Index

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

A

a - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

A - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the A (cross) face button.

aboveCurrent(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor stator current is above target - tolerance amps.

aboveDegrees(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is above target - tolerance degrees.

abovePercentage(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is above target - tolerance (as a percentage of max rotations).

aboveRotations(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is above target - tolerance rotations.

aboveVelocityRPM(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor velocity is above target - tolerance RPM.

ABS_GREATER - Enum constant in enum class frc.spectrumLib.gamepads.Gamepad.Threshold

Fires when the absolute axis value is greater than the threshold (deadband check).

AButton - Variable in class frc.robot.operator.Operator

AButton - Variable in class frc.robot.pilot.Pilot

accelX - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

accelX - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

accelXG - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Pigeon acceleration along its own axes, g (gravity included).

accelY - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

accelY - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

accelYG - Variable in class frc.robot.subsystems.swerve.SwerveInputs

accelZ - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

accelZ - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

accelZG - Variable in class frc.robot.subsystems.swerve.SwerveInputs

accepted - Variable in class frc.spectrumLib.localization.TagEkf.CameraStats

accepted() - Method in record class frc.spectrumLib.localization.PoseSource.Result

acceptedThisLoop(PoseObservation.Kind) - Method in class frc.spectrumLib.localization.PoseSource

Whether any observation of the given kind was accepted this loop.

action() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns the value of the action record component.

Actions() - Constructor for class frc.robot.SimScript.Actions

active() - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

Returns the value of the active record component.

actualHoodDeg() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the actualHoodDeg record component.

actualRpm() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the actualRpm record component.

add(String, String, BooleanSupplier) - Method in class frc.spectrumLib.checks.DeviceHealthCheck

Adds a device.

add(String, Supplier) - Method in class frc.spectrumLib.checks.HomingCheck

Adds a mechanism with a state of its own.

add(Supplier, CheckResult.Status) - Method in class frc.spectrumLib.checks.SettingsCheck

Adds a setting.

addCamera(String, SimCameraProperties, Transform3d) - Method in class frc.robot.subsystems.vision.SimVision

Adds a simulated camera that publishes as a PhotonVision camera named name.

addDashboardKey(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Marks a key for NetworkTables, e.g.

addDashboardKeysFromElasticLayout(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Marks every output the Elastic layout reads as a dashboard key, so what Elastic shows is exactly what goes over NetworkTables and the two cannot drift apart.

addDevice(String, String, BooleanSupplier, BooleanSupplier, DoubleSupplier) - Method in class frc.spectrumLib.telemetry.MatchSummary

Tracks a CAN device: when it drops off and comes back, reboots, and its peak temperature.

addFirst(LogDataReceiver...) - Static method in class frc.spectrumLib.telemetry.RadioStatusRedactor

Adds a redactor as AdvantageKit's first data receiver, then the others in order.

addFrame(String, boolean, double, double, int, double, double) - Method in class frc.spectrumLib.checks.CameraHeadingCheck

Records one camera frame, saying whether the robot fuses that camera.

addFrame(String, double, double, int, double, double) - Method in class frc.spectrumLib.checks.CameraHeadingCheck

Records one camera frame.

addFrame(List) - Method in class frc.spectrumLib.localization.TagEkf

Applies one camera frame's tags.

addIntakeZone(double, double, double, double, BooleanSupplier) - Method in class frc.rebuilt.FuelPhysicsSim

Add an intake zone without a callback.

addIntakeZone(double, double, double, double, BooleanSupplier, Runnable) - Method in class frc.rebuilt.FuelPhysicsSim

Add an intake zone.

addMechanism(Mechanism) - Method in class frc.spectrumLib.checks.HomingCheck

Adds a mechanism by its reboot tracking.

addMechanism(Mechanism, String) - Method in class frc.spectrumLib.checks.DeviceHealthCheck

Adds a mechanism's leader and followers from its logged MotorInputs.

addMechanism(Mechanism, Function) - Method in class frc.spectrumLib.telemetry.MatchSummary

Tracks a mechanism's leader and followers from its MotorInputs.

addOdometry(double, Rotation2d, SwerveModulePosition[]) - Method in class frc.spectrumLib.localization.PoseFusion

Feeds one odometry sample to every estimator.

addOdometry(double, Rotation2d, SwerveModulePosition[]) - Method in class frc.spectrumLib.localization.TagEkf

Predicts with one odometry sample.

addOdometry(double, Rotation2d, SwerveModulePosition[], boolean) - Method in class frc.spectrumLib.localization.PoseFusion

Feeds one odometry sample to the fused and odometry tracks, and to the shadows when includeShadows.

addOdometry(double, Rotation2d, SwerveModulePosition[], SwerveModulePosition[], boolean) - Method in class frc.spectrumLib.localization.PoseFusion

As PoseFusion.addOdometry(double, Rotation2d, SwerveModulePosition[], boolean), with separate module positions for the odometry-only track: the fused pose and shadows can take adjusted (e.g.

addPose(Pose2d, double, double, double) - Method in class frc.spectrumLib.localization.TagEkf

Applies a whole-pose measurement at its capture time (the seed every track shares).

addVisionSource(String, LongSupplier, LongSupplier) - Method in class frc.spectrumLib.telemetry.MatchSummary

Tracks a vision source's running accepted and rejected counts.

advancePhysics(double) - Method in class frc.rebuilt.FuelPhysicsSim

Advance physics by dt seconds.

afterVision() - Method in class frc.robot.subsystems.swerve.Swerve

Called by Robot after vision has been fused, so CTRE is re-aligned with the pose this loop's measurements produced.

AIM - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

AIM_AT_TARGET - Enum constant in enum class frc.robot.subsystems.hood.Hood.SystemState

AIM_AT_TARGET - Enum constant in enum class frc.robot.subsystems.hood.Hood.WantedState

AIM_AT_TARGET - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.SystemState

AIM_AT_TARGET - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.WantedState

AimFeedforward - Class in frc.robot.subsystems.swerve

The heading-rate feedforward Swerve hands its aim request ( FieldCentricFacingAngle.withTargetRateFeedforward) while aiming at the hub.

aimKeepScale() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns the value of the aimKeepScale record component.

aimToleranceRad() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the aimToleranceRad record component.

aimToleranceRad() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the aimToleranceRad record component.

aimToleranceRad(double, boolean) - Static method in class frc.robot.subsystems.ShotGate

Heading tolerance for a shot: 4499's atan((hubRadius - ballWidth) / distance), the angle at which a ball's edge reaches the rim, for hub shots; a flat 10 deg for feed shots, whose target is a patch of floor (9470 uses 10 deg for feed shots against 2.5 for the hub).

Alert - Class in frc.spectrumLib.telemetry

A WPILib Alert that is also logged and shown on Elastic.

Alert(String, String, Alert.Level) - Constructor for class frc.spectrumLib.telemetry.Alert

Creates an alert in a named group.

Alert(String, Alert.Level) - Constructor for class frc.spectrumLib.telemetry.Alert

Creates an alert in the default group.

all() - Static method in class frc.spectrumLib.mechanism.Mechanism

Every mechanism constructed so far, in construction order, e.g.

allCloseTo(List, double, double) - Static method in class frc.spectrumLib.util.Util

Checks whether every element in list is within epsilon of value.

alliance() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the alliance record component.

alliancePresent() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the alliancePresent record component.

AM2026 - Class in frc.robot.configs

AM2026() - Constructor for class frc.robot.configs.AM2026

ambiguity - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

angles() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the angles record component.

any() - Method in class frc.spectrumLib.gamepads.ModifierChords

anyFaceChord - Variable in class frc.robot.pilot.Pilot

Any of the above; its falling edge is IDLE.

apply(SwerveConfig) - Static method in class frc.robot.subsystems.swerve.SwerveOffsetParams

Declares the offsets and gives the config their resolved values.

apply(PoseSource, List, boolean) - Method in class frc.spectrumLib.localization.PoseFusion

Applies one source's results: every accepted measurement goes to its shadow, and to the fused pose if the source is enabled.

applyCurrentLimit(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Applies new supply and stator current limits if the requested values differ from the currently configured limits.

applyMotorConfig(TalonFX) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

applyTalonConfig(TalonFX) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Applies the current TalonFXConfiguration to the given motor and reports a warning to the DriverStation if the apply fails.

applyTo(CANdle, int, int) - Method in interface frc.spectrumLib.leds.SpectrumLEDs.CANdlePattern

Apply this pattern to the given LED segment.

appTimestamp() - Method in record class frc.robot.subsystems.vision.QuestNavProtocol.Frame

Returns the value of the appTimestamp record component.

APRILTAG_FIELD - Static variable in class frc.robot.Event

This event's field: AndyMark or Welded, from the event's field announcement.

aprilTagGates() - Static method in class frc.robot.subsystems.vision.VisionGates

The shared AprilTag chain, for Limelight MegaTag1/2 and PhotonVision.

ARM - Enum constant in enum class frc.spectrumLib.sim.Mount.MountType

A single-jointed arm mount.

ARM_SECONDS - Static variable in class frc.spectrumLib.checks.DeviceHealthCheck

Phoenix's first-contact reset report arrives well inside this.

ArmConfig - Class in frc.spectrumLib.sim

Configuration data for an arm simulation.

ArmConfig(double, double, double, double, double, double, double) - Constructor for class frc.spectrumLib.sim.ArmConfig

Creates an ArmConfig with the required physical and display parameters.

ArmSim - Class in frc.spectrumLib.sim

WPILib-backed simulation of a single-jointed arm driven by one or more Kraken X60 motors.

ArmSim(ArmConfig, Mechanism2d, TalonFX, String) - Constructor for class frc.spectrumLib.sim.ArmSim

Creates and registers an arm simulation.

assumedZeroed() - Static method in class frc.robot.subsystems.hood.HoodHoming

The output while HoodHoming.assumeZeroedForReplay(boolean, boolean): zeroed, closed loop, no zero written.

assumeZeroedForReplay(boolean, boolean) - Static method in class frc.robot.subsystems.hood.HoodHoming

Whether to skip homing and treat the hood as zeroed: only when replaying a log recorded before homing existed.

atBoot() - Method in class frc.spectrumLib.params.HardwareStamp

The readings at boot, or null if a device did not answer.

atCurrent(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor stator current is within tolerance amps of target.

atDegrees(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is within tolerance of target (both in degrees).

atPercentage(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is within tolerance of target (both as a percentage of max rotations).

atRotations(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is within tolerance of target (both in rotations).

Attachment semantics - Section in class frc.spectrumLib.mechanism.Mechanism

atTargetPosition(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor is within tolerance rotations of the last commanded target position.

atVelocityRPM(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor velocity is within tolerance RPM of target.

AUTO - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

AUTO - Enum constant in enum class frc.spectrumLib.gamepads.Gamepad.Mapping

Follow GamepadLayout.detect(GenericHID), starting from Gamepad.Mapping.NI_DS and keeping the last recognised layout.

AUTO_REWIND_SECONDS - Static variable in class frc.robot.subsystems.vision.CameraParams

Limelight rewind saved at the end of auto: auto's 20 s plus a few seconds either side.

AUTO_SHOT_TIMEOUT_TRIGGERED - Enum constant in enum class frc.spectrumLib.telemetry.Telemetry.Fault

AutoEnd - Class in frc.robot.auton

Logs why the auto command ended and how long it ran.

AutoEnd() - Constructor for class frc.robot.auton.AutoEnd

AutoEnd.Ended - Record Class in frc.robot.auton

How an auto ended, as logged.

AutoEnd.Reason - Enum Class in frc.robot.auton

Why the auto command ended.

autoEnded(String, double) - Method in class frc.spectrumLib.telemetry.MatchSummary

Records why the auto ended, as the robot's own auto tracking logged it, so the summary and that log agree.

autoEndTime - Static variable in class frc.rebuilt.ShiftHelpers

autoMode - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active during the autonomous period.

autoMode - Static variable in class frc.spectrumLib.util.Util

Trigger that is true when the robot is enabled in autonomous mode.

Auton - Class in frc.robot.auton

Auton(SuperStructure) - Constructor for class frc.robot.auton.Auton

AUTON_IDLE - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

AUTON_INTAKE_FUEL - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

AUTON_INTAKE_FUEL - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

AUTON_TRACK_TARGET - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

AUTON_TRACK_TARGET - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

autoName() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the autoName record component.

autonClearState - Static variable in class frc.robot.auton.Auton

autonIntake - Static variable in class frc.robot.auton.Auton

autonLaunching - Static variable in class frc.robot.auton.Auton

autonomous() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the autonomous record component.

autonomous() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the autonomous record component.

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

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

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

autonPoseUpdate - Static variable in class frc.robot.auton.Auton

autonShoot - Static variable in class frc.robot.auton.Auton

autonShotPrep - Static variable in class frc.robot.auton.Auton

autonUnjam - Static variable in class frc.robot.auton.Auton

autonWarmedUp - Static variable in class frc.robot.Robot

AutoStartCheck - Class in frc.spectrumLib.checks

An auto is selected, its file loaded, and the robot sits on its starting pose (254 2025's "Near Auto Starting Pose").

AutoStartCheck(Supplier) - Constructor for class frc.spectrumLib.checks.AutoStartCheck

AutoStartCheck.State - Record Class in frc.spectrumLib.checks

What the check needs, from logged inputs.

autoStarted(String) - Method in class frc.spectrumLib.telemetry.MatchSummary

Records the auto routine that just started.

avgTagArea - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

avgTagDist - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

avgTagDistanceMeters() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the avgTagDistanceMeters record component.

avgTagDistances - Variable in class frc.spectrumLib.localization.PoseSourceInputs

B

b - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

B - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the B (circle) face button.

back - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

BackgroundSampler - Class in frc.spectrumLib.util

Runs slow reads, such as files under /proc and CAN bus status, on one low-priority daemon thread.

BackgroundSampler.Latest<T> - Class in frc.spectrumLib.util

The latest value a background read produced.

BACKUP - Enum constant in enum class frc.spectrumLib.localization.OdometryGuard.HeadingSource

backupOk() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the backupOk record component.

backupYaw() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the backupYaw record component.

ballSimLaunchFuel() - Method in class frc.robot.RobotSim

bare(BooleanSupplier) - Method in class frc.spectrumLib.gamepads.ModifierChords

BatteryCheck - Class in frc.spectrumLib.checks

The battery at rest is charged, and is not the one used in the last match.

BatteryCheck(DoubleSupplier, BooleanSupplier, Supplier) - Constructor for class frc.spectrumLib.checks.BatteryCheck

A check on a reading that is already calibrated (offset 0).

BatteryCheck(DoubleSupplier, OptionalDouble, BooleanSupplier, Supplier) - Constructor for class frc.spectrumLib.checks.BatteryCheck

BatteryCheck.Identity - Record Class in frc.spectrumLib.checks

The battery IDs this check compares, from logged inputs.

BatteryLogger - Class in frc.spectrumLib.telemetry

Tracks and logs current draw, power, and cumulative energy consumption across subsystems each robot loop cycle.

BatteryLogger() - Constructor for class frc.spectrumLib.telemetry.BatteryLogger

batteryPercent() - Method in record class frc.robot.subsystems.vision.QuestNavProtocol.DeviceData

Returns the value of the batteryPercent record component.

batteryVoltage() - Static method in class frc.robot.RuntimeInputs

Battery voltage for the run being executed (or replayed).

batteryVoltsOffset - Variable in class frc.robot.Robot.Config

Added to the controller's battery reading to give the voltage at the battery terminals, measured with a meter on this robot.

baumgarteBeta - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

baumgarteSlop - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

BBBB(boolean) - Method in class frc.robot.auton.Auton

BButton - Variable in class frc.robot.operator.Operator

BButton - Variable in class frc.robot.pilot.Pilot

bearingResidualsDeg() - Method in class frc.spectrumLib.localization.TagEkf.CameraStats

belowCurrent(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor stator current is below target + tolerance amps.

belowDegrees(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is below target + tolerance degrees.

belowPercentage(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is below target + tolerance (as a percentage of max rotations).

belowRotations(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor position is below target + tolerance rotations.

belowVelocityRPM(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active when the motor velocity is below target + tolerance RPM.

blink(Color, double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Blinking (strobe) pattern.

blinkLEDs() - Method in class frc.spectrumLib.vision.Limelight

Set LL LED's to blink

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

Blinks every Limelight's LEDs while held.

blocker() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns the value of the blocker record component.

blue - Static variable in class frc.rebuilt.Field

BlueBumps() - Constructor for class frc.rebuilt.Field.BlueBumps

BlueDepot() - Constructor for class frc.rebuilt.Field.BlueDepot

BlueHub() - Constructor for class frc.rebuilt.Field.BlueHub

blueHubCenter - Static variable in class frc.rebuilt.Field

BlueOutpost() - Constructor for class frc.rebuilt.Field.BlueOutpost

bluePose - Variable in enum class frc.rebuilt.ShotCalculator.SetShot

Where to park on the blue side, and the heading to hold there.

BlueToRed(double) - Static method in class frc.rebuilt.Field

BlueToRed(Translation2d) - Static method in class frc.rebuilt.Field

BlueToRed(Translation3d) - Static method in class frc.rebuilt.Field

BlueTower() - Constructor for class frc.rebuilt.Field.BlueTower

BlueTrench() - Constructor for class frc.rebuilt.Field.BlueTrench

bool(String, boolean) - Method in class frc.spectrumLib.params.ParamGroup

BOOLEAN - Enum constant in enum class frc.spectrumLib.params.Param.Type

BooleanParam - Class in frc.spectrumLib.params

A switch.

bothBumpers - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when both bumpers are pressed simultaneously.

bothTriggers - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when both analog triggers are pressed simultaneously.

botpose - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_avgarea - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_avgdist - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_orb - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_orb_wpiblue - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_orb_wpired - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_span - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_tagcount - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_wpiblue - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

botpose_wpired - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

bounce(Color, double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Bouncing dot pattern.

brakeMechanisms() - Method in class frc.robot.subsystems.SuperStructure

breathe(Color, double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Breathing (sinusoidal fade-in/out) pattern.

brownedOut() - Static method in class frc.robot.RuntimeInputs

Whether the controller is browned out, for the run being executed (or replayed).

BROWNOUT - Enum constant in enum class frc.spectrumLib.telemetry.Telemetry.Fault

BUDGET_SECONDS - Static variable in class frc.spectrumLib.hardware.CanConfigBudget

Cumulative seconds of failed configuration allowed before retries are abandoned.

bufferUsage - Variable in class frc.spectrumLib.vision.LimelightHelpers.RewindStats

BUILD_DATE - Static variable in class frc.robot.BuildConstants

BUILD_UNIX_TIME - Static variable in class frc.robot.BuildConstants

BuildConstants - Class in frc.robot

Automatically generated file containing build version information.

BUMP_G - Static variable in class frc.robot.subsystems.swerve.TiltState

Impact (g) above which the robot counts as bumped.

BUMP_HOLD_SECONDS - Static variable in class frc.robot.subsystems.swerve.TiltState

How long (seconds) a bump keeps counting as recent.

bumpedRecently(double) - Method in class frc.robot.subsystems.swerve.TiltState

Whether an impact above TiltState.BUMP_G happened in the last TiltState.BUMP_HOLD_SECONDS.

button(String) - Method in class frc.spectrumLib.params.NetworkTablesTransport

button(String) - Method in interface frc.spectrumLib.params.ParamTransport

Publishes a button (a Boolean the dashboard sets true; the code sets it back).

C

CachedDouble - Class in frc.spectrumLib.util

Caches a DoubleSupplier value so it is computed at most once per scheduler iteration.

CachedDouble(DoubleSupplier) - Constructor for class frc.spectrumLib.util.CachedDouble

Creates a CachedDouble wrapping the given supplier.

calculate(double) - Method in class frc.spectrumLib.util.Curve

Calculates and returns a mapped value based on the curve.

calculate(double) - Method in class frc.spectrumLib.util.ExpCurve

Applies the full exponential curve pipeline: deadzone, exponent, scalar, then offset.

calculateDeadzone(double) - Method in class frc.spectrumLib.util.Curve

Returns the value of input mapped to create a deadband of width deadzone in the center of the curve.

calculateOffset(double) - Method in class frc.spectrumLib.util.Curve

Returns the value of input summed with the value of offset.

calculateScalar(double) - Method in class frc.spectrumLib.util.Curve

Returns the value of input multiplied by the value of scalar.

CALL_TIMEOUT_SECONDS - Static variable in class frc.spectrumLib.hardware.CanConfigBudget

Timeout for a single boot configuration call, in seconds.

camera() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the camera record component.

Camera(String, OrinPoseSourceIO, Transform3d, boolean) - Constructor for record class frc.robot.subsystems.vision.Jetson.Camera

Creates an instance of a Camera record class.

CAMERA_OFFLINE - Enum constant in enum class frc.spectrumLib.telemetry.Telemetry.Fault

cameraFactor() - Method in class frc.robot.subsystems.vision.OrinSolver

This camera's std-dev factor.

CameraHeadingCheck - Class in frc.spectrumLib.checks

Every camera that solves a full pose from tags agrees on the robot's heading, with the gyro and with each other.

CameraHeadingCheck() - Constructor for class frc.spectrumLib.checks.CameraHeadingCheck

cameraId - Variable in class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

cameraMatrix - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

Camera matrix, row-major 3x3; empty until the camera has connected.

CameraParams - Class in frc.robot.subsystems.vision

Camera housekeeping, from params/cameras.json.

camerapose_robotspace - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

CameraStats() - Constructor for class frc.spectrumLib.localization.TagEkf.CameraStats

cameraToTag() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the cameraToTag record component.

