Index (swervelib v4.2022.4.1 API)

A C D E F G I L M N O P R S T U V W Z
All Classes All Packages

A

add(Vector) - Method in class frc.team1711.swerve.util.Vector: Adds a vector and returns the summed vector.
addMovementVector(Vector) - Method in class frc.team1711.swerve.util.odometry.Position: Adds a movement Vector to this Position to return a new Position.
Angles - Class in frc.team1711.swerve.util: Provides useful methods allowing for more easily working with different measurements of angles, along with the circle constants Angles.PI and Angles.TAU.
Angles() - Constructor for class frc.team1711.swerve.util.Angles
apply(double) - Method in class frc.team1711.swerve.util.InputHandler: Gets the output of the input handler, after applying both the given input deadband and the input curve.
apply(Vector) - Method in class frc.team1711.swerve.util.InputHandler: Maps an input vector according to the mechanics of InputHandler.apply(double), based on the magnitude of the vector.
autoDrive(double, double, double) - Method in class frc.team1711.swerve.subsystems.SwerveDrive: Drives the SwerveDrive given strafing and steering inputs, all on the interval [-1, 1], where +strafeY is forwards and +strafeX is to the right.
AutonDrive - Class in frc.team1711.swerve.commands: A command to drive the robot to a given Position on the field, or to drive using robot-relative or field-relative RobotTurn and RobotMovement descriptor objects.
AutonDrive(AutoSwerveDrive, Position, MovementManner, TurnManner) - Constructor for class frc.team1711.swerve.commands.AutonDrive: Constructs an AutonDrive command given an AutoSwerveDrive subsystem instance, a Position final position on the field, a MovementManner describing how the robot should strafe, and a TurnManner describing how the robot should turn.
AutonDrive(AutoSwerveDrive, RobotMovement, RobotTurn) - Constructor for class frc.team1711.swerve.commands.AutonDrive: Construct an AutonDrive command given an AutoSwerveDrive subsystem instance, a RobotMovement, and a RobotTurn.
AutoSwerveDrive - Class in frc.team1711.swerve.subsystems: Expands on the GyroSwerveDrive for autonomous control, requiring the use of AutoSwerveWheel rather than SwerveWheel.
AutoSwerveDrive(Gyro, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, double) - Constructor for class frc.team1711.swerve.subsystems.AutoSwerveDrive: Creates a new AutoSwerveDrive given AutoSwerveWheel wheels.
AutoSwerveWheel - Class in frc.team1711.swerve.subsystems: Used by AutoSwerveDrive to represent a module with encoders on the drive motors (in addition to the encoders on the steering motors which are necessary for basic swerve functionality).
AutoSwerveWheel() - Constructor for class frc.team1711.swerve.subsystems.AutoSwerveWheel

C

checkWithin180Range(double, double) - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Does the same check as SwerveWheel.checkWithinRange(double, double), except it will also return true if the wheel's current steering direction is within the range centered at 180 degrees away from the target steering rotation.
checkWithinRange(double, double) - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Checks whether or not the wheel's current steering direction is near a certain direction, with a specified margin of error.
constantSpeed(double) - Static method in interface frc.team1711.swerve.util.odometry.Manner.SpeedSupplier: Returns a Manner.SpeedSupplier representing a constant speed at all points in the given autonomous task.
constantSpeed(double) - Static method in interface frc.team1711.swerve.util.odometry.MovementManner.MovementSpeedSupplier: Returns a Manner.SpeedSupplier representing a constant speed at any point in the RobotMovement path.
constantSpeed(double) - Static method in interface frc.team1711.swerve.util.odometry.TurnManner.TurnSpeedSupplier: Returns a TurnManner.TurnSpeedSupplier representing a constant turn speed at any point in the autonomous RobotTurn.
ControlsConfig(double, double, InputHandler) - Constructor for class frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig: Creates a new ControlsConfig.

D

degreesToRadians(double) - Static method in class frc.team1711.swerve.util.Angles: Converts a rotation in degrees to radians, where the radians starts directly right of the origin on the x axis and progresses counterclockwise, and degrees starts directly above the origin on the y axis and progresses clockwise.
distanceFrom(Position) - Method in class frc.team1711.swerve.util.odometry.Position: Gets the distance from this position to another on the field, in inches.

