants of the original
pose based on the robot's current alliance via Supplier.get().A container for
Rotation2d objects that enables live tuning via
NetworkTables, and dynamically returns flipped variants of the original
rotation based on the robot's current alliance via Supplier.get().A container for
Translation2d objects that enables live tuning via
NetworkTables, and dynamically returns flipped variants of the original
translation based on the robot's current alliance via Supplier.get().Field locations and utilities.
Utility class for flipping field locations across lines of symmetry.
Retrieves information about the playing field from an AprilTag field
layout.
Specifies the direction in which the field is symmetric.
A
Subsystem implementation.LoggedRobot implements the IterativeRobotBase robot program framework,
and is intended to be subclassed by a user creating a robot program.
General math utilities.
A simple mutable object that stores a value.
Implements a predictive artificial potential field (P-APF),
capable of real-time motion planning with obstacle avoidance.
A circle with a specified radius.
Represents a heuristic for transforming the force profile of an obstacle.
Represents a heuristic for calculating the strength of
the attractive force generated by the goal location.
An infinite line that pushes parallel to the Y axis, to
constrain left/right field-relative movement.
A line segment that pushes perpendicular from its length.
An infinite line that pushes parallel to the X axis, to
constrain forwards/backwards field-relative movement.
A generic obstacle.
A simple point obstacle.
Describes a forward (X+ direction) perspective for
ChassisSpeeds.Utilities for the CTRE Phoenix 6 API.
The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a
given timestamp on the field to produce a single robot in field pose, using the strategy set
below.
Tuning handles we have over the CONSTRAINED_SOLVEPNP.
A simple pseudo call-graph profiler that publishes timings to NetworkTables.
Utilities for ReduxLib.
Utilities for REVLib.
The Routines class contains command compositions, such as sequences
or parallel command groups, that require multiple subsystems.
A command that rumbles a controller while scheduled.
Utility class for sleeping the current thread,
with the option to skip if in simulation.
The robot's swerve drivetrain.
An implementation of a swerve drivetrain, with support for various hardware configurations.
Config builder for the
SwerveAPI.Contains implementations for absolute encoders to be used with the
SwerveAPI.A swerve module's absolute encoder.
(config, turnMotor) -> SwerveEncoderContains implementations for IMUs to be used with the
SwerveAPI.A swerve IMU.
(config) -> SwerveIMUProvides consumer to be saved and invoked periodically with the
robot's current chassis speeds to update the simulated IMU.
Config builder for
SwerveAPI modules.Contains implementations for motors to be used with the
SwerveAPI.A swerve motor.
(config, isMoveMotor) -> SwerveMotorRepresents the state of the robot's drivetrain.
Contains information about swerve module states and positions.
Represents the state of the odometry thread.
Contains a
Pose2d alongside a timestamp in seconds.The Tunables class is used to construct tunable properties
of the robot to be modified live via NetworkTables.
Base interface for tunable objects.
A tunable boolean value.
A tunable double value.
A tunable float value.
Interface for wrapping objects to be tunable.
A tunable integer value.
A tunable string value.
A TunableTable represents a nested table of tunable values in the NetworkTables tree.
Manages all of the robot's cameras.
Represents a measurement from vision to apply to a pose estimator.