CanBuses - Class in frc.spectrumLib.hardware

The CAN buses FM runs on under SystemCore, and the one place a bus name becomes a CANBus.

CANCELLED - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Cancelled by code while enabled, with nothing taking its place.

canCoderResponseOK(StatusCode) - Method in class frc.spectrumLib.hardware.SpectrumCANcoder

Checks whether a CANcoder configuration response indicates success.

CanConfigBudget - Class in frc.spectrumLib.hardware

A cap on how long boot may spend on CAN device configuration that is not working.

CanDeviceId - Class in frc.spectrumLib.util

Identifies a CAN device by its numeric device ID and the CAN bus name it lives on.

CanDeviceId(int) - Constructor for class frc.spectrumLib.util.CanDeviceId

Creates a CAN device identifier on the default CAN bus (empty string).

CanDeviceId(int, String) - Constructor for class frc.spectrumLib.util.CanDeviceId

Creates a CAN device identifier with an explicit bus name.

candle - Variable in class frc.spectrumLib.leds.SpectrumLEDs

The CANdle device (owned or shared).

CANIVORE - Static variable in class frc.spectrumLib.hardware.CanBuses

The first CANivore found.

CANIVORE - Static variable in enum class frc.spectrumLib.hardware.Rio

CANivore bus selector that chooses the first CANivore found on the system.

canonicalText(AprilTagFieldLayout) - Static method in class frc.spectrumLib.vision.FieldMapHash

The text that is hashed, for tests and for comparing with another implementation.

cardinalReorient() - Method in class frc.robot.subsystems.swerve.Swerve

ccdEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

ccdSpeedThreshold - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

center - Static variable in class frc.rebuilt.Field.BlueDepot

center - Static variable in class frc.rebuilt.Field.BlueOutpost

center - Static variable in class frc.rebuilt.Field.BlueTower

centerPose - Static variable in class frc.rebuilt.Field.LeftBlueBump

centerPose - Static variable in class frc.rebuilt.Field.RightBlueBump

centerX - Static variable in class frc.rebuilt.Field.BlueHub

centerY - Static variable in class frc.rebuilt.Field.BlueHub

changedSinceBoot() - Static method in class frc.robot.subsystems.swerve.SwerveOffsetParams

Whether an offset differs from the one the drivetrain booted with, as of SwerveOffsetParams.periodic().

chase(Color, double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Chase / color-flow pattern.

check(PoseObservation, GateContext) - Method in interface frc.spectrumLib.localization.Gate

Checks one observation.

Check - Interface in frc.spectrumLib.checks

One pre-match self-check, registered with PreMatchChecks.

checkAim() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the checkAim record component.

checkAvgCurrent(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that measures the average stator current over its runtime and fires a warning Alert if the average deviates from expectedCurrent by more than tolerance.

checkFile(Path) - Static method in class frc.spectrumLib.params.Params

Problems with a params file against the params declared so far: unreadable, a key nobody declares, or a value of the wrong type or out of bounds.

checkMaxCurrent(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that tracks the peak stator current over its runtime and fires a warning Alert if the peak exceeds expectedCurrent.

checkMinThresholdCurrent(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that tracks the peak stator current over its runtime and fires a warning Alert if the peak never reaches expectedCurrent.

checkPriority(int) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Returns a Trigger that is active when the currently running command's priority is at or below the given value.

checkRange() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the checkRange record component.

CheckResult - Record Class in frc.spectrumLib.checks

One check's verdict and the reason for it, in words a drive team can act on.

CheckResult(CheckResult.Status, String) - Constructor for record class frc.spectrumLib.checks.CheckResult

Creates an instance of a CheckResult record class.

CheckResult.Status - Enum Class in frc.spectrumLib.checks

Verdicts, least to most severe.

Choice(AprilTagFields, AprilTagFieldLayout, String, String) - Constructor for record class frc.robot.subsystems.vision.TagField.Choice

Creates an instance of a Choice record class.

choose(PoseObservation, GateContext) - Method in interface frc.spectrumLib.localization.StdDevModel

Picks std-devs for an observation.

chooseCardinalDirections() - Method in class frc.spectrumLib.gamepads.Gamepad

Get proper stick angles for each alliance

chooseFolder() - Static method in class frc.spectrumLib.telemetry.LogStorage

The folder to log to: the USB stick if one is (or within LogStorage.USB_WAIT_SECONDS becomes) mounted, else internal storage.

chord(BooleanSupplier, BooleanSupplier) - Method in class frc.spectrumLib.gamepads.ModifierChords

chord(BooleanSupplier, BooleanSupplier, BooleanSupplier) - Method in class frc.spectrumLib.gamepads.ModifierChords

A chord that only acts while enabled (teleop, say).

Circle - Class in frc.spectrumLib.sim

Renders a filled circle in a Mechanism2d canvas using evenly-spaced radial ligaments.

Circle(int, double, String, MechanismRoot2d, Mechanism2d) - Constructor for class frc.spectrumLib.sim.Circle

Creates a Circle and immediately draws the radial background lines.

Circle(Mechanism2d, int, double, String, MechanismRoot2d, Color8Bit) - Constructor for class frc.spectrumLib.sim.Circle

Creates a Circle with a specified color and immediately draws the radial background lines.

clampToSoftLimits(double) - Method in class frc.spectrumLib.mechanism.Mechanism

The nearest position the motor can reach under the soft limits it booted with (each one only while enabled).

classId - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

classID - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

classID - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

className - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

className - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

cleanUp(File, long, long, int) - Static method in class frc.spectrumLib.telemetry.LogStorage

cleanUp(File, long, long, int, Set) - Static method in class frc.spectrumLib.telemetry.LogStorage

Deletes the oldest log files in dir until they total at most capBytes and the disk has at least freeFloorBytes free.

cleanUpAtBoot() - Static method in class frc.spectrumLib.telemetry.LogStorage

Cleans the internal log folder and remembers which logs exist, so later ones are protected.

clear() - Method in class frc.spectrumLib.mechanism.TrackingStop

Releases the stop: the operator's override.

clearBalls() - Method in class frc.rebuilt.FuelPhysicsSim

Remove every ball from the sim.

clearLoopStats() - Method in class frc.spectrumLib.localization.TagEkf

Clears this loop's residuals; call after logging.

clearResults() - Method in class frc.robot.subsystems.vision.OrinCameraInputs

Clears the per-loop fields before a read.

clearShootingParameters() - Method in class frc.rebuilt.ShotCalculator

Clears the cached parameters so they are recomputed on the next call to ShotCalculator.getParameters().

clearTrackingStop() - Method in class frc.spectrumLib.mechanism.Mechanism

The operator's override: releases the tracking stop.

clearTrackingStops() - Method in class frc.robot.subsystems.SuperStructure

Releases every mechanism held by its tracking stop; one still stuck stops again.

close() - Method in class frc.spectrumLib.telemetry.Alert

CLOSED_LOOP - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.Action

Follow the wanted state's setpoint.

coastMechanisms() - Method in class frc.robot.subsystems.SuperStructure

coastMode() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that sets the mechanism to coast mode while active, then reverts to brake mode when the command ends.

COMMAND_TYPE - Static variable in class frc.robot.subsystems.vision.QuestNavProtocol

CONDITIONAL_EXTEND - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

confidence - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

confidence - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

config - Variable in class frc.spectrumLib.mechanism.Mechanism

Configuration object holding motor IDs, Talon settings, and mechanism parameters.

Config() - Constructor for class frc.robot.Robot.Config

Config(String, int) - Constructor for class frc.spectrumLib.gamepads.Gamepad.Config

Creates a gamepad configuration for the given port.

Config(String, int, int, CANBus) - Constructor for class frc.spectrumLib.leds.SpectrumLEDs.Config

Creates a configuration for a standalone LED instance that creates and owns its own CANdle.

Config(String, int, String) - Constructor for class frc.spectrumLib.mechanism.Mechanism.Config

Creates a base mechanism configuration with default Talon settings.

Config(String, CANdle, int, int) - Constructor for class frc.spectrumLib.leds.SpectrumLEDs.Config

Creates a configuration for a LED zone that shares an existing, already-configured CANdle device.

configClockwise_Positive() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the motor output as clockwise positive (inverted relative to the default).

configClosedLoopRamps(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the closed-loop ramp period for duty cycle, voltage, and torque control.

configContinuousWrap(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Enables or disables continuous position wrap-around for closed-loop control.

configCounterClockwise_Positive() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the motor output as counter-clockwise positive (default for most mechanisms when viewed from the shaft end).

configEncoderOffsets(double, double, double, double) - Method in class frc.robot.subsystems.swerve.SwerveConfig

configFeedbackSensorSource(FeedbackSensorSourceValue) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the feedback sensor source using a rotorOffset of 0.

configFeedbackSensorSource(FeedbackSensorSourceValue, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the feedback sensor source and its rotational offset.

configFeedForwardGains(double, double, double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures feed-forward gains in slot 0.

configFeedForwardGains(int, double, double, double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures feed-forward gains in the specified slot.

configForwardSoftLimit(double, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the forward software limit switch.

configForwardTorqueCurrentLimit(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the peak forward torque current limit.

configForwardVoltageLimit(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the peak forward output voltage.

configGearRatio(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the sensor-to-mechanism gear ratio.

configGravityType(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the gravity compensation type in slot 0.

configGravityType(int, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the gravity compensation type in the specified slot.

configLowerSupplyCurrentLimit(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the lower supply current limit, used to reduce dissipation after the upper limit has been triggered.

configLowerSupplyCurrentTime(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the time window for the lower supply current limit.

configMinMaxRotations(double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the minimum and maximum rotation limits for the mechanism.

configMotionMagic(double, double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the Motion Magic cruise velocity, acceleration, and jerk limits.

configMotionMagicPosition(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the feed-forward term for Motion Magic position control requests.

configMotionMagicVelocity(double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures optional Motion Magic velocity parameters (acceleration and feed-forward) for both FOC and voltage velocity control requests.

configNeutralBrakeMode(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the motor neutral mode to brake or coast.

configNeutralDeadband(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the duty-cycle neutral deadband.

configOpenLoopRamps(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the open-loop ramp period for duty cycle, voltage, and torque control.

configPeakOutput(double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the peak forward and reverse duty-cycle output limits.

configPIDGains(double, double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures PID gains in slot 0.

configPIDGains(int, double, double, double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures PID gains in the specified slot.

configPositionTrackingStop(double, double, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Watches the position loop: the mechanism stops once it has been more than toleranceRotations from its goal for debounceSeconds while enabled and connected.

configReverseSoftLimit(double, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the reverse software limit switch.

configReverseTorqueCurrentLimit(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the peak reverse torque current limit.

configReverseVoltageLimit(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the peak reverse output voltage.

configSoftLimits(DoubleParam, DoubleParam) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Enables both soft limits from params, in mechanism rotations.

configStatorCurrentLimit(double, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the stator current limit.

configSupplyCurrentLimit(double, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configures the supply current limit.

configure() - Method in class frc.spectrumLib.gamepads.Gamepad

Detects whether the gamepad has been connected since power-on and prints a one-time confirmation message.

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

configureRobot(double, double, double, int, Supplier, Supplier) - Method in class frc.rebuilt.FuelPhysicsSim

Tell the sim about your robot so it can handle bumper collisions and intake pickup.

configureRobot(double, double, double, Supplier, Supplier) - Method in class frc.rebuilt.FuelPhysicsSim

Tell the sim about your robot so it can handle bumper collisions and intake pickup.

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

configVelocityTrackingStop(double, double, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Watches the velocity loop, as Mechanism.Config.configPositionTrackingStop(double, double, boolean) watches position.

configVoltageCompensation(double) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the voltage compensation saturation voltage used by percent-output control.

connected - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

PhotonLib's isConnected(): the camera's heartbeat is on NetworkTables.

connected - Variable in class frc.spectrumLib.localization.PoseSourceInputs

Whether the device is talking at all (NT heartbeat, frames arriving).

connected - Variable in class frc.spectrumLib.mechanism.MotorInputs

conservationMonitor - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

Constants - Class in frc.robot

AdvantageKit runtime mode.

Constants.Mode - Enum Class in frc.robot

Conversions - Class in frc.spectrumLib.util

Utility class for unit conversions.

Conversions() - Constructor for class frc.spectrumLib.util.Conversions

copy() - Method in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

Deep copy.

corner0_X - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner0_Y - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner1_X - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner1_Y - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner2_X - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner2_Y - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner3_X - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corner3_Y - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

corners - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

count() - Method in class frc.robot.subsystems.ShotLog

Volleys logged since boot.

count() - Static method in class frc.spectrumLib.framework.RobotLoop

Returns the current loop number.

count() - Method in class frc.spectrumLib.localization.PoseSourceInputs

Number of observations.

countdown(DoubleSupplier, double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Countdown pattern.

CPU_ALERT_PERCENT - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

CPU percent that starts the CPU alert clock.

CPU_CLEAR_PERCENT - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

CPU percent below which the CPU alert clears.

CPU_HOLD_SECONDS - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Seconds the CPU must stay high before the alert shows.

cpuGpuPowerW - Variable in class frc.robot.subsystems.vision.JetsonInputs

cpuTempC - Variable in class frc.robot.subsystems.vision.JetsonInputs

cpuUsage - Variable in class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

cpuUtilPct - Variable in class frc.robot.subsystems.vision.JetsonInputs

CrashTracker - Class in frc.spectrumLib.util

Tracks start-up and caught crash events, logging them to a file which doesn't roll over

CrashTracker() - Constructor for class frc.spectrumLib.util.CrashTracker

createConfigTalon(CanDeviceId, TalonFXConfiguration) - Static method in class frc.spectrumLib.hardware.TalonFXFactory

Creates a TalonFX and applies the supplied configuration.

createDefaultTalon(CanDeviceId) - Static method in class frc.spectrumLib.hardware.TalonFXFactory

Creates a TalonFX configured with Spectrum's default parameter set.

createPermanentFollowerTalon(CanDeviceId, TalonFX, MotorAlignmentValue) - Static method in class frc.spectrumLib.hardware.TalonFXFactory

Follow the motor output of another Talon.

ctrePose - Variable in class frc.robot.subsystems.swerve.SwerveInputs

CTRE's own pose estimate, for comparison only.

current() - Method in record class frc.spectrumLib.checks.BatteryCheck.Identity

Returns the value of the current record component.

currentMode - Static variable in class frc.robot.Constants

currentShift() - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

Returns the value of the currentShift record component.

Curve - Class in frc.spectrumLib.util

This class and its subclasses remap controller stick inputs.

Curve() - Constructor for class frc.spectrumLib.util.Curve

D

DashboardReceiver - Class in frc.spectrumLib.telemetry

Feeds AdvantageKit's NetworkTables publisher only what a dashboard needs, at a dashboard's rate.

DashboardReceiver(LogDataReceiver, int) - Constructor for class frc.spectrumLib.telemetry.DashboardReceiver

data - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

data - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

Gets the decoded data content of the barcode

decision() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the decision record component.

Decision(boolean, boolean, ShotGate.FeedReason, ShotGate.Blocker, double) - Constructor for record class frc.robot.subsystems.ShotGate.Decision

Creates an instance of a Decision record class.

declare(SwerveConfig) - Static method in class frc.robot.subsystems.swerve.SwerveOffsetParams

Declares the four offsets with this robot's config values as the defaults.

decode(byte[]) - Method in class frc.robot.subsystems.vision.OrinSolver

Decodes one logged result, or empty if the bytes are bad (PhotonVision #2528).

decoded - Variable in class frc.robot.subsystems.vision.OrinSolver

The last OrinSolver.solve(OrinCameraInputs, Set, DoubleFunction) call's decoded results, oldest first, for sources built on them.

decodeDeviceData(byte[]) - Static method in class frc.robot.subsystems.vision.QuestNavProtocol

Decodes ProtobufQuestNavDeviceData; null if malformed.

decodeFailures - Variable in class frc.robot.subsystems.vision.OrinSolver

Stats from the most recent OrinSolver.solve(OrinCameraInputs, Set, DoubleFunction) call, for logging.

decodeFrame(byte[]) - Static method in class frc.robot.subsystems.vision.QuestNavProtocol

Decodes ProtobufQuestNavFrameData; null if the bytes are malformed.

decreaseDriveAngleOffset() - Static method in class frc.rebuilt.ShotCalculator

decreaseHoodAngleOffset() - Static method in class frc.rebuilt.ShotCalculator

deepFeedBlueLeft - Static variable in class frc.rebuilt.Field

deepFeedBlueRight - Static variable in class frc.rebuilt.Field

deepFeedRedLeft - Static variable in class frc.rebuilt.Field

deepFeedRedRight - Static variable in class frc.rebuilt.Field

DEFAULT - Enum constant in enum class frc.spectrumLib.params.ParamSource

The default in the declaration.

DEFAULT_SETTLE_SECONDS - Static variable in class frc.spectrumLib.gamepads.ModifierChords

Longer than every face-button lead in 3847's 2026 practice chords (112 chords, longest 0.079 s), and than 97% of chord releases in Spectrum's 2023-2026 logs.

defaultCommand - Variable in class frc.spectrumLib.leds.SpectrumLEDs

The default command built by this class (displays SpectrumLEDs.defaultPattern at lowest priority).

defaultPattern - Variable in class frc.spectrumLib.leds.SpectrumLEDs

Default pattern shown when no other command requires this subsystem (orange blink).

defaultTrigger - Variable in class frc.spectrumLib.leds.SpectrumLEDs

Trigger that is active while the currently installed default command is running.

degPerSec() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the degPerSec record component.

degreesToRotations(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Converts degrees to rotations (1 rotation = 360 degrees).

DEPLOY - Enum constant in enum class frc.spectrumLib.params.ParamSource

params/<group>.json in the deploy folder.

depth - Static variable in class frc.rebuilt.Field.BlueBumps

depth - Static variable in class frc.rebuilt.Field.BlueDepot

depth - Static variable in class frc.rebuilt.Field.BlueTower

depth - Static variable in class frc.rebuilt.Field.BlueTrench

derived() - Method in class frc.robot.subsystems.vision.OrinGyroSourceIO

derived() - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

derived() - Method in interface frc.spectrumLib.localization.PoseSourceIO

Whether this IO computes its observations from inputs it logs itself, rather than reading a device.

describePressed() - Method in class frc.spectrumLib.gamepads.Gamepad

The controls the code reads as pressed, e.g.

detect(long, int, int) - Static method in enum class frc.spectrumLib.gamepads.GamepadLayout

GamepadLayout.detect(GenericHID) on the availability bitmasks.

detect(GenericHID) - Static method in enum class frc.spectrumLib.gamepads.GamepadLayout

Guesses which Driver Station layout a connected controller's data is in, from what the DS says the controller has (logged by AdvantageKit, so this replays).

deterministic - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

deterministicSeed - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

DEVICE_DATA_TYPE - Static variable in class frc.robot.subsystems.vision.QuestNavProtocol

DeviceData(int, int) - Constructor for record class frc.robot.subsystems.vision.QuestNavProtocol.DeviceData

Creates an instance of a DeviceData record class.

DeviceHealthCheck - Class in frc.spectrumLib.checks

Every device answering, none rebooted recently, grouped by bus (or by kind, for coprocessors).

DeviceHealthCheck(String) - Constructor for class frc.spectrumLib.checks.DeviceHealthCheck

DeviceHealthCheck.Device - Class in frc.spectrumLib.checks

One device: its name, its group, and where its logged state comes from.

DIRTY - Static variable in class frc.robot.BuildConstants

disable() - Method in class frc.rebuilt.FuelPhysicsSim

Pause the sim.

disabled - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active while the robot is disabled.

disabled - Static variable in class frc.spectrumLib.util.Util

Trigger that is true when the robot is disabled.

disabled() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the disabled record component.

DISABLED - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

DISABLED_BY_DS - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Disabled from a Driver Station with no field attached.

DISABLED_BY_FMS_EARLY - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Disabled by the field with time left in the period.

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

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

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

DISCONNECTED - Enum constant in enum class frc.spectrumLib.checks.HomingCheck.State

Its motor is not answering, so nothing it reports means anything.

diskFree - Variable in class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

diskTotal - Variable in class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

diskUsableSpace - Variable in class frc.robot.subsystems.vision.JetsonInputs

distance() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the distance record component.

distanceFromCenterY - Static variable in class frc.rebuilt.Field.BlueDepot

distanceMeters - Variable in enum class frc.rebuilt.ShotCalculator.SetShot

Robot centre (the launcher: robotToLauncher is zero) to the hub centre.

distanceNoLookahead() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the distanceNoLookahead record component.

distances() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the distances record component.

distCoeffs - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

Distortion coefficients (the Jetson sends all 8); empty until connected.

distToCamera - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

distToRobot - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

doNothing() - Method in class frc.robot.auton.Auton

DoubleParam - Class in frc.spectrumLib.params

A finite number, with inclusive bounds.

downDpad - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for D-pad down.

dpadDown - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

D-pad buttons, or GamepadLayout.NO_BUTTON when the D-pad is POV 0 (GamepadLayout.dpadOnPov()).

dPadDown - Variable in class frc.robot.operator.Operator

dPadDown - Variable in class frc.robot.pilot.Pilot

dpadLeft - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

D-pad buttons, or GamepadLayout.NO_BUTTON when the D-pad is POV 0 (GamepadLayout.dpadOnPov()).

dPadLeft - Variable in class frc.robot.operator.Operator

dPadLeft - Variable in class frc.robot.pilot.Pilot

dpadOnPov() - Method in enum class frc.spectrumLib.gamepads.GamepadLayout

Whether the D-pad arrives as POV 0 rather than as four buttons.

dpadRight - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

D-pad buttons, or GamepadLayout.NO_BUTTON when the D-pad is POV 0 (GamepadLayout.dpadOnPov()).

dPadRight - Variable in class frc.robot.operator.Operator

dPadRight - Variable in class frc.robot.pilot.Pilot

dpadUp - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

D-pad buttons, or GamepadLayout.NO_BUTTON when the D-pad is POV 0 (GamepadLayout.dpadOnPov()).

dPadUp - Variable in class frc.robot.operator.Operator

dPadUp - Variable in class frc.robot.pilot.Pilot

dragEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

drawCircle() - Method in class frc.spectrumLib.sim.Circle

Creates and attaches all radial background ligaments that form the circle, distributing them evenly around 360 degrees.

drawRobot() - Method in class frc.robot.RobotSim

drawSideRobot() - Method in class frc.robot.RobotSim

drawViz() - Method in class frc.spectrumLib.sim.Circle

Appends a short white indicator line to the roller axle so rotation direction is visible in the Mechanism2d canvas.