E

end(boolean) - Method in class frc.team1711.swerve.commands.AutonDrive
execute() - Method in class frc.team1711.swerve.commands.AutonDrive

F

FIELD - frc.team1711.swerve.commands.FrameOfReference: Denoting a frame of reference for an autonomous command that is relative to the field.
fieldRelativeUserInputDrive(double, double, double, SwerveDrive.ControlsConfig) - Method in class frc.team1711.swerve.subsystems.GyroSwerveDrive: Drives the SwerveDrive given strafing and steering inputs, all on the interval [-1, 1], where +strafeY is forwards and +strafeX is to the right.
FrameOfReference - Enum in frc.team1711.swerve.commands: The spatial orientation to be used as a frame of reference for an autonomous command.
frc.team1711.swerve.commands - package frc.team1711.swerve.commands
frc.team1711.swerve.subsystems - package frc.team1711.swerve.subsystems
frc.team1711.swerve.util - package frc.team1711.swerve.util
frc.team1711.swerve.util.odometry - package frc.team1711.swerve.util.odometry
fromPolarDegrees(double, double) - Static method in class frc.team1711.swerve.util.Vector: Creates a new vector with the specified direction and magnitude.
fromPolarRadians(double, double) - Static method in class frc.team1711.swerve.util.Vector: Creates a new vector with the specified direction and magnitude.

G

getAbsoluteGyroAngle() - Method in class frc.team1711.swerve.subsystems.GyroSwerveDrive: Gets the absolute gyro angle, unaffected by GyroSwerveDrive.resetGyro().
getDirection() - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Gets the current steering direction, in degrees, on the interval [0, 360).
getDirection() - Method in class frc.team1711.swerve.util.odometry.Position: Gets the robot's direction relative to the field, in degrees.
getEncoderDistance() - Method in class frc.team1711.swerve.subsystems.AutoSwerveWheel: Gets the number of inches traveled along the ground, according to the drive encoder.
getGyroAngle() - Method in class frc.team1711.swerve.subsystems.GyroSwerveDrive: Gets the gyro yaw angle on the range [0, 360) degrees.
getLocation() - Method in class frc.team1711.swerve.util.odometry.Position: Gets the location of the robot on the field as a vector, measured in inches.
getMagnitude() - Method in class frc.team1711.swerve.util.Vector
getManner() - Method in class frc.team1711.swerve.util.odometry.RobotMovement: Gets the MovementManner which describes how the robot should move along the given path.
getManner() - Method in class frc.team1711.swerve.util.odometry.RobotTurn: Gets the TurnManner which describes how the robot should turn.
getMarginOfError() - Method in class frc.team1711.swerve.util.odometry.Manner: Gets the margin of error around the endpoint, such that if the robot's position is within this margin of error the autonomous activity will be considered complete.
getMarginOfError() - Method in class frc.team1711.swerve.util.odometry.MovementManner: Gets the distance margin of error around the endpoint, where if the robot is within this distance from the endpoint of the RobotMovement path the path is considered to be finished.
getMarginOfError() - Method in class frc.team1711.swerve.util.odometry.TurnManner: Gets the angular margin of error at the endpoint, such that if the robot is within this angle measure from the endpoint of the autonomous RobotTurn the turn is considered to be finished.
getOutput(double) - Method in interface frc.team1711.swerve.util.InputHandler.Curve: The function which defines the Curve.
getPosition() - Method in class frc.team1711.swerve.subsystems.AutoSwerveDrive: Gets the current Position of the robot on the field.
getPosition() - Method in class frc.team1711.swerve.util.odometry.Odometry: Gets the current Position of the robot on the field.
getRotationDegrees() - Method in class frc.team1711.swerve.util.Vector
getRotationRadians() - Method in class frc.team1711.swerve.util.Vector
getSpeed(double) - Method in interface frc.team1711.swerve.util.odometry.Manner.SpeedSupplier: Gets the speed the robot should perform the autonomous task at.
getSpeed(double) - Method in interface frc.team1711.swerve.util.odometry.MovementManner.MovementSpeedSupplier: Gets the speed the robot should move at given the distance yet to be traveled, in inches.
getSpeed(double) - Method in interface frc.team1711.swerve.util.odometry.TurnManner.TurnSpeedSupplier: Gets the speed the robot should turn at given the remaining angle to turn.
getSpeedSupplier() - Method in class frc.team1711.swerve.util.odometry.Manner: Gets the Manner.SpeedSupplier associated with this Manner.
getSpeedSupplier() - Method in class frc.team1711.swerve.util.odometry.MovementManner: Gets the MovementManner.MovementSpeedSupplier associated with this MovementManner instance.
getSpeedSupplier() - Method in class frc.team1711.swerve.util.odometry.TurnManner: Gets the TurnManner.TurnSpeedSupplier associated with this TurnManner instance.
getX() - Method in class frc.team1711.swerve.util.Vector
getY() - Method in class frc.team1711.swerve.util.Vector
GyroSwerveDrive - Class in frc.team1711.swerve.subsystems: Expands on the SwerveDrive for field relative control, using a gyro.
GyroSwerveDrive(Gyro, SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double) - Constructor for class frc.team1711.swerve.subsystems.GyroSwerveDrive: Creates a new GyroSwerveDrive given SwerveWheel wheels.