DRIVE_ANGLE_OFFSET - Static variable in class frc.rebuilt.ShotCalculator

DRIVE_TO_POINT_STATIC_FRICTION_CONSTANT - Static variable in class frc.robot.subsystems.swerve.Swerve

DRIVE_TO_STOP - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.Action

Open-loop HoodHoming.Params.volts, ignoring the soft limits.

driveAngle() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the driveAngle record component.

driveAngularVelocity() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the driveAngularVelocity record component.

driveHomingVoltage(double) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Open-loop voltage that bypasses soft limits.

DRIVETRAIN - Static variable in class frc.spectrumLib.hardware.CanBuses

Swerve: 8 TalonFX, 4 CANcoders and the Pigeon.

DS_DISCONNECTED - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Disabled because the Driver Station stopped talking to the robot (a comms drop).

dsAttached - Static variable in class frc.spectrumLib.util.Util

Trigger that is true when the DriverStation is attached.

DsUploadReceiver - Class in frc.spectrumLib.telemetry

Receives files the Driver Station laptop pushes after a match: its DS log, and audio and video recorded at the driver station.

during(double, double) - Method in class frc.robot.subsystems.ShotLog

Called every loop while a volley is feeding.

E

E_STOP - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Disabled by an E-stop.

EDGE_BAND_PX - Static variable in class frc.robot.subsystems.vision.OrinSolver

Std-dev falloff starts this far (px) from the image edge.

EDGE_MAX_SCALE - Static variable in class frc.robot.subsystems.vision.OrinSolver

Std-dev multiplier at the very edge; 1.0 turns the edge scaling off.

edges(Color, int) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Edge-highlight pattern.

edgeScale(PhotonTrackedTarget) - Method in class frc.robot.subsystems.vision.OrinSolver

1.0 away from the image edges, rising smoothly to OrinSolver.EDGE_MAX_SCALE as the tag's closest corner reaches an edge.

EJECT - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

EJECT - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

elapsedTime() - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

Returns the value of the elapsedTime record component.

enable() - Method in class frc.rebuilt.FuelPhysicsSim

Turn the sim on.

enabled - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

PhotonLib's getEnabled(): false while turned off with setEnabled(false).

enabled - Variable in class frc.spectrumLib.vision.LimelightHelpers.RewindStats

enabled() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the enabled record component.

enabled() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the enabled record component.

enabled() - Static method in class frc.spectrumLib.params.TuningMode

encodePoseReset(int, Pose3d) - Static method in class frc.robot.subsystems.vision.QuestNavProtocol

Encodes a pose-reset command: the Quest re-origins so that its current pose reads questPose on the field.

end() - Method in class frc.spectrumLib.telemetry.DashboardReceiver

end(double) - Method in class frc.robot.subsystems.ShotLog

Writes the end row for the volley that stopped feeding this loop.

END_OF_PERIOD - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Disabled with no time left in the period: the normal end of a match's auto.

Ended(AutoEnd.Reason, String, double) - Constructor for record class frc.robot.auton.AutoEnd.Ended

Creates an instance of a Ended record class.

ENDGAME - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

ensureBrakeMode() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that sets the mechanism to brake mode if it is currently in coast mode.

EPSILON - Static variable in class frc.spectrumLib.util.Util

Small value used for floating-point equality comparisons.

epsilonEquals(double, double) - Static method in class frc.spectrumLib.util.Util

Checks whether a and b are within Util.EPSILON of each other.

epsilonEquals(double, double, double) - Static method in class frc.spectrumLib.util.Util

Checks whether a and b are within epsilon of each other.

epsilonEquals(int, int, int) - Static method in class frc.spectrumLib.util.Util

Checks whether integer a and b are within epsilon of each other.

equals(CanDeviceId) - Method in class frc.spectrumLib.util.CanDeviceId

Type-safe equality check against another CanDeviceId.

equals(Object) - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

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

equals(Object) - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

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

equals(Object) - Method in record class frc.robot.auton.AutoEnd.Ended

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

equals(Object) - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

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

equals(Object) - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

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

equals(Object) - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

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

equals(Object) - Method in record class frc.robot.subsystems.ShotGate.Decision

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

equals(Object) - Method in record class frc.robot.subsystems.ShotGate.Inputs

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

equals(Object) - Method in record class frc.robot.subsystems.ShotGate.Tolerances

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

equals(Object) - Method in record class frc.robot.subsystems.ShotLog.Shot

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

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

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

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

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

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

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

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

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

equals(Object) - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

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

equals(Object) - Method in record class frc.spectrumLib.checks.BatteryCheck.Identity

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

equals(Object) - Method in record class frc.spectrumLib.checks.CheckResult

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

equals(Object) - Method in record class frc.spectrumLib.localization.GateContext

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

equals(Object) - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

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

equals(Object) - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

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

equals(Object) - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

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

equals(Object) - Method in record class frc.spectrumLib.localization.OdometryGuard.Settings

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

equals(Object) - Method in record class frc.spectrumLib.localization.PoseObservation

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

equals(Object) - Method in record class frc.spectrumLib.localization.PoseSource.Result

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

equals(Object) - Method in record class frc.spectrumLib.localization.StdDevModel.StdDevs

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

equals(Object) - Method in record class frc.spectrumLib.localization.TagSighting

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

equals(Object) - Method in class frc.spectrumLib.util.CanDeviceId

Compares this object to another for equality.

equals(Object) - Method in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

Compares this object to another for equality.

equals(Object) - Method in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

Compares this object to another for equality.

equals(Object) - Method in class frc.spectrumLib.vision.LimelightHelpers.RawTarget

Compares this object to another for equality.

error - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

evaluate(double) - Method in class frc.spectrumLib.checks.AutoStartCheck

evaluate(double) - Method in class frc.spectrumLib.checks.BatteryCheck

evaluate(double) - Method in class frc.spectrumLib.checks.CameraHeadingCheck

evaluate(double) - Method in interface frc.spectrumLib.checks.Check

Judges the robot now.

evaluate(double) - Method in class frc.spectrumLib.checks.DeviceHealthCheck

evaluate(double) - Method in class frc.spectrumLib.checks.HomingCheck

evaluate(double) - Method in class frc.spectrumLib.checks.SettingsCheck

evaluate(double) - Method in class frc.spectrumLib.localization.ImuMountCheck

A reversed yaw sense fails: the heading, and so field-relative driving, turns the wrong way.

Event - Class in frc.robot

What changes from one event to the next.

every(double, Supplier) - Static method in class frc.spectrumLib.util.BackgroundSampler

Runs read every periodSeconds on the sampler thread.

every(int) - Static method in class frc.spectrumLib.framework.RobotLoop

Returns true on every nth loop, so a 20 ms loop with n = 5 is 10 Hz.

Every loop - Section in class frc.robot.subsystems.vision.Vision

everySeconds(double) - Static method in class frc.spectrumLib.framework.RobotLoop

Returns true about once every seconds, whatever the loop rate.

excludedTagsActive - Variable in class frc.robot.subsystems.vision.JetsonInputs

The Jetson's saved excluded tags plus the robot's (excludedTagsActive).

excludedTargets - Variable in class frc.robot.subsystems.vision.OrinSolver

exhaust(String) - Static method in class frc.spectrumLib.hardware.CanConfigBudget

Spends the whole budget at once, for a bus known to be unreachable before any device is configured (e.g.

exhausted() - Static method in class frc.spectrumLib.hardware.CanConfigBudget

Whether the budget is spent and callers should stop retrying.

exitSpeedForFlywheelRpm(double) - Static method in class frc.rebuilt.ShotCalculator

The ball exit speed a flywheel speed stands for, the inverse of the model's RPM conversion.

exitSpeedMs() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the exitSpeedMs record component.

ExpCurve - Class in frc.spectrumLib.util

This class maps the value of a input to an exponential curve.

ExpCurve() - Constructor for class frc.spectrumLib.util.ExpCurve

Constructs an Exponential Curve object which can be used to map a stick input exponentially.

ExpCurve(double, double, double, double) - Constructor for class frc.spectrumLib.util.ExpCurve

Constructs an Exponential Curve object which can be used to map a stick input exponentially.

Extending - Section in class frc.spectrumLib.mechanism.Mechanism

F

fail(String) - Static method in record class frc.spectrumLib.checks.CheckResult

FAIL - Enum constant in enum class frc.spectrumLib.checks.CheckResult.Status

NO-GO.

FAIL_DEG - Static variable in class frc.spectrumLib.checks.CameraHeadingCheck

Above this, a heading is wrong enough to send an auto the wrong way, and well above mount error: TXMAN1's LL-Left yaw, 5.5 deg off, read 7-9 deg from LL-Back in matches.

FAIL_VOLTS - Static variable in class frc.spectrumLib.checks.BatteryCheck

Below this at rest, a match's load will brown it out.

FAILED - Enum constant in enum class frc.spectrumLib.checks.HomingCheck.State

Its last homing attempt failed.

failedDaqs - Variable in class frc.robot.subsystems.swerve.SwerveInputs

family - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

Barcode family type (e.g.

fanRpm - Variable in class frc.robot.subsystems.vision.JetsonInputs

farLeftCorner - Static variable in class frc.rebuilt.Field.BlueHub

farLeftCorner - Static variable in class frc.rebuilt.Field.LeftBlueBump

farLeftCorner - Static variable in class frc.rebuilt.Field.RightBlueBump

farRightCorner - Static variable in class frc.rebuilt.Field.BlueHub

farRightCorner - Static variable in class frc.rebuilt.Field.LeftBlueBump

farRightCorner - Static variable in class frc.rebuilt.Field.RightBlueBump

feed() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns the value of the feed record component.

FEED_AIM_TOLERANCE_RAD - Static variable in class frc.robot.subsystems.ShotGate

feedOverride_Y - Variable in class frc.robot.operator.Operator

feedShot() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the feedShot record component.

FeedTargetFactory - Class in frc.rebuilt.targetFactories

FeedTargetFactory() - Constructor for class frc.rebuilt.targetFactories.FeedTargetFactory

FIDUCIAL_STRIDE - Static variable in class frc.spectrumLib.localization.PoseSourceInputs

fiducialFamily - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

fiducialID - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

fiducials - Variable in class frc.spectrumLib.localization.PoseSourceInputs

Per-tag data of this loop's frame, PoseSourceInputs.FIDUCIAL_STRIDE values per tag: id, horizontal and vertical angle from the principal point (deg, positive right and up), camera-to-tag distance (m), ambiguity.

field() - Method in record class frc.robot.subsystems.vision.TagField.Choice

Returns the value of the field record component.

Field - Class in frc.rebuilt

Contains various field dimensions and useful reference points.

Field() - Constructor for class frc.rebuilt.Field

Field.BlueBumps - Class in frc.rebuilt

Field.BlueDepot - Class in frc.rebuilt

Field.BlueHub - Class in frc.rebuilt

Field.BlueOutpost - Class in frc.rebuilt

Field.BlueTower - Class in frc.rebuilt

Field.BlueTrench - Class in frc.rebuilt

Field.LeftBlueBump - Class in frc.rebuilt

Field.LeftBlueTrench - Class in frc.rebuilt

Field.RightBlueBump - Class in frc.rebuilt

Field.RightBlueTrench - Class in frc.rebuilt

Field geometry - Section in class frc.rebuilt.RobotBumpSim

FieldHelpers - Class in frc.rebuilt

FieldHelpers() - Constructor for class frc.rebuilt.FieldHelpers

fieldLength - Static variable in class frc.rebuilt.Field

fieldMapError - Variable in class frc.robot.subsystems.vision.JetsonInputs

Why the Jetson could not load the robot's map, or empty.

fieldMapHash - Variable in class frc.robot.subsystems.vision.JetsonInputs

Canonical hash of the field map the Jetson loaded and solves with; empty until reported.

FieldMapHash - Class in frc.spectrumLib.vision

A short fingerprint of an AprilTag field map, so the robot and each coprocessor can tell whether they solve with the same tags.

FieldMapJson - Class in frc.spectrumLib.vision

A layout as WPILib AprilTagFieldLayout JSON, for a coprocessor to load.

fieldMapLoadedAt - Variable in class frc.robot.subsystems.vision.JetsonInputs

When the Jetson loaded it, Jetson unix seconds.

fieldMapName - Variable in class frc.robot.subsystems.vision.JetsonInputs

fieldWidth - Static variable in class frc.rebuilt.Field

fileFound() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the fileFound record component.

filter(boolean, boolean) - Method in class frc.spectrumLib.mechanism.MotorResetMonitor

Turns Phoenix's raw reset flag into the logged input.

find(String) - Static method in class frc.spectrumLib.params.Params

The declared param at group/key, or null.

FINISHED - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

The auto ran to its end.

fire() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Fire animation using the CANdle's built-in hardware animation engine.

flipAngle(double) - Static method in class frc.rebuilt.FieldHelpers

flipAngle(Rotation2d) - Static method in class frc.rebuilt.FieldHelpers

flipAngleIfRed(double) - Static method in class frc.rebuilt.FieldHelpers

flipAngleIfRed(Rotation2d) - Static method in class frc.rebuilt.FieldHelpers

flipIfRed(Pose2d) - Static method in class frc.rebuilt.FieldHelpers

flipIfRed(Translation2d) - Static method in class frc.rebuilt.FieldHelpers

flipIfRed(Translation3d) - Static method in class frc.rebuilt.FieldHelpers

flipX(double) - Static method in class frc.rebuilt.FieldHelpers

flipXifRed(double) - Static method in class frc.rebuilt.FieldHelpers

flipY(double) - Static method in class frc.rebuilt.FieldHelpers

flipYifRed(double) - Static method in class frc.rebuilt.FieldHelpers

Flush() - Static method in class frc.spectrumLib.vision.LimelightHelpers

Flush.

flushing - Variable in class frc.spectrumLib.vision.LimelightHelpers.RewindStats

flywheelSpeed() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the flywheelSpeed record component.

flywheelTargetRpm() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the flywheelTargetRpm record component.

fm() - Static method in record class frc.robot.subsystems.hood.HoodHoming.Params

FM's numbers.

fm() - Static method in record class frc.robot.subsystems.ShotGate.Tolerances

FM's numbers.

FM_2024 - Enum constant in enum class frc.spectrumLib.hardware.Rio

FM_2025 - Enum constant in enum class frc.spectrumLib.hardware.Rio

FM_2026 - Enum constant in enum class frc.spectrumLib.hardware.Rio

FM_HALF_LENGTH_METERS - Static variable in class frc.rebuilt.ShotCalculator

FM's centre to its bumper face, metres: half the 0.84 m bumpered frame PathPlanner uses (settings.json).

FM2026 - Class in frc.robot.configs

FM2026() - Constructor for class frc.robot.configs.FM2026

fmsAttached() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the fmsAttached record component.

folder() - Static method in class frc.spectrumLib.telemetry.LogStorage

The folder chosen at boot.

FollowerConfig(String, int, String, MotorAlignmentValue) - Constructor for class frc.spectrumLib.mechanism.Mechanism.FollowerConfig

Creates a follower motor configuration.

followerConnected - Variable in class frc.spectrumLib.mechanism.MotorInputs

followerMotors - Variable in class frc.spectrumLib.mechanism.Mechanism

Optional follower TalonFX motor controllers that mirror the leader.

followerResetOccurred - Variable in class frc.spectrumLib.mechanism.MotorInputs

followerSupplyCurrentAmps - Variable in class frc.spectrumLib.mechanism.MotorInputs

followSinglePath(String) - Static method in class frc.robot.auton.Auton

FORCE_HOME - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

FORCE_HOME - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

forName(String) - Static method in class frc.spectrumLib.hardware.CanBuses

Resolves a bus name from a config into a Phoenix CANBus.

forName(String, String) - Static method in class frc.spectrumLib.hardware.CanBuses

Resolves a bus name into a Phoenix CANBus that also records a hoot log.

FORWARD_SOFT_LIMIT - Static variable in class frc.robot.subsystems.hood.Hood.HoodConfig

49.3 deg.

FORWARD_SOFT_LIMIT - Static variable in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

Frame(int, double, Pose3d, boolean) - Constructor for record class frc.robot.subsystems.vision.QuestNavProtocol.Frame

Creates an instance of a Frame record class.

FRAME_DATA_TYPE - Static variable in class frc.robot.subsystems.vision.QuestNavProtocol

frameCount - Variable in class frc.spectrumLib.vision.LimelightHelpers.RewindStats

frameCount() - Method in record class frc.robot.subsystems.vision.QuestNavProtocol.Frame

Returns the value of the frameCount record component.

frc.rebuilt - package frc.rebuilt

frc.rebuilt.targetFactories - package frc.rebuilt.targetFactories

frc.robot - package frc.robot

frc.robot.auton - package frc.robot.auton

frc.robot.configs - package frc.robot.configs

frc.robot.operator - package frc.robot.operator

frc.robot.pilot - package frc.robot.pilot

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

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

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

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

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

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

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

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

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

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

frc.spectrumLib.checks - package frc.spectrumLib.checks

frc.spectrumLib.framework - package frc.spectrumLib.framework

frc.spectrumLib.gamepads - package frc.spectrumLib.gamepads

frc.spectrumLib.hardware - package frc.spectrumLib.hardware

frc.spectrumLib.leds - package frc.spectrumLib.leds

frc.spectrumLib.localization - package frc.spectrumLib.localization

frc.spectrumLib.mechanism - package frc.spectrumLib.mechanism

frc.spectrumLib.params - package frc.spectrumLib.params

frc.spectrumLib.sim - package frc.spectrumLib.sim

frc.spectrumLib.telemetry - package frc.spectrumLib.telemetry

frc.spectrumLib.util - package frc.spectrumLib.util

frc.spectrumLib.util.exceptions - package frc.spectrumLib.util.exceptions

frc.spectrumLib.vision - package frc.spectrumLib.vision

FREE_ALERT_BYTES - Static variable in class frc.spectrumLib.telemetry.LogStorage

Below this much free space the storage alert goes red.

FREE_FLOOR_BYTES - Static variable in class frc.spectrumLib.telemetry.LogStorage

Free space cleanup keeps on the disk holding the logs.

frictionEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

fromAngles(double, double, double) - Static method in record class frc.spectrumLib.localization.TagSighting

The tag's centre in the camera frame from a Limelight raw fiducial: its angles from the principal point (txnc positive right, tync positive up) and its distance.

fromLog(LogTable) - Method in class frc.robot.RuntimeInputs

fromLog(LogTable) - Method in class frc.robot.SimScript.Actions

fromLog(LogTable) - Method in class frc.robot.subsystems.hood.HoodHoming.LogMarker

fromLog(LogTable) - Method in class frc.robot.subsystems.swerve.SwerveInputs

fromLog(LogTable) - Method in class frc.robot.subsystems.vision.JetsonInputs

fromLog(LogTable) - Method in class frc.robot.subsystems.vision.OrinCameraInputs

fromLog(LogTable) - Method in class frc.spectrumLib.localization.PoseSourceInputs

fromLog(LogTable) - Method in class frc.spectrumLib.mechanism.MotorInputs

From the 2026 offseason branch - Section in class frc.robot.subsystems.swerve.Swerve

frontClosestToAngle(double) - Method in class frc.robot.subsystems.swerve.Swerve

frontFaceX - Static variable in class frc.rebuilt.Field.BlueTower

FUEL_DIAMETER_METERS - Static variable in class frc.robot.subsystems.ShotGate

A fuel ball, 5.91 in (4499 uses 0.15 m).

fuelIntake - Variable in class frc.robot.Robot.Config

FuelIntake - Class in frc.robot.subsystems.fuelIntake

The Fuel Intake subsystem.

FuelIntake(FuelIntake.FuelIntakeConfig) - Constructor for class frc.robot.subsystems.fuelIntake.FuelIntake

FuelIntake.FuelIntakeConfig - Class in frc.robot.subsystems.fuelIntake

FuelIntake.SystemState - Enum Class in frc.robot.subsystems.fuelIntake

FuelIntake.WantedState - Enum Class in frc.robot.subsystems.fuelIntake

FuelIntakeConfig() - Constructor for class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

FuelPhysicsSim - Class in frc.rebuilt

Full-field ball physics simulation for FRC 2026 REBUILT.

FuelPhysicsSim() - Constructor for class frc.rebuilt.FuelPhysicsSim

Default constructor, publishes to "Sim/FuelPositions".

FuelPhysicsSim(String) - Constructor for class frc.rebuilt.FuelPhysicsSim

New sim with default physics config.

FuelPhysicsSim(String, FuelPhysicsSim.PhysicsConfig) - Constructor for class frc.rebuilt.FuelPhysicsSim

New sim with custom physics config.

FuelPhysicsSim.PhysicsConfig - Class in frc.rebuilt

Physics feature toggles.

FuelPhysicsSim.ScoringTarget - Class in frc.rebuilt

A hub that can be scored in.

FuelPhysicsSim.SimBall - Class in frc.rebuilt

One ball in the simulation.

FULL_EXTEND - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

FULL_EXTEND - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

FULL_RETRACT - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

FULL_RETRACT - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

FusedCANcoder - Enum constant in enum class frc.spectrumLib.hardware.SpectrumCANcoder.CANCoderFeedbackType

CANcoder position is fused with the motor encoder for high-bandwidth feedback.

fusedPose() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the fusedPose record component.

Fusion policy (from the 2026 code) - Section in class frc.robot.subsystems.vision.Vision

FUTURE_TIMESTAMP_GATE - Static variable in class frc.robot.subsystems.vision.VisionGates

Rejects a capture time more than VisionGates.MAX_FUTURE_SECONDS ahead of now.

G

gain() - Method in class frc.spectrumLib.localization.ImuMountCheck.YawSense

Gyro turn rate over wheel turn rate, least squares; NaN before any turning.

Gamepad - Class in frc.spectrumLib.gamepads

Abstract base class for robot gamepad (Xbox-compatible) controllers.

Gamepad(Gamepad.Config) - Constructor for class frc.spectrumLib.gamepads.Gamepad

Constructs a Gamepad object with the specified configuration.

Gamepad.Config - Class in frc.spectrumLib.gamepads

Configuration for a Gamepad instance, defining the DriverStation USB port, axis curve parameters, and whether the controller should be used on this robot.

Gamepad.Mapping - Enum Class in frc.spectrumLib.gamepads

Which Driver Station's controller layout to read (see GamepadLayout).

Gamepad.Threshold - Enum Class in frc.spectrumLib.gamepads

Comparison type used by axis-based Trigger factories such as Gamepad.leftYTrigger(Threshold, double).

GamepadLayout - Enum Class in frc.spectrumLib.gamepads

Where an Xbox controller's buttons and axes arrive, which depends on the Driver Station that sends them, not on the robot controller.

Gate - Interface in frc.spectrumLib.localization

One rejection rule in a source's gate chain.

GateContext - Record Class in frc.spectrumLib.localization

Robot state a gate may consult, built once per loop from logged inputs so gating replays deterministically.

GateContext(double, Pose2d, Pose2d, ChassisVelocities, double, boolean, boolean) - Constructor for record class frc.spectrumLib.localization.GateContext

A context for a level robot.

GateContext(double, Pose2d, Pose2d, ChassisVelocities, double, boolean, boolean, double) - Constructor for record class frc.spectrumLib.localization.GateContext

Creates an instance of a GateContext record class.

GC_ALERT_MS_PER_SECOND - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Collector milliseconds inside one second, while enabled, that raise the GC alert.

generate() - Static method in class frc.rebuilt.targetFactories.FeedTargetFactory

generate() - Static method in class frc.rebuilt.targetFactories.HubTargetFactory

get() - Method in class frc.spectrumLib.params.Param

The current value.

get() - Method in interface frc.spectrumLib.params.ParamTransport.LiveValue

The dashboard's value: a Double, Boolean or String, or null if there is none.

get() - Method in class frc.spectrumLib.util.BackgroundSampler.Latest

The newest value, or null before the first read finished.

get(String, int) - Method in class frc.spectrumLib.localization.PoseSourceInputs

Rebuilds observation i, e.g.

getAcceptedCount() - Method in class frc.spectrumLib.localization.PoseSource

getAcceptedCount() - Method in class frc.spectrumLib.localization.TagEkf

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

LL-Back MT2 multi-tag trust while aiming; its far frames otherwise get 1.5 m.

getAimDeadband() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getAimHeadingErrorRadians() - Method in class frc.robot.subsystems.swerve.Swerve

Fused heading minus the heading the aim request is holding, wrapped to (-pi, pi].

getAllianceWinOverride() - Static method in class frc.rebuilt.ShiftHelpers

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

getAngle() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getAngle() - Method in class frc.spectrumLib.sim.ArmSim

Returns the effective arm angle accounting for the parent mount's angle when mounted and not using an absolute angle reference.

getAngle() - Method in class frc.spectrumLib.sim.LinearConfig

Angle of the linear stage in the Mechanism2d canvas (degrees; 0 = horizontal, 90 = vertical, CCW positive).

getAngle() - Method in class frc.spectrumLib.sim.LinearSim

Returns the effective absolute angle of the linear stage in radians, adding the parent mount's angle when mounted.

getAngle() - Method in interface frc.spectrumLib.sim.Mount

Returns the current absolute angle of this mount in radians.

getAngleOffset(double, double, double, double, double) - Static method in interface frc.spectrumLib.sim.Mountable

Returns the radians a mounted object should be away from a mount based on their initial positions

getAngleRads() - Method in class frc.spectrumLib.sim.ArmSim

Returns the current arm angle from the WPILib physics simulation.

getAngularSpeedAt12Volts() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getAnimationSlot() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

CANdle hardware animation slot (0 to 7) used by this instance's animation patterns.

getAsBoolean() - Method in class frc.spectrumLib.params.BooleanParam

getAsDouble() - Method in class frc.spectrumLib.params.DoubleParam

getAsDouble() - Method in class frc.spectrumLib.util.CachedDouble

Returns the cached value of the source supplier, querying the supplier at most once per scheduler iteration.

getAsInt() - Method in class frc.spectrumLib.params.IntParam

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

getAutonomousCommand() - Method in class frc.robot.auton.Auton

Retrieves the autonomous command selected on the dashboard.

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

getBackgroundLines() - Method in class frc.spectrumLib.sim.Circle

Number of radial lines used to approximate the circle.

getBackgroundLines() - Method in class frc.spectrumLib.sim.RollerConfig

Number of radial lines used to draw the roller circle in the Mechanism2d canvas.

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

TXMAN1: the Pigeon drifted about 10 deg a match, under the gross threshold, and shots went 5-9 deg right.

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

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

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

getBackLeft() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackLeftDriveMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackLeftEncoderId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackLeftEncoderOffset() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackLeftSteerMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackLeftXPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackLeftYPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRight() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRightDriveMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRightEncoderId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRightEncoderOffset() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRightSteerMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRightXPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackRightYPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBackupShadowHeading() - Method in class frc.spectrumLib.localization.OdometryGuard

The backup gyro on the primary's heading, aligned once at the first reading of both.

getBallBallCOR() - Static method in class frc.rebuilt.FuelPhysicsSim

getBallCount() - Method in class frc.rebuilt.FuelPhysicsSim

getBallMass() - Static method in class frc.rebuilt.FuelPhysicsSim

getBallOmegas() - Method in class frc.rebuilt.FuelPhysicsSim

getBallPositions() - Method in class frc.rebuilt.FuelPhysicsSim

getBallRadius() - Static method in class frc.rebuilt.FuelPhysicsSim

getBallSim() - Method in class frc.robot.RobotSim

getBallsInFlight() - Method in class frc.rebuilt.FuelPhysicsSim

getBallsOnGround() - Method in class frc.rebuilt.FuelPhysicsSim

getBallVelocities() - Method in class frc.rebuilt.FuelPhysicsSim

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

getBlueAlliancePerspectiveRotation() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getBlueAllianceStickCardinals() - Method in class frc.spectrumLib.gamepads.Gamepad

Snaps the right stick to the nearest 45° increment using the Blue-alliance field orientation (forward = 0 rad).

getBlueHub() - Method in class frc.rebuilt.FuelPhysicsSim

getBlueHubCenter() - Static method in class frc.rebuilt.Field

getBlueScore() - Method in class frc.rebuilt.FuelPhysicsSim

getBotpose(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Deprecated.

getBotPose(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the bot pose.

getBotPose_TargetSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the bot pose target space.

getBotpose_wpiBlue(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Deprecated.

getBotPose_wpiBlue(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the bot pose wpi blue.

getBotpose_wpiRed(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Deprecated.

getBotPose_wpiRed(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the bot pose wpi red.

getBotPose2d() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Returns the bot pose 2d.

getBotPose2d(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)

getBotPose2d_wpiBlue() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Returns the bot pose 2d wpi blue.

getBotPose2d_wpiBlue(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)

getBotPose2d_wpiRed() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Returns the bot pose 2d wpi red.

getBotPose2d_wpiRed(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the Pose2d for easy use with Odometry vision pose estimator (addVisionMeasurement)

getBotPose3d() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Returns the bot pose 3d.

getBotPose3d(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the bot pose 3d.

getBotPose3d_TargetSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the robot's 3D pose with respect to the currently tracked target's coordinate system.

getBotPose3d_wpiBlue() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Returns the bot pose 3d wpi blue.

getBotPose3d_wpiBlue(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

(Recommended) Gets the robot's 3D pose in the WPILib Blue Alliance Coordinate System.

getBotPose3d_wpiRed() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Returns the bot pose 3d wpi red.

getBotPose3d_wpiRed(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

(Not Recommended) Gets the robot's 3D pose in the WPILib Red Alliance Coordinate System.

getBotPoseEstimate_wpiBlue(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the MegaTag1 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system.

getBotPoseEstimate_wpiBlue_MegaTag2(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the MegaTag2 Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) in the WPILib Blue alliance coordinate system.

getBotPoseEstimate_wpiRed(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance

getBotPoseEstimate_wpiRed_MegaTag2(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the Pose2d and timestamp for use with WPILib pose estimator (addVisionMeasurement) when you are on the RED alliance

getBrightness() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Overall brightness scalar applied in hardware (0.0 to 1.0).

getBus() - Method in class frc.spectrumLib.util.CanDeviceId

Returns the CAN bus name this device is on.

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

Pre-match: every tag-solving camera's heading against the gyro and each other.

getCameraInputs() - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

getCameraName() - Method in class frc.spectrumLib.vision.Limelight

Network-table name of this camera (mirrors Limelight.LimelightConfig.getName()).

getCameraPose_TargetSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the camera pose target space.

getCameraPose_TargetSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the camera pose target space.

getCameraPose_TargetSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the camera pose target space.

getCameraPose_TargetSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the camera pose target space 2 d.

getCameraPose_TargetSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the camera pose target space 2 d.

getCameraPose3d_RobotSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the camera's 3D pose with respect to the robot's coordinate system.

getCameraPose3d_TargetSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the camera's 3D pose with respect to the currently tracked target's coordinate system.

getCameras() - Method in class frc.robot.subsystems.vision.Jetson

The configured Orin cameras.

getCameraStats() - Method in class frc.spectrumLib.localization.TagEkf

getCanBus() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getCanBus() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

CAN bus used when no SpectrumLEDs.Config.sharedCandle is provided.

getCanCoder() - Method in class frc.spectrumLib.hardware.SpectrumCANcoder

The underlying CTRE CANcoder hardware object.

getCANcoderID() - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

CAN device ID of the CANcoder; may be set after construction.

getCanCoderInitialConfigs() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getCANcoderOffset() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getCANcoderRotorToSensorRatio() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getCANcoderSensorToMechanismRatio() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getCandle() - Method in class frc.spectrumLib.leds.SpectrumLEDs

The CANdle device (owned or shared).

getCarriageMassKg() - Method in class frc.spectrumLib.sim.LinearConfig

Mass of the moving carriage in kilograms, used by the physics simulation.

getCenterField() - Static method in class frc.rebuilt.Field

getCircleBackground() - Method in class frc.spectrumLib.sim.Circle

Array of radial ligaments that together form the circle outline.

getClassifierClass(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the current neural classifier result class name.

getClassifierClassIndex(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the classifier class index from the currently running neural classifier pipeline

getClosestCardinal() - Method in class frc.robot.subsystems.swerve.Swerve

getClosestTagID() - Method in class frc.spectrumLib.vision.Limelight

Gets the ID of the apriltag most centered in the LL's view.

getColor() - Method in class frc.spectrumLib.sim.ArmConfig

Color used to draw the arm ligament in the Mechanism2d canvas.

getColor() - Method in class frc.spectrumLib.sim.LinearConfig

Color of the moving stage ligament in the Mechanism2d canvas.

getCommandPriority() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Priority level of the pattern command currently running.

getConfig() - Method in class frc.rebuilt.FuelPhysicsSim

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

getConfig() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake

getConfig() - Method in class frc.robot.subsystems.hood.Hood

getConfig() - Method in class frc.robot.subsystems.indexerBed.IndexerBed

getConfig() - Method in class frc.robot.subsystems.indexerTower.IndexerTower

getConfig() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

getConfig() - Method in class frc.robot.subsystems.launcher.Launcher

getConfig() - Method in class frc.robot.subsystems.swerve.Swerve

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

getConfig() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Active configuration for this instance.

getConfig() - Method in class frc.spectrumLib.sim.ArmSim

Configuration containing physical properties and display settings for this arm.

getConfig() - Method in class frc.spectrumLib.sim.LinearSim

Configuration containing physical properties and display settings for this linear stage.

getConstantCreator() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getCornerCoordinates(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the corner coordinates of detected targets from NetworkTables.

getCoupleRatio() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getCurrentCommandName() - Method in class frc.robot.subsystems.swerve.Swerve

getCurrentCommandName() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Returns the currently running command that is applying a pattern to this subsystem, or null if no command is currently running.

getCurrentCommandName() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the name of the command currently scheduled on this subsystem, or "none" if no command is running.

getCurrentPipelineIndex(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the active pipeline index.

getCurrentPipelineType(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the current pipeline type.

getCurrentRobotChassisSpeeds() - Method in class frc.robot.subsystems.swerve.Swerve

Robot-relative chassis velocity measured from the modules this loop (a logged input).

getCurrentSuperState() - Method in class frc.robot.subsystems.SuperStructure

getCurvePoints(int) - Method in class frc.spectrumLib.util.Curve

Returns a set of points of length pointCount on the curve.

getDeadband() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDeadzone() - Method in class frc.spectrumLib.util.Curve

Returns the value of deadzone, the value for the width in the center of the curve where any input results in an output of 0.0

getDebounceSeconds() - Method in class frc.spectrumLib.mechanism.TrackingStop

getDebugField() - Method in class frc.robot.subsystems.vision.SimVision

Field2d showing what PhotonLib's sim sees (tags, cameras, robot).

getDefault() - Method in class frc.spectrumLib.params.Param

The default in the declaration.

getDefaultConfig() - Static method in class frc.spectrumLib.hardware.TalonFXFactory

Builds a TalonFXConfiguration populated with Spectrum's standard defaults: brake neutral mode, counter-clockwise positive invert, 4 % duty-cycle deadband, 40 A supply current limit, software and hardware limits disabled, rotor sensor feedback, and audio cues enabled.

getDetectorClass(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the primary neural detector result class name.

getDetectorClassIndex(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the detector class index from the primary result of the currently running neural detector pipeline.

getDeviceId() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

CAN device ID used when no SpectrumLEDs.Config.sharedCandle is provided.

getDeviceNumber() - Method in class frc.spectrumLib.util.CanDeviceId

Returns the numeric CAN device ID.

getDisplacementX() - Method in class frc.spectrumLib.sim.ArmSim

Returns how far the pivot has moved horizontally from its initial position.

getDisplacementX() - Method in class frc.spectrumLib.sim.LinearSim

Returns the horizontal component of the stage's current displacement from its initial position, accounting for the parent mount's angle when mounted.

getDisplacementX() - Method in interface frc.spectrumLib.sim.Mount

Returns the horizontal displacement of this mount from its initial position (metres).

getDisplacementY() - Method in class frc.spectrumLib.sim.ArmSim

Returns how far the pivot has moved vertically from its initial position.

getDisplacementY() - Method in class frc.spectrumLib.sim.LinearSim

Returns the vertical component of the stage's current displacement from its initial position, accounting for the parent mount's angle when mounted.

getDisplacementY() - Method in interface frc.spectrumLib.sim.Mount

Returns the vertical displacement of this mount from its initial position (metres).

getDistance(double, double, double, double) - Static method in interface frc.spectrumLib.sim.Mountable

Computes the straight-line distance between two points on the canvas.

getDistanceMeters() - Method in class frc.spectrumLib.checks.AutoStartCheck

Distance from the start, metres, or NaN when not compared.

getDistanceToTagFromCamera() - Method in class frc.spectrumLib.vision.Limelight

Get the distance of the 2d vector from the camera to closest apriltag

getDistanceToTarget(double) - Method in class frc.spectrumLib.vision.Limelight

get distance in meters to a target

getDpad() - Method in class frc.spectrumLib.gamepads.Gamepad

The D-pad direction, from POV 0 or from the four D-pad buttons, depending on the layout.

getDragAccelFactor() - Static method in class frc.rebuilt.FuelPhysicsSim

getDrivebaseRadiusInches() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDrivebaseRadiusMeters() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveCCWPositive() - Method in class frc.robot.pilot.Pilot

getDriveClosedLoopOutput() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveFrictionVoltage() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveFwdPositive() - Method in class frc.robot.pilot.Pilot

getDriveGains() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveGearRatio() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveInertia() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveInitialConfigs() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDriveLeftPositive() - Method in class frc.robot.pilot.Pilot

getDrivetrainConstants() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getDrumRadius() - Method in class frc.spectrumLib.sim.LinearConfig

Radius of the elevator drum in metres, used to convert rotations to linear position.

getDrumRadiusMeters() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getDynamicMMPositionFOC() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getDynamicMotionMagicVoltage() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getElevatorGearing() - Method in class frc.spectrumLib.sim.LinearConfig

Gear ratio between the motor and the elevator drum.

getEncoderOffsetRotations() - Method in class frc.robot.subsystems.swerve.SwerveConfig

The offsets last passed to SwerveConfig.configEncoderOffsets(double, double, double, double), in rotations (front left, front right, back left, back right), or null if it was never called.

getExcludedTags() - Method in class frc.robot.subsystems.vision.Jetson

getExpVal() - Method in class frc.spectrumLib.util.ExpCurve

Returns the value of expVal, the base of the exponent used to map the input.

getExtendAtTargetToleranceRotations() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getExtendReextendRotations() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

While holding, pushed back in by this much (about 2 in) drives out again.

getExtendSteadyMaxRPM() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getExtendSteadySecs() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getExtensionGearing() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getExtensionMass() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getFailedCalls() - Static method in class frc.spectrumLib.hardware.CanConfigBudget

Number of failed configuration calls so far.

getFamily() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

Returns the family.

getFiducialID(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the fiducial id.

getField2d() - Static method in class frc.robot.Robot

getFieldCOR() - Static method in class frc.rebuilt.FuelPhysicsSim

getFieldLength() - Static method in class frc.rebuilt.Field

getFieldLength() - Static method in class frc.rebuilt.FuelPhysicsSim

getFieldWidth() - Static method in class frc.rebuilt.Field

getFieldWidth() - Static method in class frc.rebuilt.FuelPhysicsSim

getFirst() - Method in class frc.spectrumLib.util.Trio

Returns the first object.

getFirstActiveAlliance() - Static method in class frc.rebuilt.ShiftHelpers

getFollowerConfigs() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Configurations for follower motors.

getFollowerMotors() - Method in class frc.spectrumLib.mechanism.Mechanism

Optional follower TalonFX motor controllers that mirror the leader.

getForward() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Forward offset of the camera from the robot center in meters (positive = toward front).

getForwardSoftLimitParam() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Set by Mechanism.Config.configSoftLimits(DoubleParam, DoubleParam); null when the soft limits are fixed in code.

getForwardTorqueCurrentLimit() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getFrontLeft() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontLeftDriveMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontLeftEncoderId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontLeftEncoderOffset() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontLeftSteerMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontLeftXPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontLeftYPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRight() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRightDriveMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRightEncoderId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRightEncoderOffset() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRightSteerMotorId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRightXPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getFrontRightYPos() - Method in class frc.robot.subsystems.swerve.SwerveConfig

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

getFuelIntake() - Method in class frc.robot.subsystems.SuperStructure

getFwdColor() - Method in class frc.spectrumLib.sim.RollerConfig

Color displayed when the roller is spinning in the forward direction.

getGearRatio() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getGearRatio() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getGearRatio() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Returns the currently configured sensor-to-mechanism gear ratio.

getGearRatio() - Method in class frc.spectrumLib.sim.RollerConfig

Gear ratio between the motor and the roller output shaft.

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

Gross heading correction while enabled.

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

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

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

getHalfLength() - Static method in class frc.rebuilt.Field

getHalfWidth() - Static method in class frc.rebuilt.Field

getHeading() - Method in class frc.spectrumLib.localization.OdometryGuard

The heading handed to the estimators, radians.

getHeadingErrorDeg() - Method in class frc.spectrumLib.checks.AutoStartCheck

Heading error from the start, degrees, or NaN when not compared.

getHeartbeat(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the Limelight heartbeat value.

getHID() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the underlying GenericHID for low-level access, or null if not attached.

getHoldMaxSpeedRPM() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getHoldMaxSpeedRPM() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getHomingCheckState() - Method in class frc.robot.subsystems.hood.Hood

The homing state for the pre-match check; the hood homes itself at auto start.

getHomingMinTimeSecs() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getHomingStallDebounceSecs() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getHomingStallRPM() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getHomingTimeoutSecs() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getHomingVoltage() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

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

getHood() - Method in class frc.robot.subsystems.SuperStructure

getHoodX() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getHoodY() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getHorizontalOffset() - Method in class frc.spectrumLib.vision.Limelight

Get the horizontal offset from crosshair to target

getId() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

CAN bus device ID and bus name for the leader motor.

getId() - Method in class frc.spectrumLib.mechanism.Mechanism.FollowerConfig

CAN bus device ID and bus name for this follower motor.

getIMUData(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the current IMU data from NetworkTables.