I

initialize() - Method in class frc.team1711.swerve.commands.AutonDrive
initSendable(SendableBuilder) - Method in class frc.team1711.swerve.subsystems.SwerveDrive
inputHandler - Variable in class frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig
InputHandler - Class in frc.team1711.swerve.util: Represents a system for converting continuous user input into a usable input into robot-control functions.
InputHandler(double) - Constructor for class frc.team1711.swerve.util.InputHandler: Creates a new InputHandler given a specified deadband.
InputHandler(double, InputHandler.Curve) - Constructor for class frc.team1711.swerve.util.InputHandler: Creates a new InputHandler given a specified deadband and input curve.
InputHandler.Curve - Interface in frc.team1711.swerve.util: A functional interface which represents an input curve, useful for allowing for better control at certain input magnitudes.
isFinished() - Method in class frc.team1711.swerve.commands.AutonDrive

L

linearCurve - Static variable in interface frc.team1711.swerve.util.InputHandler.Curve: A linear curve, that maps any input value to itself.

M

Manner - Class in frc.team1711.swerve.util.odometry: An abstract class representing the way in which an autonomous function is performed by the robot.
Manner(double) - Constructor for class frc.team1711.swerve.util.odometry.Manner: Represents the abstract creation of a manner, which includes a property describing the acceptible margin of error from the endpoint of the auton, and a functional interface describing the speed at which the robot should perform the autonomous activity given certain inputs.
Manner.SpeedSupplier - Interface in frc.team1711.swerve.util.odometry: A functional interface which gets the speed the robot should perform an abstract autonomous task given the amount left to be completed.
MovementManner - Class in frc.team1711.swerve.util.odometry: MovementManner describes the way in which the robot moves along a given RobotMovement path.
MovementManner(double, MovementManner.MovementSpeedSupplier) - Constructor for class frc.team1711.swerve.util.odometry.MovementManner: Constructs a MovementManner instance, describing the manner in which the robot should complete a given RobotMovement path.
MovementManner.MovementSpeedSupplier - Interface in frc.team1711.swerve.util.odometry: A functional interface which gets the speed the robot should move at given the distance that has yet to be traveled.
movementTo(Position) - Method in class frc.team1711.swerve.util.odometry.Position: Gets a vector representing the movement required to move the robot from this position to another on the field.

N

NONE - Static variable in class frc.team1711.swerve.util.odometry.MovementManner: A MovementManner where the robot will not attempt to move and the path will immediately be completed.
NONE - Static variable in class frc.team1711.swerve.util.odometry.RobotMovement: A RobotMovement describing no movement whatsoever.
NONE - Static variable in class frc.team1711.swerve.util.odometry.RobotTurn: A RobotTurn describing no movement whatsoever.
NONE - Static variable in class frc.team1711.swerve.util.odometry.TurnManner: A TurnManner where the robot will not attempt to move and the path will immediately be completed.

O

Odometry - Class in frc.team1711.swerve.util.odometry: A class used in coordination with AutoSwerveDrive in order to track the position of the robot on the field.
Odometry(AutoSwerveDrive, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel, AutoSwerveWheel) - Constructor for class frc.team1711.swerve.util.odometry.Odometry: Creates a new Odometry object which tracks the position of an AutoSwerveDrive on the field.

P

PI - Static variable in class frc.team1711.swerve.util.Angles: The circle constant pi; the ratio from a circle's circumference to its diameter.
Position - Class in frc.team1711.swerve.util.odometry: Represents position of the robot on the field, with location and direction components.
Position(Vector, double) - Constructor for class frc.team1711.swerve.util.odometry.Position: Creates a new robot Position.