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

getIndexerBed() - Method in class frc.robot.subsystems.SuperStructure

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

getIndexerTower() - Method in class frc.robot.subsystems.SuperStructure

getInitialX() - Method in class frc.spectrumLib.sim.ArmConfig

Initial X position of the arm pivot in the Mechanism2d canvas (metres).

getInitialX() - Method in class frc.spectrumLib.sim.LinearConfig

Initial X position of the static root in the Mechanism2d canvas (metres).

getInitialX() - Method in class frc.spectrumLib.sim.RollerConfig

Initial X position of the roller axle in the Mechanism2d canvas (metres).

getInitialY() - Method in class frc.spectrumLib.sim.ArmConfig

Initial Y position of the arm pivot in the Mechanism2d canvas (metres).

getInitialY() - Method in class frc.spectrumLib.sim.LinearConfig

Initial Y position of the static root in the Mechanism2d canvas (metres).

getInitialY() - Method in class frc.spectrumLib.sim.RollerConfig

Initial Y position of the roller axle in the Mechanism2d canvas (metres).

getInitMountAngle() - Method in class frc.spectrumLib.sim.ArmConfig

Angle of the mount at simulation start (radians).

getInitMountAngle() - Method in class frc.spectrumLib.sim.LinearConfig

Angle of the mount at simulation start (radians).

getInitMountAngle() - Method in class frc.spectrumLib.sim.RollerConfig

Angle of the mount at simulation start (radians).

getInitMountX() - Method in class frc.spectrumLib.sim.ArmConfig

X position of the mount at simulation start (metres).

getInitMountX() - Method in class frc.spectrumLib.sim.LinearConfig

X position of the mount at simulation start (metres).

getInitMountX() - Method in class frc.spectrumLib.sim.RollerConfig

X position of the mount at simulation start (metres).

getInitMountY() - Method in class frc.spectrumLib.sim.ArmConfig

Y position of the mount at simulation start (metres).

getInitMountY() - Method in class frc.spectrumLib.sim.LinearConfig

Y position of the mount at simulation start (metres).

getInitMountY() - Method in class frc.spectrumLib.sim.RollerConfig

Y position of the mount at simulation start (metres).

getInitPosition() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

Best guess at boot, until homing finds the stop.

getInitPosition() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getInputs() - Method in class frc.robot.subsystems.swerve.Swerve

getInputs() - Method in class frc.robot.subsystems.vision.Jetson

getInputs() - Method in class frc.spectrumLib.localization.PoseSource

This loop's raw inputs.

getInputs() - Method in class frc.spectrumLib.mechanism.Mechanism

This loop's motor readings as an AdvantageKit input.

getInstance() - Static method in class frc.rebuilt.ShotCalculator

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

getIntakeExtension() - Method in class frc.robot.subsystems.SuperStructure

getIntakeX() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getIntakeX() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getIntakeX() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getIntakeX() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getIntakeY() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getIntakeY() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getIntakeY() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getIntakeY() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getIPaddress() - Static method in class frc.spectrumLib.util.Network

Gets the IP address of the robot

getIPaddress(String) - Static method in class frc.spectrumLib.util.Network

Resolves and returns the IP address of a device identified by its mDNS or hostname address (e.g.

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

getJSONDump(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the full JSON results dump.

getKDRotationController() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getKIRotationController() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getKPRotationController() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getLastAcceptedTimestamp() - Method in class frc.spectrumLib.localization.PoseSource

getLastEstimateAgeSeconds() - Method in class frc.spectrumLib.vision.Limelight

Age in seconds (capture time to now) of the last estimate this camera produced this loop, or NaN if it produced none.

getLastGyro() - Method in class frc.spectrumLib.localization.PoseFusion

The gyro yaw of the latest odometry sample, as the odometry reads it.

getLastLaunchSpeed() - Method in class frc.rebuilt.FuelPhysicsSim

getLastRejection() - Method in class frc.spectrumLib.localization.PoseSource

getLastResultSeconds() - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

When the camera last sent a result; NaN before the first.

getLastResultTimestampSeconds() - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

Capture time of the newest result, PhotonLib's timebase; NaN before the first.

getLatency_Capture(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the capture latency.

getLatency_Pipeline(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the pipeline's processing latency contribution.

getLatencyCompensatedPositionDegrees() - Method in class frc.spectrumLib.mechanism.Mechanism

Same as Mechanism.getLatencyCompensatedPositionRotations() in degrees.

getLatencyCompensatedPositionRotations() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the motor position in rotations projected from the signal's own timestamp to now along the velocity signal, so a mechanism moving at speed reads where it is rather than where it was when the CAN frame left the motor.

getLatestResults(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the latest JSON results output and returns a LimelightResults object.

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

getLauncher() - Method in class frc.robot.subsystems.SuperStructure

getLauncherX() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getLauncherY() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getLayout() - Method in class frc.spectrumLib.gamepads.Gamepad

Where this controller's buttons and axes arrive.

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

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

getLeftStickCardinals() - Method in class frc.spectrumLib.gamepads.Gamepad

Snaps the left-stick direction to the nearest cardinal angle (0, ±π/2, π radians).

getLeftStickCurve() - Method in class frc.spectrumLib.gamepads.Gamepad

Exponential response curve applied to both left-stick axes.

getLeftStickDeadzone() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Deadzone applied to both left-stick axes before the exponential curve.

getLeftStickDirection() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the current direction of the left stick as a Rotation2d.

getLeftStickExp() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Exponent for the left-stick exponential response curve (1.0 = linear).

getLeftStickMagnitude() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the Euclidean magnitude of the left stick deflection.

getLeftStickScalar() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Output scalar applied after the left-stick exponential curve.

getLeftTriggerAxis() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the raw left-trigger axis value (0 to 1), or 0.0 if not connected.

getLeftViewHeight() - Static method in class frc.robot.RobotSim

getLeftViewWidth() - Static method in class frc.robot.RobotSim

getLeftX() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the left-stick X axis value, or 0.0 if not connected.

getLeftY() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the left-stick Y axis value, or 0.0 if not connected.

getLength() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getLength() - Method in class frc.spectrumLib.sim.ArmConfig

Visual length of the arm ligament in the Mechanism2d canvas (metres).

getLimelightDoubleArrayEntry(String, String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight double array entry.

getLimelightNTDouble(String, String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight nt double.

getLimelightNTDoubleArray(String, String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight nt double array.

getLimelightNTString(String, String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight nt string.

getLimelightNTStringArray(String, String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight nt string array.

getLimelightNTTable(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight nt table.

getLimelightNTTableEntry(String, String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the limelight nt table entry.

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

getLinearSpeedAt12Volts() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getLineWidth() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getLineWidth() - Method in class frc.spectrumLib.sim.LinearConfig

Stroke width of the stage ligaments in the Mechanism2d canvas.

getLogStatus() - Method in class frc.spectrumLib.vision.Limelight

Human-readable string describing the current integration status, logged for diagnostics.

getLossOfSignalBehavior() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Behavior of the strip when CAN signal is lost.

getLowerSupplyCurrentLimit() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getLowerSupplyCurrentLimit() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getLowerSupplyCurrentLimit() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getLowerSupplyCurrentLimit() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getLowerSupplyCurrentLimit() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getLowerSupplyCurrentLimit() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getLowerSupplyCurrentTime() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getLowerSupplyCurrentTime() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getLowerSupplyCurrentTime() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getLowerSupplyCurrentTime() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getLowerSupplyCurrentTime() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getLowerSupplyCurrentTime() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getMACaddress() - Static method in class frc.spectrumLib.util.Network

Gets the MAC address of the robot

getMagnusAccelFactor() - Static method in class frc.rebuilt.FuelPhysicsSim

getMapping() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Which Driver Station's controller layout to read.

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

The match summary: Summary/... in every log, a file after each FMS match.

getMaxAngle() - Method in class frc.spectrumLib.sim.ArmConfig

Maximum allowable arm angle (radians).

getMaxExtensionHeight() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMaxHeight() - Method in class frc.spectrumLib.sim.LinearConfig

Maximum travel height of the mechanism in metres.

getMaxRotations() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getMaxRotations() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMaxRotations() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Maximum mechanism position in rotations (used for range calculations).

getMegaTag1_Pose3d() - Method in class frc.spectrumLib.vision.Limelight

Get the corresponding LL Pose3d (MEGATAG1) for the alliance in DriverStation.java

getMegaTag1_PoseEstimate() - Method in class frc.spectrumLib.vision.Limelight

Returns the full MegaTag1 LimelightHelpers.PoseEstimate, including timestamp, tag count, and raw fiducials.

getMegaTag1PoseTimestamp() - Method in class frc.spectrumLib.vision.Limelight

Returns the timestamp of the MEGATAG1 pose estimation from the Limelight camera.

getMegaTag2_Pose2d() - Method in class frc.spectrumLib.vision.Limelight

Get the corresponding LL Pose2d (MEGATAG2) for the alliance in DriverStation.java

getMegaTag2_PoseEstimate() - Method in class frc.spectrumLib.vision.Limelight

Returns the full MegaTag2 LimelightHelpers.PoseEstimate (heading-fused), including timestamp and tag count.

getMegaTag2PoseTimestamp() - Method in class frc.spectrumLib.vision.Limelight

Returns the timestamp of the MEGATAG2 pose estimation from the Limelight camera.

getMinAngle() - Method in class frc.spectrumLib.sim.ArmConfig

Minimum allowable arm angle (radians).

getMinHeight() - Method in class frc.spectrumLib.sim.LinearConfig

Minimum travel height of the mechanism in metres.

getMinRotations() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getMinRotations() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMinRotations() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Minimum mechanism position in rotations (used for range calculations).

getMmAcceleration() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getMmAcceleration() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMmCruiseVelocity() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getMmCruiseVelocity() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMmJerk() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getMmJerk() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMmPositionFOC() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getMmPositionVoltage() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getMmPositionVoltageSlot() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getMmVelocityFOC() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getMmVelocityVoltage() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getModules() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getMomentOfInertia() - Static method in class frc.rebuilt.FuelPhysicsSim

getMotor() - Method in class frc.spectrumLib.mechanism.Mechanism

The primary (leader) TalonFX motor controller.

getMount() - Method in class frc.spectrumLib.sim.ArmConfig

The parent mount this arm is attached to, or null if not mounted.

getMount() - Method in class frc.spectrumLib.sim.LinearConfig

The parent mount this linear stage is attached to, or null if not mounted.

getMount() - Method in class frc.spectrumLib.sim.RollerConfig

The parent mount this roller is attached to, or null if not mounted.

getMountCheck() - Method in class frc.robot.subsystems.swerve.Swerve

The gyro mount check, fed every loop, for the pre-match checks.

getMountType() - Method in class frc.spectrumLib.sim.ArmSim

Always Mount.MountType.ARM; used by child mechanisms to determine positioning logic.

getMountType() - Method in class frc.spectrumLib.sim.LinearSim

Always Mount.MountType.LINEAR; used by child mechanisms to determine positioning logic.

getMountType() - Method in interface frc.spectrumLib.sim.Mount

Returns the type of this mount, used by child mechanisms to select positioning logic.

getMountX() - Method in class frc.spectrumLib.sim.ArmSim

Returns the X coordinate of the arm pivot, used by child mechanisms as their mount point.

getMountX() - Method in class frc.spectrumLib.sim.LinearSim

Returns the X coordinate of the static root of this stage, used by child mechanisms as their mount point.

getMountX() - Method in interface frc.spectrumLib.sim.Mount

Returns the X coordinate that child mechanisms should use as their attachment point (metres).

getMountY() - Method in class frc.spectrumLib.sim.ArmSim

Returns the Y coordinate of the arm pivot, used by child mechanisms as their mount point.

getMountY() - Method in class frc.spectrumLib.sim.LinearSim

Returns the Y coordinate of the static root of this stage, used by child mechanisms as their mount point.

getMountY() - Method in interface frc.spectrumLib.sim.Mount

Returns the Y coordinate that child mechanisms should use as their attachment point (metres).

getMovingLength() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getMovingLength() - Method in class frc.spectrumLib.sim.LinearConfig

Visual length of the moving stage ligament in the Mechanism2d canvas (metres).

getMt1Sources() - Method in class frc.robot.subsystems.vision.Vision

getMt2Sources() - Method in class frc.robot.subsystems.vision.Vision

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

Times any track was seeded from a multi-tag MegaTag1 solve since boot.

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

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

getName() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Human-readable controller name used in alerts and telemetry.

getName() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Human-readable name used in telemetry.

getName() - Method in class frc.spectrumLib.localization.PoseSource

getName() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Human-readable name for this mechanism (used in logging and alerts).

getName() - Method in class frc.spectrumLib.mechanism.Mechanism.FollowerConfig

Human-readable name for this follower motor (used in alerts and logging).

getName() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the human-readable name of this mechanism, as defined in its Mechanism.Config.

getName() - Method in class frc.spectrumLib.telemetry.TuneValue

Dashboard key under which this value is published and read.

getName() - Method in class frc.spectrumLib.vision.Limelight

Returns the network-table name of this camera.

getName() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Must match the name given in the LL dashboard.

getNeuralClassID(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the neural class id.

getNumLeds() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Number of LEDs in the segment owned by this instance.

getNumMotors() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Total number of motors (leader + followers).

getNumMotors() - Method in class frc.spectrumLib.sim.ArmConfig

Number of Kraken X60 motors driving the arm.

getNumMotors() - Method in class frc.spectrumLib.sim.LinearConfig

Number of Kraken X60 motors driving the linear stage.

getOdometryPose() - Method in class frc.spectrumLib.localization.PoseFusion

Wheels-and-gyro-only pose.

getOffColor() - Method in class frc.spectrumLib.sim.RollerConfig

Color displayed when the roller is stationary or below the velocity threshold.

getOfficialShiftInfo() - Static method in class frc.rebuilt.ShiftHelpers

getOffset() - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

Magnetic offset applied to the CANcoder reading, in rotations.

getOffset() - Method in class frc.spectrumLib.util.Curve

Returns the value of offset, the double value added to the final curve.

getOnboardImuMount() - Method in class frc.robot.subsystems.swerve.SwerveConfig

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

getOpposeLeader() - Method in class frc.spectrumLib.mechanism.Mechanism.FollowerConfig

Alignment of the follower relative to the leader.

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

Per-camera std-dev multiplier (6328's camera factor); 1 until logs say otherwise.

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

Which cameras are plugged in.

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

Camera names in PhotonVision.

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

Tags every Orin camera should ignore at this event (a tag mounted wrong), until changed on the dashboard at /Vision/Orin/ExcludedTags.

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

Orin sources built on the main ones: gyro-held PnP and tx/ty (issue #10, 3 and 8c).

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

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

The Jetson's image size, for the image-edge std-dev scaling.

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

Camera mounts, robot frame (x fwd, y left, z up; negative pitch tilts up).

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

getParameters() - Method in class frc.rebuilt.ShotCalculator

Returns the current shooting parameters, computing them from the robot's live pose and velocity if not already cached this loop.

getParams() - Method in class frc.robot.subsystems.hood.HoodHoming

getPercentOutput() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Percent (duty-cycle) output control.

getPigeonConfigs() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getPigeonId() - Method in class frc.robot.subsystems.swerve.SwerveConfig

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

getPilotStickAngle() - Method in class frc.robot.pilot.Pilot

getPitch() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

getPivotX() - Method in class frc.spectrumLib.sim.ArmConfig

Current X position of the arm pivot used during simulation updates (metres).

getPivotY() - Method in class frc.spectrumLib.sim.ArmConfig

Current Y position of the arm pivot used during simulation updates (metres).

getPort() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

USB port number as shown in the DriverStation application (0-indexed).

getPose() - Method in class frc.spectrumLib.localization.PoseFusion

The fused robot pose.

getPose() - Method in class frc.spectrumLib.localization.TagEkf

getPoseAtTimestamp(double) - Method in class frc.robot.subsystems.swerve.Swerve

Get the robot's pose at a specific timestamp using interpolation.

getPoseFusion() - Method in class frc.robot.subsystems.swerve.Swerve

The robot pose and every per-source comparison track.

getPoseLatency() - Method in class frc.spectrumLib.vision.Limelight

Deprecated, for removal: This API element is subject to removal in a future version.

getPositionControl() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getPositionDegrees() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the motor position in degrees as of this loop.

getPositionDegreesUncached() - Method in class frc.spectrumLib.mechanism.Mechanism

Same as Mechanism.getPositionDegrees().

getPositionKa() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKa() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionKd() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKd() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionKg() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKg() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionKi() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKi() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionKp() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKp() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionKs() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKs() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionKv() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getPositionKv() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getPositionPercentage() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the motor position as a percentage of max rotations as of this loop.

getPositionRotations() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the motor position in rotations as of this loop.

getPositionTorqueFOC() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getPythonScriptData(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the python script data.

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

Quest frames older than this are stale (it runs at ~100 Hz).

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

A Quest frame whose motion since the previous frame differs from wheel odometry's by more than this is a tracking jump (re-localisation, re-origin) rather than motion.

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

Frames arriving within this long of a pose reset may predate it.

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

getRatio() - Method in class frc.spectrumLib.sim.ArmConfig

Motor rotations required for one full revolution of the arm mechanism.

getRawBarcodeData(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the raw barcode data.

getRawDetections(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the latest raw neural detector results from NetworkTables

getRawFiducial() - Method in class frc.spectrumLib.vision.Limelight

Returns the raw fiducial data for all currently detected AprilTags.

getRawFiducials(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the latest raw fiducial/AprilTag detection results from NetworkTables.

getRawTargets(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the raw target contours from NetworkTables.

getReason() - Method in class frc.spectrumLib.checks.PreMatchChecks

One line: GO or NO-GO, and the first failing (else warning) check's reason.

getRedAlliancePerspectiveRotation() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getRedAllianceStickCardinals() - Method in class frc.spectrumLib.gamepads.Gamepad

Flips the stick direction for the red alliance.

getRedHub() - Method in class frc.rebuilt.FuelPhysicsSim

getRedHubCenter() - Static method in class frc.rebuilt.Field

getRedScore() - Method in class frc.rebuilt.FuelPhysicsSim

getRejectedCount() - Method in class frc.spectrumLib.localization.PoseSource

getRejectedCount() - Method in class frc.spectrumLib.localization.TagEkf

getRejectionCounts() - Method in class frc.spectrumLib.localization.TagEkf

getRelearnMaxSkewRotations() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

Both sides must read within this of each other, or one is bound up short.

getRelearnMaxTravelRotations() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

Out-point relearn only when the extend moved less than this: a power-on with the intake out cannot move, while a jam part way out moves first (RESYNC handles those).

getRelocalizations() - Method in class frc.spectrumLib.localization.TagEkf

getResends() - Method in class frc.spectrumLib.mechanism.PositionWrite

Writes sent again because the readings did not show them, since boot.

getResets() - Method in class frc.spectrumLib.mechanism.MotorResetMonitor

Resets seen since boot.

getResults() - Method in class frc.spectrumLib.localization.PoseSource

Results of the most recent PoseSource.process(GateContext) call.

getResultsPerSecond() - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

Results per second over the last full second (section 7a); NaN until the first second.

getRevColor() - Method in class frc.spectrumLib.sim.RollerConfig

Color displayed when the roller is spinning in the reverse direction.

getReverseSoftLimitParam() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getReverseTorqueCurrentLimit() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getRight() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

getRight() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

getRightConfig() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

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

getRightStickCardinals() - Method in class frc.spectrumLib.gamepads.Gamepad

Snaps the right-stick direction to the nearest cardinal angle (0, ±π/2, π radians).

getRightStickCurve() - Method in class frc.spectrumLib.gamepads.Gamepad

Exponential response curve applied to both right-stick axes.

getRightStickDeadzone() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Deadzone applied to both right-stick axes before the exponential curve.

getRightStickDirection() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the current direction of the right stick as a Rotation2d.

getRightStickExp() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Exponent for the right-stick exponential response curve.

getRightStickMagnitude() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the Euclidean magnitude of the right stick deflection.

getRightStickScalar() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Output scalar applied after the right-stick exponential curve.

getRightTriggerAxis() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the raw right-trigger axis value (0 to 1), or 0.0 if not connected.

getRightX() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the right-stick X axis value, or 0.0 if not connected.

getRightY() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the right-stick Y axis value, or 0.0 if not connected.

getRobotPose() - Method in class frc.robot.subsystems.swerve.Swerve

The robot's fused pose: odometry plus every enabled vision source, integrated on the main loop from logged inputs.

getRobotPose_FieldSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the robot pose field space.

getRobotPose_FieldSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the robot pose field space.

getRobotPose_FieldSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the robot pose field space 2 d.

getRobotPose_FieldSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the robot pose field space 2 d.

getRobotPose_TargetSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the robot pose target space.

getRobotPose_TargetSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the robot pose target space.

getRobotPose_TargetSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the robot pose target space 2 d.

getRobotPose_TargetSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the robot pose target space 2 d.

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

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

getRoll() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Orientation of the camera in degrees (roll/pitch/yaw relative to robot frame).

getRollerDiameterInches() - Method in class frc.spectrumLib.sim.RollerConfig

Outer diameter of the roller in inches, used for physics and visual scaling.

getRotationDifference(double, double) - Method in class frc.robot.subsystems.swerve.Swerve

Shortest absolute difference between two angles, degrees (0-180).

getRotationVelocityCoefficient() - Method in class frc.robot.subsystems.swerve.Swerve

getRotorToSensorRatio() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getRotorToSensorRatio() - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

Gear ratio between the motor rotor and the CANcoder shaft (rotor turns / sensor turn).

getRumbleHID() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the underlying GenericHID for rumble output, or null if not connected.

getScalar() - Method in class frc.spectrumLib.util.Curve

Returns the value of scalar, the double value multiplied to the curve before it is offset.

getScMt1Sources() - Method in class frc.robot.subsystems.vision.Vision

getScMt2Sources() - Method in class frc.robot.subsystems.vision.Vision

getScore() - Method in class frc.rebuilt.FuelPhysicsSim.ScoringTarget

How many balls have scored in this hub.

getSecond() - Method in class frc.spectrumLib.util.Trio

Returns the second object.

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

Consecutive seeding frames in which the best Limelight must have seeded the pose from two or more tags, with its heading holding within Vision.VisionConfig.seedConfirmSpreadDeg, before the seed counts as confirmed.

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

Peak-to-peak spread (degrees) the MegaTag1 heading may show across the confirmation run.

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

Heading std-dev while seeding, degrees.

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

Translation std-dev while seeding, metres.

getSelectedSetShot() - Static method in class frc.rebuilt.ShotCalculator

The fixed shot currently selected, ShotCalculator.SetShot.TOWER until a binding picks one.

getSensorToMechanismRatio() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getSensorToMechanismRatio() - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

Gear ratio between the CANcoder shaft and the mechanism output (sensor turns / mechanism turn).

getSetShotFlywheelRPM() - Static method in class frc.rebuilt.ShotCalculator

Flywheel speed for the selected set shot, RPM, on the dashboard's hub model.

getSetShotHoodDegrees() - Static method in class frc.rebuilt.ShotCalculator

Hood angle for the selected set shot, degrees, on the dashboard's hub model.

getShadowPose(String) - Method in class frc.spectrumLib.localization.PoseFusion

A source's shadow pose.

getSharedCandle() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Pre-built CANdle to reuse.

getShiftedShiftInfo() - Static method in class frc.rebuilt.ShiftHelpers

getShotDecision() - Method in class frc.robot.subsystems.SuperStructure

This loop's gate decision.

getShotTargetDegrees() - Method in class frc.robot.subsystems.hood.Hood

Hood angle the current shot wants this loop, degrees; NaN when the hood is not on a shot.

getShotTargetRPM() - Method in class frc.robot.subsystems.launcher.Launcher

Flywheel speed the current shot wants this loop, RPM; 0 when the flywheel is not on a shot.

getSim() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake

getSim() - Method in class frc.robot.subsystems.hood.Hood

getSim() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

getSim() - Method in class frc.robot.subsystems.launcher.Launcher

getSimCGLength() - Method in class frc.spectrumLib.sim.ArmConfig

Distance from the pivot to the arm's centre of gravity used by the physics simulation (metres).

getSimLoopPeriod() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSimMOI() - Method in class frc.spectrumLib.sim.ArmConfig

Moment of inertia used by the physics simulation (kg·m²).

getSimMOI() - Method in class frc.spectrumLib.sim.RollerConfig

Moment of inertia of the roller used by the flywheel physics simulation (kg·m²).

getSimRatio() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getSimRobotLength() - Static method in class frc.robot.RobotSim

getSimRobotWidth() - Static method in class frc.robot.RobotSim

getSimTruthPose() - Method in class frc.robot.subsystems.swerve.Swerve

Truth pose in simulation, empty elsewhere.

getSimWorldPose(Pose2d) - Method in class frc.rebuilt.RobotBumpSim

Returns the 2D pose that should be set on MapleSim while on the ramp.

getSleepingBallCount() - Method in class frc.rebuilt.FuelPhysicsSim

getSlipCurrent() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSlowMmAcceleration() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getSlowMmCruiseVelocity() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getSlowMmJerk() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getSolver() - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

getSpentSeconds() - Static method in class frc.spectrumLib.hardware.CanConfigBudget

Seconds charged to the budget so far.

getSpinRPM() - Method in class frc.rebuilt.FuelPhysicsSim.SimBall

Get backspin in RPM (from the Y component of omega).

getStartIdx() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

First LED index (inclusive) in the strip.

getStartingAngle() - Method in class frc.spectrumLib.sim.ArmConfig

Arm angle at the start of the simulation (radians).

getStartingLineX() - Static method in class frc.rebuilt.Field

getStaticLength() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getStaticLength() - Method in class frc.spectrumLib.sim.LinearConfig

Visual length of the static (non-moving) stage ligament in the Mechanism2d canvas (metres).

getStaticRootX() - Method in class frc.spectrumLib.sim.LinearConfig

Current X position of the static root, updated when mounted (metres).

getStaticRootY() - Method in class frc.spectrumLib.sim.LinearConfig

Current Y position of the static root, updated when mounted (metres).

getStatorCurrent() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the stator current of the motor as of this loop.

getStatorCurrentLimit() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getStatorCurrentLimit() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getStatorCurrentLimit() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getStatorCurrentLimit() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getStatorCurrentLimit() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getStatorCurrentLimit() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getStdDevs() - Method in class frc.spectrumLib.localization.TagEkf

Std-devs [x m, y m, heading rad].

getSteerClosedLoopOutput() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSteerFrictionVoltage() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSteerGains() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSteerGearRatio() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSteerInertia() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getSteerInitialConfigs() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getStripType() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

LED strip type (RGB, RGBW, GRB, etc.).

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

getSupplier() - Method in class frc.spectrumLib.telemetry.TuneValue

Returns a DoubleSupplier that calls TuneValue.update() each time it is queried.

getSupplyCurrent() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the supply current of the motor as of this loop.

getSupplyCurrentLimit() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getSupplyCurrentLimit() - Method in class frc.robot.subsystems.hood.Hood.HoodConfig

getSupplyCurrentLimit() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getSupplyCurrentLimit() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getSupplyCurrentLimit() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getSupplyCurrentLimit() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

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

getSwerve() - Method in class frc.robot.subsystems.SuperStructure

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

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

Table the SystemCore vision stack reads robot orientation from, for MegaTag2.

getT2DArray(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

T2D is an array that contains several targeting metrics

getTA(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the target area as a percentage of the image (0-100%).

getTagCountInView() - Method in class frc.spectrumLib.vision.Limelight

Returns the number of AprilTags included in the current MegaTag1 pose estimate.

getTagEkf() - Method in class frc.spectrumLib.localization.PoseFusion

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

The field the robot solves with: this event's (Event.APRILTAG_FIELD), or in replay the match's (see TagField).

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

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

Vision.tagLayout's canonical hash (FieldMapHash).

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

getTagRotationDegrees() - Method in class frc.spectrumLib.vision.Limelight

Returns the Z-axis rotation of the primary target in robot space (yaw in radians, converted to degrees).

getTagStatus() - Method in class frc.spectrumLib.vision.Limelight

Human-readable string describing the currently visible tag(s), logged for diagnostics.

getTagTA() - Method in class frc.spectrumLib.vision.Limelight

Returns the area of the primary target as a percentage of the camera image.

getTagTx() - Method in class frc.spectrumLib.vision.Limelight

Returns the X offset of the primary target in robot space (meters along the robot's left/right axis).

getTalonConfig() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Full TalonFX hardware configuration applied to the leader motor on startup.

getTarget() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the last closed-loop setpoint (in rotations) sent to the motor by this class.

getTargetColor(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the average color under the crosshair region as a 3-element array.

getTargetCount(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the number of targets currently detected.

getTargetHeading() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getTargetPose_CameraSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the target pose camera space.

getTargetPose_CameraSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the target pose camera space.

getTargetPose_CameraSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the target pose camera space.

getTargetPose_CameraSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the target pose camera space 2 d.

getTargetPose_CameraSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the target pose camera space 2 d.

getTargetPose_RobotSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the target pose robot space.

getTargetPose_RobotSpace() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the target pose robot space.

getTargetPose_RobotSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns the target pose robot space.

getTargetPose_RobotSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Returns the target pose robot space 2 d.

getTargetPose_RobotSpace2D() - Method in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Returns the target pose robot space 2 d.

getTargetPose3d_CameraSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the target's 3D pose with respect to the camera's coordinate system.

getTargetPose3d_RobotSpace(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the target's 3D pose with respect to the robot's coordinate system.

getTargetSize() - Method in class frc.spectrumLib.vision.Limelight

Returns the area of the primary target as a percentage of the camera image (0 to 100).

getTeleopVelocityCoefficient() - Method in class frc.robot.subsystems.swerve.Swerve

getTemp() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the motor temperature as of this loop.

getThird() - Method in class frc.spectrumLib.util.Trio

Returns the third object.

getTilt() - Method in class frc.robot.subsystems.swerve.Swerve

The Pigeon's tilt state this loop.

getTolerance() - Method in class frc.spectrumLib.mechanism.TrackingStop

getTolerances() - Method in class frc.robot.subsystems.ShotGate

getTopViewHeight() - Static method in class frc.robot.RobotSim

getTopViewWidth() - Static method in class frc.robot.RobotSim

getTorqueCurrentFOC() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getTotalCurrent() - Method in class frc.spectrumLib.telemetry.BatteryLogger

Running total of current draw accumulated since the last BatteryLogger.logPower() call, in amps.

getTotalEnergy() - Method in class frc.spectrumLib.telemetry.BatteryLogger

Cumulative energy consumed over the entire enabled session, in joules.

getTotalIntaked() - Method in class frc.rebuilt.FuelPhysicsSim

getTotalKineticEnergy() - Method in class frc.rebuilt.FuelPhysicsSim

getTotalLaunched() - Method in class frc.rebuilt.FuelPhysicsSim

getTotalMomentum() - Method in class frc.rebuilt.FuelPhysicsSim

getTotalPotentialEnergy() - Method in class frc.rebuilt.FuelPhysicsSim

getTotalPower() - Method in class frc.spectrumLib.telemetry.BatteryLogger

Total power drawn on the most recent BatteryLogger.logPower() call, in watts.

getTotalScored() - Method in class frc.rebuilt.FuelPhysicsSim

getTrackingDebounceSeconds() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getTrackingTolerance() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Largest closed-loop error the tracking stop tolerates: rotations for a position loop, rotations per second for a velocity loop.

getTriggersCurve() - Method in class frc.spectrumLib.gamepads.Gamepad

Exponential response curve applied to both analog trigger axes.

getTriggersDeadzone() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Deadzone applied to both analog trigger axes before the exponential curve.

getTriggersExp() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Exponent for the analog-trigger exponential response curve.

getTriggersScalar() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Output scalar applied after the analog-trigger exponential curve.

getTriggerTolerance() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

getTruth() - Method in class frc.spectrumLib.localization.PoseFusion

Ground truth pose in simulation; empty on a robot and in replay without it logged.

getTV(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Does the Limelight have a valid target?

getTwist() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns the differential trigger value (rightTrigger - leftTrigger), useful as a single "twist" axis for field-relative rotation commands.

getTX(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the horizontal offset from the crosshair to the target in degrees.

getTXNC(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the horizontal offset from the principal pixel/point to the target in degrees.

getTY(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the vertical offset from the crosshair to the target in degrees.

getTYNC(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Gets the vertical offset from the principal pixel/point to the target in degrees.

getUp() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

getUpdatedX(ArmConfig) - Method in interface frc.spectrumLib.sim.Mountable

Convenience overload that derives all geometry parameters from an ArmConfig.

getUpdatedX(LinearConfig) - Method in interface frc.spectrumLib.sim.Mountable

Convenience overload that derives all geometry parameters from a LinearConfig.

getUpdatedX(Mount.MountType, double, double, double, double, double, double, double, double, double, double) - Method in interface frc.spectrumLib.sim.Mountable

Computes the updated X position of a mounted component given full explicit geometry parameters.

getUpdatedX(RollerConfig) - Method in interface frc.spectrumLib.sim.Mountable

Convenience overload that derives all geometry parameters from a RollerConfig.

getUpdatedY(ArmConfig) - Method in interface frc.spectrumLib.sim.Mountable

Convenience overload that derives all geometry parameters from an ArmConfig.

getUpdatedY(LinearConfig) - Method in interface frc.spectrumLib.sim.Mountable

Convenience overload that derives all geometry parameters from a LinearConfig.

getUpdatedY(Mount.MountType, double, double, double, double, double, double, double, double, double, double) - Method in interface frc.spectrumLib.sim.Mountable

Computes the updated Y position of a mounted component given full explicit geometry parameters.

getUpdatedY(RollerConfig) - Method in interface frc.spectrumLib.sim.Mountable

Convenience overload that derives all geometry parameters from a RollerConfig.

getValue() - Method in class frc.spectrumLib.telemetry.TuneValue

Current value, refreshed on each call to TuneValue.update().

getVelocityControl() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getVelocityKp() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getVelocityKp() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getVelocityKp() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getVelocityKp() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getVelocityKs() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getVelocityKs() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getVelocityKs() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getVelocityKs() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getVelocityKv() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getVelocityKv() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getVelocityKv() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getVelocityKv() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getVelocityRPM() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the motor velocity in RPM as of this loop.

getVelocityTargetRPS() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the last closed-loop velocity setpoint (in rotations per second) sent to the motor by this class.

getVelocityTorqueCurrentFOC() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getVerticalOffset() - Method in class frc.spectrumLib.vision.Limelight

Get the vertical offset from crosshair to target

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

getVoltage() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns the applied motor voltage as of this loop.

getVoltageCompSaturation() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Voltage compensation saturation value used by Mechanism.setPercentOutput(DoubleSupplier).

getVoltageControl() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

getVoltageLimit() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getVoltageLimit() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getWantedSuperState() - Method in class frc.robot.subsystems.SuperStructure

getWheelDiameter() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake.FuelIntakeConfig

getWheelDiameter() - Method in class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

getWheelDiameter() - Method in class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

getWheelDiameter() - Method in class frc.robot.subsystems.launcher.Launcher.LauncherConfig

getWheelRadius() - Method in class frc.robot.subsystems.swerve.SwerveConfig

getXWithAngle(double, double, double) - Static method in interface frc.spectrumLib.sim.Mountable

Computes the X coordinate of a point at radius distance from displacementX in the direction of angle.

getYaw() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

getYawRateRadPerSec() - Method in class frc.robot.subsystems.swerve.Swerve

Gyro yaw rate this loop, rad/s (a logged input).

getYWithAngle(double, double, double) - Static method in interface frc.spectrumLib.sim.Mountable

Computes the Y coordinate of a point at radius distance from displacementY in the direction of angle.

getZeroSpeed() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

GIT_BRANCH - Static variable in class frc.robot.BuildConstants

GIT_DATE - Static variable in class frc.robot.BuildConstants

GIT_REVISION - Static variable in class frc.robot.BuildConstants

GIT_SHA - Static variable in class frc.robot.BuildConstants

goToRotations(double) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Closed-loop Motion Magic to an absolute rotation target.

goToRotationsSlow(double, double, double, double) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Slow (dynamic Motion Magic voltage) move to a rotation target.

gpuLoadPct - Variable in class frc.robot.subsystems.vision.JetsonInputs

gpuTempC - Variable in class frc.robot.subsystems.vision.JetsonInputs

gradient(Color, Color) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Linear gradient between two colors across the strip.

GREATER - Enum constant in enum class frc.spectrumLib.gamepads.Gamepad.Threshold

Fires when the axis value is strictly greater than the threshold.

group() - Method in class frc.spectrumLib.params.Param

group(String) - Static method in class frc.spectrumLib.params.Params

Starts declaring params in a group.

GROUP - Static variable in class frc.robot.subsystems.swerve.SwerveOffsetParams

GYRO_DRIFT_DEG_PER_SEC - Static variable in class frc.robot.subsystems.swerve.Swerve.SimErrors

Gyro drift, degrees per second.

GYRO_PNP - Enum constant in enum class frc.robot.subsystems.vision.OrinGyroSourceIO.Mode

gyroConnected - Variable in class frc.robot.subsystems.swerve.SwerveInputs

gyroPitchDegrees - Variable in class frc.robot.subsystems.swerve.SwerveInputs

gyroPitchRateDegPerSec - Variable in class frc.robot.subsystems.swerve.SwerveInputs

gyroRebootedThisLoop() - Method in class frc.robot.subsystems.swerve.Swerve

Whether the Pigeon rebooted this loop, not counting Phoenix's report of the first contact after boot.

gyroResetOccurred - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Phoenix's raw Pigeon reset flag; logic reads Swerve.gyroRebootedThisLoop.

gyroRollDegrees - Variable in class frc.robot.subsystems.swerve.SwerveInputs

gyroRollRateDegPerSec - Variable in class frc.robot.subsystems.swerve.SwerveInputs

gyroX - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

gyroX - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

gyroY - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

gyroY - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

gyroYawRateRadPerSec - Variable in class frc.robot.subsystems.swerve.SwerveInputs

gyroZ - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

gyroZ - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

H

H_APP_TIMESTAMP - Static variable in class frc.robot.subsystems.vision.QuestNavIO

Indices into PoseSourceInputs.health.

H_BATTERY - Static variable in class frc.robot.subsystems.vision.QuestNavIO

Indices into PoseSourceInputs.health.

H_FRAME_COUNT - Static variable in class frc.robot.subsystems.vision.QuestNavIO

Indices into PoseSourceInputs.health.

H_LAST_RESET_TIME - Static variable in class frc.robot.subsystems.vision.QuestNavIO

Indices into PoseSourceInputs.health.

H_RESET_COUNT - Static variable in class frc.robot.subsystems.vision.QuestNavIO

Indices into PoseSourceInputs.health.

H_TRACKING_LOST - Static variable in class frc.robot.subsystems.vision.QuestNavIO

Indices into PoseSourceInputs.health.

hardware - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

HardwareReport() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

Creates a new HardwareReport instance.

HardwareStamp - Class in frc.spectrumLib.params

Ties the pit-saved file of a hard-stop group (swerve offsets, soft limits) to the robot it was saved on, so a controller moved to another robot does not bring that robot's values with it.

HardwareStamp(String, String, double[], double, Supplier) - Constructor for class frc.spectrumLib.params.HardwareStamp

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

Whether any Limelight produced an accepted estimate this loop.

hasAccuratePose() - Method in class frc.spectrumLib.vision.Limelight

Returns true when the pose estimate is considered accurate: multiple tags are visible and the combined target area exceeds a minimum threshold.

hash() - Method in record class frc.robot.subsystems.vision.TagField.Choice

Returns the value of the hash record component.

hasHardware() - Static method in class frc.robot.Constants

Whether hardware (real or simulated) exists, i.e.

hashCode() - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

Returns a hash code value for this object.

hashCode() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.auton.AutoEnd.Ended

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns a hash code value for this object.

hashCode() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns a hash code value for this object.

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

Returns a hash code value for this object.

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

Returns a hash code value for this object.

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

Returns a hash code value for this object.

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

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.checks.BatteryCheck.Identity

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.checks.CheckResult

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.GateContext

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.OdometryGuard.Settings

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.PoseSource.Result

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.StdDevModel.StdDevs

Returns a hash code value for this object.

hashCode() - Method in record class frc.spectrumLib.localization.TagSighting

Returns a hash code value for this object.

hashCode() - Method in class frc.spectrumLib.util.CanDeviceId

Returns a hash code for this object.

hashCode() - Method in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

Returns a hash code for this object.

hashCode() - Method in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

Returns a hash code for this object.

hashCode() - Method in class frc.spectrumLib.vision.LimelightHelpers.RawTarget

Returns a hash code for this object.

hasSoftLimits() - Method in class frc.spectrumLib.mechanism.Mechanism

The leader's position bounds its travel, so a reboot that restarts it matters.

heading() - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

Returns the value of the heading record component.

headingErrorRad() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the headingErrorRad record component.

headingErrorRad() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the headingErrorRad record component.

headingSeeded() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the headingSeeded record component.

headingSource() - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

Returns the value of the headingSource record component.

health - Variable in class frc.spectrumLib.localization.PoseSourceInputs

Source-specific health numbers, e.g.

healthDecodeFailures - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

healthFps - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

healthFrames - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

healthLatencyMs - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

healthPipelineMs - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

healthPipelineMsMax - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

healthRecoveries - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

heartbeat - Variable in class frc.robot.subsystems.vision.JetsonInputs

+1 each second while PhotonVision runs.

height - Static variable in class frc.rebuilt.Field.BlueBumps

height - Static variable in class frc.rebuilt.Field.BlueDepot

height - Static variable in class frc.rebuilt.Field.BlueTower

height - Static variable in class frc.rebuilt.Field.BlueTrench

HELD - Enum constant in enum class frc.robot.subsystems.ShotGate.FeedReason

HIGH - Enum constant in enum class frc.spectrumLib.telemetry.Telemetry.PrintPriority

highRungZ - Static variable in class frc.rebuilt.Field.BlueTower

HOLD - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.Action

Neutral output; the hood is in brake.

HOLD_SECONDS - Static variable in class frc.spectrumLib.checks.AutoStartCheck

How long the robot must stay off the start before it fails: it may be being placed.

HOLD_SECONDS - Static variable in class frc.spectrumLib.checks.BatteryCheck

HOLD_SECONDS - Static variable in class frc.spectrumLib.checks.CameraHeadingCheck

A worse verdict must last this long before it is reported.

holdAxis() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Brakes the axis; its neutral mode is coast.