R

radiansToDegrees(double) - Static method in class frc.team1711.swerve.util.Angles: Converts a rotation in radians to degrees, where the radians starts at directly right of the origin on the x axis and progresses counterclockwise, and degrees starts directly above the origin on the y axis and progresses clockwise.
reflectAcrossX() - Method in class frc.team1711.swerve.util.Vector: Reflects across the x axis.
reflectAcrossY() - Method in class frc.team1711.swerve.util.Vector: Reflects across the y axis.
resetGyro() - Method in class frc.team1711.swerve.subsystems.GyroSwerveDrive: Resets the gyro heading to zero for GyroSwerveDrive.getGyroAngle() but does not affect GyroSwerveDrive.getAbsoluteGyroAngle().
resetGyro(double) - Method in class frc.team1711.swerve.subsystems.GyroSwerveDrive: Resets the gyro heading to toAngle for GyroSwerveDrive.getGyroAngle() but does not affect GyroSwerveDrive.getAbsoluteGyroAngle().
resetPosition(Position) - Method in class frc.team1711.swerve.subsystems.AutoSwerveDrive: Resets the robot's odometry to a given Position.
resetPosition(Position) - Method in class frc.team1711.swerve.util.odometry.Odometry: Resets the robot's odometry to a given Position.
ROBOT - frc.team1711.swerve.commands.FrameOfReference: Denoting a frame of reference for an autonomous command that is relative to the robot.
RobotMovement - Class in frc.team1711.swerve.util.odometry: Represents an autonomous movement of the robot (only strafing, not turning).
RobotMovement(Vector, FrameOfReference, MovementManner) - Constructor for class frc.team1711.swerve.util.odometry.RobotMovement: Creates a new RobotMovement instance.
RobotTurn - Class in frc.team1711.swerve.util.odometry: Represents an autonomous robot turn, including both the turn itself and the way the robot makes the turn.
RobotTurn(double, FrameOfReference, TurnManner) - Constructor for class frc.team1711.swerve.util.odometry.RobotTurn: Creates a new RobotTurn instance.

S

scale(double) - Method in class frc.team1711.swerve.util.Vector: Scales this vector and returns the resulting vector.
setDirection(double) - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Sets the target steering direction of the wheel on the interval [0, 360), where zero degrees is directly forwards and an increase in direction indicates a further clockwise target direction.
setDriveSpeed(double) - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Sets the drive speed of the wheel on the interval [-1, 1].
speedWithSlowdown(double, double, double) - Static method in interface frc.team1711.swerve.util.odometry.Manner.SpeedSupplier: Returns a Manner.SpeedSupplier representing a speed that slows down after a certain proximity to the endpoint of the autonomous task, until a minimum speed is hit.
speedWithSlowdown(double, double, double) - Static method in interface frc.team1711.swerve.util.odometry.MovementManner.MovementSpeedSupplier: Returns a MovementManner.MovementSpeedSupplier representing a speed that slows down after a certain distance to the autonomous endpoint, until a minimum speed is hit.
speedWithSlowdown(double, double, double) - Static method in interface frc.team1711.swerve.util.odometry.TurnManner.TurnSpeedSupplier: Returns a TurnManner.TurnSpeedSupplier representing a speed that slows down after a certain angular offset from the autonomous direction endpoint, until a minimum speed is hit.
squareCurve - Static variable in interface frc.team1711.swerve.util.InputHandler.Curve: A square curve, that maps any input value x to x^2.
steerAllWithinRange(double, double) - Method in class frc.team1711.swerve.subsystems.SwerveDrive: Steers all wheels to a direction within a certain range.
steerAndDrive(double, double) - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Sets the drive speed of the wheel, along with the target steering direction of the module.
steerAndDriveAll(double, double) - Method in class frc.team1711.swerve.subsystems.SwerveDrive: Steers and drives all wheels in the same direction and with the same speed.
steerSpeed - Variable in class frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig
stop() - Method in class frc.team1711.swerve.subsystems.SwerveDrive: Stops all modules immediately.
stop() - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Stops all movement.
stopSteering() - Method in class frc.team1711.swerve.subsystems.SwerveWheel: Immediately stops all steering movement.
strafeSpeed - Variable in class frc.team1711.swerve.subsystems.SwerveDrive.ControlsConfig
subtract(Vector) - Method in class frc.team1711.swerve.util.Vector: Subtracts a vector and returns the difference vector.
SwerveDrive - Class in frc.team1711.swerve.subsystems: Utilizes SwerveWheel subsystems to create a singular, easy-to-use swerve drive.
SwerveDrive(SwerveWheel, SwerveWheel, SwerveWheel, SwerveWheel, double) - Constructor for class frc.team1711.swerve.subsystems.SwerveDrive: Creates a new SwerveDrive.
SwerveDrive.ControlsConfig - Class in frc.team1711.swerve.subsystems: A class representing the configuration of relative speeds for SwerveDrive in SwerveDrive.userInputDrive(double, double, double, ControlsConfig), along with an InputHandler which handles user-generated input.
SwerveWheel - Class in frc.team1711.swerve.subsystems: An abstract class used by SwerveDrive to represent a module.
SwerveWheel() - Constructor for class frc.team1711.swerve.subsystems.SwerveWheel