HOME - Enum constant in enum class frc.robot.subsystems.hood.Hood.SystemState

HOME - Enum constant in enum class frc.robot.subsystems.hood.Hood.WantedState

HOMED - Enum constant in enum class frc.spectrumLib.checks.HomingCheck.State

Its position is known.

HOMES_WHEN_ENABLED - Enum constant in enum class frc.spectrumLib.checks.HomingCheck.State

Not homed yet, and it homes by itself once enabled (e.g.

HOMING - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.State

HOMING - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

HomingCheck - Class in frc.spectrumLib.checks

Every mechanism that relies on its position knows where it is.

HomingCheck() - Constructor for class frc.spectrumLib.checks.HomingCheck

HomingCheck.State - Enum Class in frc.spectrumLib.checks

hood - Variable in class frc.robot.Robot.Config

Hood - Class in frc.robot.subsystems.hood

The Hood subsystem.

Hood(Hood.HoodConfig) - Constructor for class frc.robot.subsystems.hood.Hood

HOOD - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

HOOD_ANGLE_OFFSET - Static variable in class frc.rebuilt.ShotCalculator

HOOD_NOT_ZEROED - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

The hood has not found its bottom stop since boot, so its angle means nothing.

Hood.HoodConfig - Class in frc.robot.subsystems.hood

Hood.SystemState - Enum Class in frc.robot.subsystems.hood

Hood.WantedState - Enum Class in frc.robot.subsystems.hood

hoodAngle() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the hoodAngle record component.

HoodConfig() - Constructor for class frc.robot.subsystems.hood.Hood.HoodConfig

hoodDeg() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the hoodDeg record component.

hoodDegPerSec() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the hoodDegPerSec record component.

HoodHoming - Class in frc.robot.subsystems.hood

Finds the hood's bottom stop, so its angle does not depend on where it rested at power-on.

HoodHoming(HoodHoming.Params) - Constructor for class frc.robot.subsystems.hood.HoodHoming

HoodHoming.Action - Enum Class in frc.robot.subsystems.hood

HoodHoming.Inputs - Record Class in frc.robot.subsystems.hood

One loop's view of the hood, every field from a logged input.

HoodHoming.LogMarker - Class in frc.robot.subsystems.hood

Logged as an input under Hood/Homing, true on every robot and sim run, so a log says whether it was recorded with homing.

HoodHoming.Output - Record Class in frc.robot.subsystems.hood

The homing answer for one loop.

HoodHoming.Params - Record Class in frc.robot.subsystems.hood

Homing constants.

HoodHoming.State - Enum Class in frc.robot.subsystems.hood

Logged as Hood/HomingState.

hoodKeepDeg() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns the value of the hoodKeepDeg record component.

hoodStartDeg() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns the value of the hoodStartDeg record component.

hoodStartMaxDegPerSec() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns the value of the hoodStartMaxDegPerSec record component.

hoodTargetDeg() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the hoodTargetDeg record component.

hoodVelocity() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the hoodVelocity record component.

hoodZeroed() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the hoodZeroed record component.

How it works - Section in class frc.rebuilt.RobotBumpSim

HUB_OPENING_RADIUS_METERS - Static variable in class frc.robot.subsystems.ShotGate

Half of the hub's 41.7 in inner opening (Field.BlueHub.innerOpeningWidth).

HubTargetFactory - Class in frc.rebuilt.targetFactories

HubTargetFactory() - Constructor for class frc.rebuilt.targetFactories.HubTargetFactory

I

id - Static variable in enum class frc.spectrumLib.hardware.Rio

The Rio constant that matches the hardware running this code.

id - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

Identity(String, String) - Constructor for record class frc.spectrumLib.checks.BatteryCheck.Identity

Creates an instance of a Identity record class.

IDLE - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

IDLE - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

IDLE - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.SystemState

IDLE - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.WantedState

IDLE - Static variable in record class frc.robot.subsystems.ShotGate.Decision

IDLE_PREP - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.SystemState

IDLE_PREP - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.WantedState

impactG() - Method in class frc.robot.subsystems.swerve.TiltState

imuAccelX() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the imuAccelX record component.

imuAccelY() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the imuAccelY record component.

imuAccelZ() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the imuAccelZ record component.

IMUData() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.IMUData

Creates a new IMUData instance.

IMUData(double[]) - Constructor for class frc.spectrumLib.vision.LimelightHelpers.IMUData

Creates a new IMUData instance.

imuGravityZShare() - Method in class frc.spectrumLib.localization.ImuMountCheck

Gravity's share on the onboard IMU's Z axis, 0 to 1, over the rest closest to its mount setting; NaN before a rest that read gravity.

ImuMountCheck - Class in frc.spectrumLib.localization

Checks, from logged inputs, that the gyros are mounted the way the code is told, against the drivetrain's own wheel motion.

ImuMountCheck(boolean, double) - Constructor for class frc.spectrumLib.localization.ImuMountCheck

ImuMountCheck.Inputs - Record Class in frc.spectrumLib.localization

One loop's readings.

ImuMountCheck.Verdict - Enum Class in frc.spectrumLib.localization

ImuMountCheck.YawSense - Class in frc.spectrumLib.localization

How a gyro's heading follows the wheels' turning, while both are turning.

imuOrientation() - Method in class frc.spectrumLib.localization.ImuMountCheck

imuPresent() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the imuPresent record component.

imuResults - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

IMUResults() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.IMUResults

Creates a new IMUResults instance.

imuYaw() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the imuYaw record component.

imuYawSense() - Method in class frc.spectrumLib.localization.ImuMountCheck

increaseDriveAngleOffset() - Static method in class frc.rebuilt.ShotCalculator

increaseHoodAngleOffset() - Static method in class frc.rebuilt.ShotCalculator

INDEX_MAX - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.SystemState

INDEX_MAX - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.WantedState

INDEX_MAX - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.SystemState

INDEX_MAX - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.WantedState

indexerBed - Variable in class frc.robot.Robot.Config

IndexerBed - Class in frc.robot.subsystems.indexerBed

The Indexer Bed subsystem.

IndexerBed(IndexerBed.IndexerBedConfig) - Constructor for class frc.robot.subsystems.indexerBed.IndexerBed

IndexerBed.IndexerBedConfig - Class in frc.robot.subsystems.indexerBed

IndexerBed.SystemState - Enum Class in frc.robot.subsystems.indexerBed

IndexerBed.WantedState - Enum Class in frc.robot.subsystems.indexerBed

IndexerBedConfig() - Constructor for class frc.robot.subsystems.indexerBed.IndexerBed.IndexerBedConfig

indexerTower - Variable in class frc.robot.Robot.Config

IndexerTower - Class in frc.robot.subsystems.indexerTower

The Indexer Tower subsystem.

IndexerTower(IndexerTower.IndexerTowerConfig) - Constructor for class frc.robot.subsystems.indexerTower.IndexerTower

IndexerTower.IndexerTowerConfig - Class in frc.robot.subsystems.indexerTower

IndexerTower.SystemState - Enum Class in frc.robot.subsystems.indexerTower

IndexerTower.WantedState - Enum Class in frc.robot.subsystems.indexerTower

IndexerTowerConfig() - Constructor for class frc.robot.subsystems.indexerTower.IndexerTower.IndexerTowerConfig

inEnemyAllianceZone() - Method in class frc.robot.subsystems.swerve.Swerve

inFieldLeft() - Method in class frc.robot.subsystems.swerve.Swerve

inFieldRight() - Method in class frc.robot.subsystems.swerve.Swerve

info(Supplier) - Method in class frc.spectrumLib.checks.SettingsCheck

Sets a line shown when everything is at its default, e.g.

init() - Method in class frc.robot.auton.Auton

initialize() - Static method in class frc.rebuilt.ShiftHelpers

Starts the timer at the beginning of teleop.

innerCenter - Static variable in class frc.rebuilt.Field.BlueHub

innerOpeningHeight - Static variable in class frc.rebuilt.Field.BlueHub

innerOpeningWidth - Static variable in class frc.rebuilt.Field.BlueHub

innerOpeningWidth - Static variable in class frc.rebuilt.Field.BlueTower

inNeutralZone() - Method in class frc.robot.subsystems.swerve.Swerve

Inputs(boolean, boolean, double, double, double, double, double, boolean, boolean, double, double, boolean, boolean) - Constructor for record class frc.robot.subsystems.ShotGate.Inputs

Creates an instance of a Inputs record class.

Inputs(double, boolean, boolean, boolean, boolean, boolean, double, double, boolean, boolean) - Constructor for record class frc.robot.subsystems.hood.HoodHoming.Inputs

Creates an instance of a Inputs record class.

Inputs(double, boolean, double, double, double, boolean, double, double, double, double, double, boolean, double, double, double, double) - Constructor for record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Creates an instance of a Inputs record class.

inRange(double, double) - Static method in class frc.spectrumLib.util.Util

Checks whether v is strictly within [-maxMagnitude, maxMagnitude].

inRange(double, double, double) - Static method in class frc.spectrumLib.util.Util

Checks if the given input is within the range (min, max), both exclusive.

inRange(DoubleSupplier, DoubleSupplier, DoubleSupplier) - Static method in class frc.spectrumLib.util.Util

Checks whether the value supplied by v is strictly between the values supplied by min and max.

installed() - Method in record class frc.robot.subsystems.vision.Jetson.Camera

Returns the value of the installed record component.

INTAKE - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

INTAKE - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

INTAKE_FUEL - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

INTAKE_FUEL - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

intakeExtension - Variable in class frc.robot.Robot.Config

IntakeExtension - Class in frc.robot.subsystems.intakeExtension

The Intake Extension subsystem.

IntakeExtension(IntakeExtension.IntakeExtensionConfig) - Constructor for class frc.robot.subsystems.intakeExtension.IntakeExtension

IntakeExtension.IntakeExtensionConfig - Class in frc.robot.subsystems.intakeExtension

IntakeExtension.IntakeExtensionRight - Class in frc.robot.subsystems.intakeExtension

The right deploy axis.

IntakeExtension.IntakeExtensionRight.RightConfig - Class in frc.robot.subsystems.intakeExtension

IntakeExtension.SystemState - Enum Class in frc.robot.subsystems.intakeExtension

IntakeExtension.WantedState - Enum Class in frc.robot.subsystems.intakeExtension

IntakeExtensionConfig() - Constructor for class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

IntakeExtensionRight(IntakeExtension.IntakeExtensionConfig) - Constructor for class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

integer(String, int, String) - Method in class frc.spectrumLib.params.ParamGroup

integer(String, int, String, int, int) - Method in class frc.spectrumLib.params.ParamGroup

A whole number within [min, max].

INTEGER - Enum constant in enum class frc.spectrumLib.params.Param.Type

interpolate(double, double, double) - Static method in class frc.spectrumLib.util.Util

Linearly interpolates between a and b by a factor x, clamped to [0, 1].

INTERRUPTED - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

Another command took one of its subsystems; Auton/EndInterruptedBy names it.

interruptedBy() - Method in record class frc.robot.auton.AutoEnd.Ended

Returns the value of the interruptedBy record component.

IntParam - Class in frc.spectrumLib.params

A whole number, with inclusive bounds.

inUse() - Static method in class frc.spectrumLib.hardware.CanBuses

The buses this layout uses, by the name their health is logged under ( <label>/StatusOK, <label>/BusUtilization, ...).

invalidate() - Method in class frc.spectrumLib.vision.Limelight

Clears the per-loop NetworkTables snapshot so the next getter re-reads the camera.

inXzone(double, double) - Method in class frc.robot.subsystems.swerve.Swerve

inXzoneAlliance(double, double) - Method in class frc.robot.subsystems.swerve.Swerve

Whether the robot is in an X band of the field, flipped for red.

inYzone(double, double) - Method in class frc.robot.subsystems.swerve.Swerve

inYzoneAlliance(double, double) - Method in class frc.robot.subsystems.swerve.Swerve

Whether the robot is in a Y band of the field, flipped for red.

isAbsAngle() - Method in class frc.spectrumLib.sim.ArmConfig

When true the arm's visual angle is expressed in absolute robot-frame degrees; when false it is relative to the parent mount's current angle.

isAiming() - Method in class frc.robot.subsystems.SuperStructure

Whether the robot is tracking or launching at a target.

isAiming() - Method in class frc.robot.subsystems.swerve.Swerve

Whether the drivetrain is holding a heading on the shot solution this loop.

isAnimating() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Returns true if the most recently applied pattern was a CANdle hardware animation running in firmware, false if it was a software SolidColor pattern.

isAtDesiredRotation() - Method in class frc.robot.subsystems.swerve.Swerve

isAtDesiredRotation(double) - Method in class frc.robot.subsystems.swerve.Swerve

Whether the robot heading is within tolerance of the aim target.

isAtRotations(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns true when the motor position is within tolerance of target (both in rotations).

isAttached() - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Whether this controller should be used on the current robot; false disables it.

isAttached() - Method in class frc.spectrumLib.hardware.SpectrumCANcoder

Returns whether this CANcoder is configured as physically present on the robot.

isAttached() - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

Whether the CANcoder hardware is physically present on the robot.

isAttached() - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Whether this LED strip is physically connected to the robot.

isAttached() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Returns whether this LED strip is physically connected to the robot.

isAttached() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Whether physical hardware is attached.

isAttached() - Method in class frc.spectrumLib.mechanism.Mechanism.FollowerConfig

Whether hardware is attached for this follower.

isAttached() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns true if physical hardware is attached and motor commands should be sent.

isAttached() - Method in class frc.spectrumLib.vision.Limelight

Returns whether this camera is physically connected to the robot.

isAttached() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Whether this camera is physically connected to the robot.

isAtTargetPosition(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns true when the motor is within tolerance rotations of the last commanded target position.

isBackLeftSteerInverted() - Method in class frc.robot.subsystems.swerve.SwerveConfig

isBackRightSteerInverted() - Method in class frc.robot.subsystems.swerve.SwerveConfig

isBlue() - Static method in class frc.rebuilt.Field

Returns true if the robot is on the blue alliance.

isCameraConnected() - Method in class frc.spectrumLib.vision.Limelight

Checks if the camera is connected by looking for a full botpose array from the camera.

isCANcoderAttached() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

isChassisUseMt2() - Method in class frc.robot.subsystems.vision.Vision

Whether the dashboard switch to fuse MegaTag2 once the seed is confirmed is on.

isConnected() - Method in class frc.spectrumLib.gamepads.Gamepad

Returns whether the physical gamepad is currently connected to the DriverStation.

isConnected() - Method in class frc.spectrumLib.localization.PoseSource

Whether the device is reporting.

isDashboardKey(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Whether an output key (relative to the outputs table) is a dashboard key.

isDashboardTableKey(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Whether an absolute log-table key (/RealOutputs/<key>) is a dashboard key.

isEnabled() - Method in class frc.spectrumLib.localization.PoseSource

Whether accepted measurements from this source move the fused pose.

isEnabledByDefault() - Method in class frc.spectrumLib.localization.PoseSource

isExpected() - Method in class frc.robot.subsystems.vision.Jetson

Whether the Jetson should answer: installed, on a real robot or a replay of one.

isFail() - Method in record class frc.spectrumLib.checks.CheckResult

isFastOutputLogging() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Publish the leader's output signals (duty cycle, motor voltage, torque current) at the control rate and log its applied voltage on every loop instead of at 10 Hz.

isFault() - Method in class frc.spectrumLib.mechanism.TrackingStop

The error has been out of tolerance for the debounce time, whether or not that stops.

isFeeding() - Method in class frc.robot.subsystems.SuperStructure

Whether fuel is being fed into the flywheel this loop.

isFrontLeftSteerInverted() - Method in class frc.robot.subsystems.swerve.SwerveConfig

isFrontRightSteerInverted() - Method in class frc.robot.subsystems.swerve.SwerveConfig

isGo() - Method in class frc.spectrumLib.checks.PreMatchChecks

Whether no check fails (and every check has been judged since the robot disabled).

isGoingTooFast(double) - Method in class frc.robot.subsystems.swerve.Swerve

Returns true if the robot is moving faster than the threshold.

isInEnemyAllianceZone() - Method in class frc.robot.subsystems.swerve.Swerve

Returns true when the robot is inside the opposing alliance's zone (pose X is flipped for red so the same rectangle works for both alliances).

isInNeutralZone() - Method in class frc.robot.subsystems.swerve.Swerve

Returns true when the robot is inside the neutral zone.

isIntegratedThisLoop() - Method in class frc.spectrumLib.vision.Limelight

Whether an estimate from this camera was fused into the pose estimator this loop.

isIntegrating() - Method in class frc.spectrumLib.vision.Limelight

Whether pose measurements from this camera are currently being integrated.

isIntegrating() - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Whether pose measurements from this camera are currently being fused into the estimator.

isInverted() - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

Whether the CANcoder sensor direction is inverted (clockwise positive).

isInvertLeftSide() - Method in class frc.robot.subsystems.swerve.SwerveConfig

isInvertRightSide() - Method in class frc.robot.subsystems.swerve.SwerveConfig

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

Whether the Jetson is on the robot; its alerts are off without it.

isLaunching() - Method in class frc.robot.subsystems.SuperStructure

Whether the current state is one that feeds the flywheel.

isMatchStarted() - Method in class frc.spectrumLib.checks.PreMatchChecks

Whether a match has started (enabled with the FMS attached) and the FMS is still attached.

isMegaTag2 - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

isMirroringAll() - Static method in class frc.spectrumLib.telemetry.Telemetry

Whether every output is being mirrored to NetworkTables right now.

isMotorConnected() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns true when the leader motor is attached and its status frames are arriving over CAN.

isMounted() - Method in class frc.spectrumLib.sim.ArmConfig

Whether this arm is attached to a parent Mount.

isMounted() - Method in class frc.spectrumLib.sim.LinearConfig

Whether this linear stage is attached to a parent Mount.

isMounted() - Method in class frc.spectrumLib.sim.RollerConfig

Whether this roller is attached to a parent Mount.

isOnRamp() - Method in class frc.rebuilt.RobotBumpSim

Returns true while the robot is on the ramp in frictionless-slide mode.

isPending() - Method in class frc.spectrumLib.mechanism.PositionWrite

A write is out that the readings have not shown yet: the position is not trustworthy.

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

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

isPositionLost() - Method in class frc.spectrumLib.mechanism.Mechanism

The leader rebooted since this mechanism last set its position, so the position, the soft limits and any position setpoint are measured from a zero the reboot erased.

isPositionLost() - Method in class frc.spectrumLib.mechanism.MotorResetMonitor

The motor rebooted since its position was last set.

isPositionWritePending() - Method in class frc.spectrumLib.mechanism.Mechanism

A position write (Mechanism.setMotorPosition(DoubleSupplier)) went out and the readings do not show it yet, so they are still measured from the old zero.

isPracticeFieldProfile() - Method in class frc.robot.subsystems.vision.Jetson

Whether the dashboard has the Orin cameras on the practice-field pipeline.

isRed() - Static method in class frc.rebuilt.Field

Returns true if the robot is on the red alliance.

isResponding() - Method in class frc.robot.subsystems.vision.Jetson

Whether the Jetson's heartbeat is ticking.

isResyncComplete() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

Whether the most recent resync has finished homing both sides.

isReversedLinkage() - Method in class frc.spectrumLib.sim.ArmConfig

True when the sim geometry travels opposite the motor's positive direction.

isReversedLinkage() - Method in class frc.spectrumLib.sim.LinearConfig

True when the sim geometry travels opposite the motor's positive direction.

isReversedLinkage() - Method in class frc.spectrumLib.sim.RollerConfig

True when the sim geometry travels opposite the motor's positive direction.

isRio2() - Method in enum class frc.spectrumLib.hardware.Rio

Returns true if this RoboRIO is a second-generation (RIO 2.0) controller.

isRobotInEnemyZone() - Method in class frc.robot.subsystems.SuperStructure

isRobotInFeedZone() - Method in class frc.robot.subsystems.SuperStructure

isRobotInNeutralZone() - Method in class frc.robot.subsystems.SuperStructure

isRobotInScoreZone() - Method in class frc.robot.subsystems.SuperStructure

isRunning() - Method in class frc.rebuilt.FuelPhysicsSim

Is the sim running?

isSeeded() - Method in class frc.spectrumLib.localization.TagEkf

isSimulateGravity() - Method in class frc.spectrumLib.sim.ArmConfig

Whether the physics simulation should apply gravitational force to the arm.

isSimulateGravity() - Method in class frc.spectrumLib.sim.LinearConfig

Whether the physics model pulls the carriage toward minHeight with gravity.

isSimulation() - Static method in class frc.robot.RuntimeInputs

Whether the run being executed (or replayed) is the desktop simulator.

isSteerMotorReversed() - Method in class frc.robot.subsystems.swerve.SwerveConfig

isStopped() - Method in class frc.spectrumLib.mechanism.TrackingStop

The mechanism is held in neutral until disabled or cleared.

isTilted() - Method in class frc.robot.subsystems.swerve.Swerve

Whether the robot is tilted more than TiltState.TILTED_DEG, e.g.

isTiltScaledOdometry() - Method in class frc.robot.subsystems.swerve.Swerve

Whether the dashboard switch for tilt-scaled odometry is on (its default).

isTrackingStopEnabled() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Stop the mechanism on a tracking fault.

isTrackingStopped() - Method in class frc.spectrumLib.mechanism.Mechanism

This mechanism stayed out of tolerance of its goal past the debounce and is held in neutral (brake or coast per its config) until the robot is disabled or Mechanism.clearTrackingStop().

isTrackingVelocity() - Method in class frc.spectrumLib.mechanism.Mechanism.Config

The tracking stop watches the velocity loop, not the position loop.

isValid() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the isValid record component.

isWarn() - Method in record class frc.spectrumLib.checks.CheckResult

isZeroed() - Method in class frc.robot.subsystems.hood.Hood

The hood has found its bottom stop since boot and its readings show the zero, so its angle can be trusted.

isZeroed() - Method in class frc.robot.subsystems.hood.HoodHoming

J

Jetson - Class in frc.robot.subsystems.vision

The Jetson Orin as a whole: what the robot tells it, and what the robot checks about it before a match.