T

TAU - Static variable in class frc.team1711.swerve.util.Angles: The circle constant tau; the ratio from a circle's circumference to its radius.
threeHalvesPowerCurve - Static variable in interface frc.team1711.swerve.util.InputHandler.Curve: An x^1.5 curve.
toFieldRel(Position) - Method in class frc.team1711.swerve.util.odometry.RobotMovement: Converts the movement vector to be field relative (if it isn't already explicitly field relative) given the robot's current Position.
toFieldRel(Position) - Method in class frc.team1711.swerve.util.odometry.RobotTurn: Converts the direction to be field relative (if it isn't already explicitly field relative) given the robot's current Position.
toRotationDegrees(double) - Method in class frc.team1711.swerve.util.Vector: Rotates this vector to a given rotation.
toRotationRadians(double) - Method in class frc.team1711.swerve.util.Vector: Rotates this vector to a given rotation.
toString() - Method in class frc.team1711.swerve.util.Vector
TurnManner - Class in frc.team1711.swerve.util.odometry: TurnManner describes the way in which the robot performs an autonomous RobotTurn.
TurnManner(double, TurnManner.TurnSpeedSupplier) - Constructor for class frc.team1711.swerve.util.odometry.TurnManner: Constructs a TurnManner instance, describing the manner in which the robot should complete a given autonomous RobotTurn.
TurnManner.TurnSpeedSupplier - Interface in frc.team1711.swerve.util.odometry: A functional interface which gets the speed the robot should turn at given the remaining angle to turn.

U

update() - Method in class frc.team1711.swerve.util.odometry.Odometry: Used in order to update the estimated robot location on the field.
updateOdometry() - Method in class frc.team1711.swerve.subsystems.AutoSwerveDrive
updateOdometry() - Method in class frc.team1711.swerve.subsystems.SwerveDrive: A method overridden in AutoSwerveDrive which is called to update the odometry systems whenever new inputs are passed to the wheels.
userInputDrive(double, double, double, SwerveDrive.ControlsConfig) - Method in class frc.team1711.swerve.subsystems.SwerveDrive: Drives the SwerveDrive given strafing and steering inputs, all on the interval [-1, 1], where +strafeY is forwards and +strafeX is to the right.

V

valueOf(String) - Static method in enum frc.team1711.swerve.commands.FrameOfReference: Returns the enum constant of this type with the specified name.
values() - Static method in enum frc.team1711.swerve.commands.FrameOfReference: Returns an array containing the constants of this enum type, in the order they are declared.
Vector - Class in frc.team1711.swerve.util: A vector class used by SwerveDrive for calculating target velocities and rotational positions.
Vector(double, double) - Constructor for class frc.team1711.swerve.util.Vector: Makes a new vector.

W

withDirection(double) - Method in class frc.team1711.swerve.util.odometry.Position: Returns a new Position with the same location but a different direction.
wrapDegrees(double) - Static method in class frc.team1711.swerve.util.Angles: Wraps degrees to be on the interval [0, 360).
wrapDegreesZeroCenter(double) - Static method in class frc.team1711.swerve.util.Angles: Wraps degrees to be on the interval [-180, 180).
wrapRadians(double) - Static method in class frc.team1711.swerve.util.Angles: Wraps radians to be on the interval [0, 2pi).
wrapRadiansZeroCenter(double) - Static method in class frc.team1711.swerve.util.Angles: Wraps radians to be on the interval [-pi, pi).

Z

ZERO - Static variable in class frc.team1711.swerve.util.Vector: The vector (0, 0).

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