Jetson(JetsonIO, List, int[], BooleanSupplier) - Constructor for class frc.robot.subsystems.vision.Jetson

Jetson.Camera - Record Class in frc.robot.subsystems.vision

One configured Orin camera, as Jetson sees it.

JetsonInputs - Class in frc.robot.subsystems.vision

The Jetson Orin's own topics, as an AdvantageKit input: board health (issue #10, 9a and the throttle addition), Rewind status (4, 7a), the Jetson's settings (11a) and the active excluded-tag list (11b).

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

JetsonIO - Interface in frc.robot.subsystems.vision

Hardware layer for the Jetson Orin itself (not one camera): its health and Rewind topics in, and the robot's commands to it out.

JetsonNTIO - Class in frc.robot.subsystems.vision

The Jetson's NetworkTables topics under /photonvision (SpectrumJetson docs/TECHNICAL.md and docs/REWIND.md).

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

joinStrings(String, List) - Static method in class frc.spectrumLib.util.Util

Joins a list of objects into a single string with the given delimiter.

jpegChecksDiffer - Variable in class frc.robot.subsystems.vision.JetsonInputs

jpegChecksOk - Variable in class frc.robot.subsystems.vision.JetsonInputs

jpegDecoder - Variable in class frc.robot.subsystems.vision.JetsonInputs

jpegHardwareOff - Variable in class frc.robot.subsystems.vision.JetsonInputs

K

key() - Method in class frc.spectrumLib.params.Param

KEY_PREFIX - Static variable in class frc.robot.subsystems.swerve.SwerveAlignment

NetworkTables/DogLog key prefix for everything this class publishes.

KEYS - Static variable in class frc.robot.subsystems.swerve.SwerveOffsetParams

In the order of SwerveConfig.getEncoderOffsetRotations().

kFalse - Static variable in class frc.spectrumLib.gamepads.Gamepad

A trigger that is always false; used as a safe default before hardware is ready.

KillRobotException - Exception Class in frc.spectrumLib.util.exceptions

Unchecked exception thrown to signal that the robot code should stop executing immediately.

KillRobotException(String) - Constructor for exception class frc.spectrumLib.util.exceptions.KillRobotException

Creates a KillRobotException with a descriptive message.

KillRobotException(String, Throwable) - Constructor for exception class frc.spectrumLib.util.exceptions.KillRobotException

Creates a KillRobotException with both a message and an underlying cause.

KillRobotException(Throwable) - Constructor for exception class frc.spectrumLib.util.exceptions.KillRobotException

Creates a KillRobotException wrapping an underlying cause.

kind - Variable in class frc.spectrumLib.localization.PoseSourceInputs

PoseObservation.Kind ordinal of this source's observations; -1 before the first.

kind() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the kind record component.

L

label - Variable in enum class frc.rebuilt.ShotCalculator.SetShot

Short name, logged to ShotCalc/SetShot.

label - Variable in enum class frc.robot.subsystems.hood.HoodHoming.State

label - Variable in enum class frc.robot.subsystems.ShotGate.Blocker

label - Variable in enum class frc.robot.subsystems.ShotGate.FeedReason

label(String) - Static method in class frc.spectrumLib.hardware.CanBuses

The label a bus's health is logged under (CanBuses.inUse()), for messages.

LARGE_VARIANCE - Static variable in class frc.robot.subsystems.vision.VisionGates

Variance used to effectively ignore a measurement dimension.

lastLatencyMs - Variable in class frc.robot.subsystems.vision.OrinSolver

lastMatch() - Method in record class frc.spectrumLib.checks.BatteryCheck.Identity

Returns the value of the lastMatch record component.

lastTimestampSeconds - Variable in class frc.robot.subsystems.vision.OrinSolver

LATCH_SECONDS - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

How long a one-shot alert (stall, GC) stays up so someone sees it.

latency - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

latency_capture - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

latency_jsonParse - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

latency_pipeline - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

latencyCompensatedPositionRotations - Variable in class frc.spectrumLib.mechanism.MotorInputs

Position projected from the frame's own timestamp to the refresh, along the velocity.

latencyPenalty - Variable in class frc.spectrumLib.vision.LimelightHelpers.RewindStats

Latest() - Constructor for class frc.spectrumLib.util.BackgroundSampler.Latest

launch() - Method in class frc.robot.auton.Auton

LAUNCH_WITH_BRAKE - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

LAUNCH_WITH_BRAKE - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

LAUNCH_WITH_SQUEEZE - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

LAUNCH_WITH_SQUEEZE - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

LAUNCH_WITH_SQUEEZE_WITH_NO_DELAY - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

LAUNCH_WITH_SQUEEZE_WITH_NO_DELAY - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

LAUNCH_WITHOUT_SQUEEZE - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

LAUNCH_WITHOUT_SQUEEZE - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

launchBall(Translation3d, Translation3d, double) - Method in class frc.rebuilt.FuelPhysicsSim

Shoot a ball into the sim.

launchBall(Translation3d, Translation3d, Translation3d) - Method in class frc.rebuilt.FuelPhysicsSim

Shoot a ball with full 3D spin control.

launcher - Variable in class frc.robot.Robot.Config

Launcher - Class in frc.robot.subsystems.launcher

The Launcher subsystem.

Launcher(Launcher.LauncherConfig) - Constructor for class frc.robot.subsystems.launcher.Launcher

Launcher.LauncherConfig - Class in frc.robot.subsystems.launcher

Launcher.SystemState - Enum Class in frc.robot.subsystems.launcher

Launcher.WantedState - Enum Class in frc.robot.subsystems.launcher

LauncherConfig() - Constructor for class frc.robot.subsystems.launcher.Launcher.LauncherConfig

launching() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the launching record component.

Layers - Section in class frc.spectrumLib.params.Params

layout() - Method in record class frc.robot.subsystems.vision.TagField.Choice

Returns the value of the layout record component.

LB - Variable in class frc.robot.operator.Operator

LB - Variable in class frc.robot.pilot.Pilot

Leds - Class in frc.robot.subsystems.leds

Robot LED subsystem for the 2026 REBUILT season.

Leds() - Constructor for class frc.robot.subsystems.leds.Leds

ledsConfig - Static variable in class frc.robot.subsystems.leds.Leds

Static hardware config.

LEFT_TRENCH - Enum constant in enum class frc.rebuilt.ShotCalculator.SetShot

In the left trench lane (the driver's left: +y on blue) just clear of the trench on the alliance side, intake to the wall, back to the hub.

LeftBlueBump() - Constructor for class frc.rebuilt.Field.LeftBlueBump

LeftBlueTrench() - Constructor for class frc.rebuilt.Field.LeftBlueTrench

leftBumper - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the left bumper (LB).

leftBumper - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

leftBumperOnly - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when only the left bumper is pressed.

leftCorner - Static variable in class frc.rebuilt.Field.BlueDepot

leftDpad - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for D-pad left (including up-left and down-left diagonals).

leftStick - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

leftStick(double) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a Trigger that fires when either left-stick axis exceeds the given absolute threshold.

leftStickClick - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for pressing the left analog stick (L3).

leftStickCurve - Variable in class frc.spectrumLib.gamepads.Gamepad

Exponential response curve applied to both left-stick axes.

leftStickPress - Variable in class frc.robot.operator.Operator

leftStickPress - Variable in class frc.robot.pilot.Pilot

leftStickX - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active when the left stick X-axis exceeds the configured deadzone.

leftStickY - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active when the left stick Y-axis exceeds the configured deadzone.

leftTrigger - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active when the left analog trigger exceeds the configured deadzone threshold.

leftTrigger - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

leftTriggerOnly - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when only the left trigger is pressed.

leftUpright - Static variable in class frc.rebuilt.Field.BlueTower

leftView - Static variable in class frc.robot.RobotSim

leftViewHeight - Static variable in class frc.robot.RobotSim

leftViewWidth - Static variable in class frc.robot.RobotSim

leftX - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

leftXTrigger(Gamepad.Threshold, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a Trigger that fires based on the left-stick X axis and the given threshold comparison.

leftY - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

leftYTrigger(Gamepad.Threshold, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a Trigger that fires based on the left-stick Y axis and the given threshold comparison.

LENGTH - Static variable in class frc.spectrumLib.vision.FieldMapHash

Hex characters kept.

LESS - Enum constant in enum class frc.spectrumLib.gamepads.Gamepad.Threshold

Fires when the axis value is strictly less than the threshold.

Limelight - Class in frc.spectrumLib.vision

Provides a high-level interface to a single Limelight camera for AprilTag-based pose estimation and basic targeting.

Limelight(Limelight.LimelightConfig) - Constructor for class frc.spectrumLib.vision.Limelight

Constructs a Limelight wrapper from a fully populated Limelight.LimelightConfig.

Limelight(String) - Constructor for class frc.spectrumLib.vision.Limelight

Constructs a Limelight wrapper with a default configuration for the given camera name.

Limelight(String, boolean) - Constructor for class frc.spectrumLib.vision.Limelight

Constructs a Limelight wrapper, explicitly setting whether the camera is attached.

Limelight(String, int) - Constructor for class frc.spectrumLib.vision.Limelight

Constructs a Limelight wrapper and immediately sets its active pipeline.

Limelight(String, int, Limelight.LimelightConfig) - Constructor for class frc.spectrumLib.vision.Limelight

Constructs a Limelight wrapper with an explicit configuration and immediately sets its active pipeline.

LIMELIGHT_MT1 - Enum constant in enum class frc.spectrumLib.localization.PoseObservation.Kind

Limelight MegaTag1: heading and translation solved from tag geometry.

LIMELIGHT_MT2 - Enum constant in enum class frc.spectrumLib.localization.PoseObservation.Kind

Limelight MegaTag2: translation solved with the heading the robot pushed in.

LIMELIGHT_TIERS - Static variable in class frc.robot.subsystems.vision.VisionGates

The 2026 Limelight confidence tiers.

Limelight.LimelightConfig - Class in frc.spectrumLib.vision

Configuration for a single Limelight camera, including its network-table name and physical mounting position on the robot.

limelight4() - Static method in class frc.robot.subsystems.vision.SimVision

Properties of a Limelight 4 (1280x800, ~82 deg diagonal), per Limelight's spec sheet.

LimelightConfig(String) - Constructor for class frc.spectrumLib.vision.Limelight.LimelightConfig

Creates a configuration for the named Limelight camera.

LimelightHelpers - Class in frc.spectrumLib.vision

LimelightHelpers provides static methods and classes for interfacing with Limelight vision cameras in FRC.

LimelightHelpers() - Constructor for class frc.spectrumLib.vision.LimelightHelpers

LimelightHelpers.HardwareReport - Class in frc.spectrumLib.vision

Represents hardware statistics from the Limelight.

LimelightHelpers.IMUData - Class in frc.spectrumLib.vision

Encapsulates the state of an internal Limelight IMU.

LimelightHelpers.IMUResults - Class in frc.spectrumLib.vision

Represents IMU data from the JSON results.

LimelightHelpers.LimelightResults - Class in frc.spectrumLib.vision

Limelight Results object, parsed from a Limelight's JSON results output.

LimelightHelpers.LimelightTarget_Barcode - Class in frc.spectrumLib.vision

Represents a Barcode Target Result extracted from JSON Output

LimelightHelpers.LimelightTarget_Classifier - Class in frc.spectrumLib.vision

Represents a Neural Classifier Pipeline Result extracted from JSON Output

LimelightHelpers.LimelightTarget_Detector - Class in frc.spectrumLib.vision

Represents a Neural Detector Pipeline Result extracted from JSON Output

LimelightHelpers.LimelightTarget_Fiducial - Class in frc.spectrumLib.vision

Represents an AprilTag/Fiducial Target Result extracted from JSON Output

LimelightHelpers.LimelightTarget_Retro - Class in frc.spectrumLib.vision

Represents a Color/Retroreflective Target Result extracted from JSON Output

LimelightHelpers.PoseEstimate - Class in frc.spectrumLib.vision

Represents a 3D Pose Estimate.

LimelightHelpers.RawDetection - Class in frc.spectrumLib.vision

Represents a Limelight Raw Neural Detector result from Limelight's NetworkTables output.

LimelightHelpers.RawFiducial - Class in frc.spectrumLib.vision

Represents a Limelight Raw Fiducial result from Limelight's NetworkTables output.

LimelightHelpers.RawTarget - Class in frc.spectrumLib.vision

Represents a Limelight Raw Target/Contour result from Limelight's NetworkTables output.

LimelightHelpers.RewindStats - Class in frc.spectrumLib.vision

Represents capture rewind buffer statistics.

LimelightIO - Class in frc.robot.subsystems.vision

Reads one Limelight's MegaTag1 or MegaTag2 estimate into PoseSourceInputs.

LimelightIO(Limelight, PoseObservation.Kind) - Constructor for class frc.robot.subsystems.vision.LimelightIO

LimelightResults() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Creates a new LimelightResults instance.

LimelightSimCamera(PhotonCamera, Transform3d, AprilTagFieldLayout) - Constructor for class frc.robot.subsystems.vision.SimVision.LimelightSimCamera

LimelightSimIO(SimVision.LimelightSimCamera, PoseObservation.Kind, DoubleFunction) - Constructor for class frc.robot.subsystems.vision.SimVision.LimelightSimIO

LimelightTarget_Barcode() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

Creates a new LimelightTarget_Barcode instance.

LimelightTarget_Classifier() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

Creates a new LimelightTarget_Classifier instance.

LimelightTarget_Detector() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

Creates a new LimelightTarget_Detector instance.

LimelightTarget_Fiducial() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

Creates a new LimelightTarget_Fiducial instance.

LimelightTarget_Retro() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

Creates a new LimelightTarget_Retro instance.

limit(double, double) - Static method in class frc.spectrumLib.util.Util

Clamps v to the range [-maxMagnitude, maxMagnitude].

limit(double, double, double) - Static method in class frc.spectrumLib.util.Util

Clamps v to the range [min, max].

LINEAR - Enum constant in enum class frc.spectrumLib.sim.Mount.MountType

A linear (elevator-style) stage mount.

LinearConfig - Class in frc.spectrumLib.sim

Configuration data for a linear (elevator-style) mechanism simulation.

LinearConfig(double, double, double, double) - Constructor for class frc.spectrumLib.sim.LinearConfig

Creates a LinearConfig with the minimum required positioning and mechanical parameters.

LinearSim - Class in frc.spectrumLib.sim

WPILib-backed simulation of a linear (elevator-style) mechanism driven by one or more Kraken X60 motors.

LinearSim(LinearConfig, Mechanism2d, TalonFX, String) - Constructor for class frc.spectrumLib.sim.LinearSim

Creates and registers a linear mechanism simulation.

linearSpeed() - Method in record class frc.spectrumLib.localization.GateContext

Robot linear speed in m/s.

LIVE - Enum constant in enum class frc.spectrumLib.params.ParamSource

Changed over the transport (NetworkTables) while disabled, with live tuning on.

liveTuning() - Static method in class frc.spectrumLib.params.Params

Whether live tuning is running (tuning mode on and a transport given).

load() - Static method in class frc.robot.RobotParams

Initializes every holder, which declares its params.

load(AprilTagFields) - Static method in class frc.robot.subsystems.vision.TagField

Chooses the field and records it.

LOCAL - Enum constant in enum class frc.spectrumLib.params.ParamSource

<group>.json in the robot-local folder, which a deploy does not wipe.

LOCAL_CAP_BYTES - Static variable in class frc.spectrumLib.telemetry.LogStorage

Most internal storage this program's logs may use.

LOCAL_LOGS - Static variable in class frc.spectrumLib.telemetry.LogStorage

log() - Method in class frc.robot.subsystems.swerve.SwerveAlignment

Refreshes and publishes the alignment data.

log() - Method in class frc.spectrumLib.localization.PoseFusion

Logs every track.

log(String, boolean) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, boolean[]) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, double) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, double[]) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, double, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, float) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, int) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, int[]) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, long) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, long[]) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, E) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, String[]) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, Measure) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, T) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(String, T...) - Static method in class frc.spectrumLib.telemetry.Telemetry

log(Command) - Static method in class frc.robot.auton.Auton

log(Command) - Static method in class frc.spectrumLib.telemetry.Telemetry

Wraps a command so that its initialization and end are logged to the "Commands" key.

logBatteryUsage() - Method in class frc.robot.subsystems.swerve.Swerve

Reports drive and steer supply current to the battery logger every loop and logs per-module and summed currents at 10 Hz.

logBatteryUsage() - Method in class frc.spectrumLib.mechanism.Mechanism

Reports the combined supply current draw of the leader motor and all followers to the battery logger.

logDash(String, boolean) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDash(String, double) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDash(String, double, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDash(String, long) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDash(String, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDashAlways(String, boolean) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDashAlways(String, double) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDashAlways(String, double, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDashAlways(String, long) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDashAlways(String, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

logDiagnostics(String) - Method in class frc.spectrumLib.mechanism.Mechanism

Logs voltage, stator and supply current, temperature and connection under prefix/..., at 10 Hz.

logDiagnostics(String, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism

As Mechanism.logDiagnostics(String), optionally also publishing the values to the dashboard.

logEvent(String, String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Logs a discrete event.

LogMarker() - Constructor for class frc.robot.subsystems.hood.HoodHoming.LogMarker

logPolicy(boolean) - Method in class frc.spectrumLib.localization.PoseSource

Logs whether the fusion policy allowed this source to move the fused pose this loop.

logPower() - Method in class frc.spectrumLib.telemetry.BatteryLogger

Appends control-overhead current consumers (roboRIO, CANcoders, Pigeon, CANivore, radio), integrates energy over the elapsed loop, then logs current every loop and power and energy every BatteryLogger.SLOW_LOG_PERIOD_SECONDS.

LogStorage - Class in frc.spectrumLib.telemetry

Where the robot's logs go on SystemCore, and keeping them from filling its storage.

logThrowableCrash(Throwable) - Static method in class frc.spectrumLib.util.CrashTracker

Appends the run UUID, an "Exception" marker, the current time, and the stack trace to '/home/systemcore/crash_tracking.txt'.

LOOP_OVERRUN_ALERT_PERCENT - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Share of overrunning loops that starts the loop alert timer.

LOOP_OVERRUN_CLEAR_PERCENT - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Share of overrunning loops below which the loop alert clears.

LOOP_OVERRUN_FACTOR - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

A loop longer than this many periods counts as an overrun.

LOOP_OVERRUN_HOLD_SECONDS - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Seconds the overrun share must stay high before the loop alert shows.

LOOP_OVERRUN_WARNING_SECONDS - Static variable in class frc.spectrumLib.framework.SpectrumRobot

Loop length above which WPILib prints "Loop time of Xs overrun" plus a per-section epoch breakdown to the Driver Station.

LOOP_PERIOD_SECONDS - Static variable in class frc.robot.Constants

Robot loop period.

LOOP_STALL_MS - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

A single enabled loop longer than this is a stall worth an error.

loopCount() - Method in class frc.spectrumLib.localization.TagEkf.CameraStats

Loop order - Section in class frc.robot.Robot

LOST - Enum constant in enum class frc.spectrumLib.checks.HomingCheck.State

Its motor rebooted since it last homed: it holds until it re-homes.

LOW_VOLTS - Static variable in class frc.spectrumLib.telemetry.MatchSummary

Battery thresholds whose time below is totalled.

lowRungZ - Static variable in class frc.rebuilt.Field.BlueTower

LT - Variable in class frc.robot.operator.Operator

LT - Variable in class frc.robot.pilot.Pilot

M

magnusEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

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

main(String[]) - Static method in class frc.spectrumLib.telemetry.DsUploadReceiver

Runs a receiver on a laptop, for bench tests and the MatchReview client's tests: <folder> <token> <port> (port 0 picks one).

Main - Class in frc.robot

Do NOT add any static variables to this class, or any initialization at all.

MAIN_THREAD_RT_PRIORITY - Static variable in class frc.robot.Constants

Real-time priority for the robot's main thread on the real robot, 1-99; 0 leaves it as a normal thread.

markResets(boolean, boolean[]) - Method in class frc.spectrumLib.localization.OdometryGuard

Notes device resets reported since the last loop; each takes effect on that device's next reading, which becomes its new baseline.

matchNumber() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the matchNumber record component.

MatchSummary - Class in frc.spectrumLib.telemetry

A short summary of the run, kept as it happens: battery, brownouts, loop overruns, CAN drops and reboots, Driver Station drops, vision counts, how auto went, alerts raised and peak motor temperatures.

MatchSummary(File) - Constructor for class frc.spectrumLib.telemetry.MatchSummary

Creates the summary and starts listening for alerts.

matchTimeSeconds() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the matchTimeSeconds record component.

MAVEN_GROUP - Static variable in class frc.robot.BuildConstants

MAVEN_NAME - Static variable in class frc.robot.BuildConstants

max() - Method in class frc.spectrumLib.params.DoubleParam

max() - Method in class frc.spectrumLib.params.IntParam

max() - Method in class frc.spectrumLib.params.Param

Upper bound, or NaN when the type has none.

MAX_ABS_ROTATIONS - Static variable in class frc.robot.subsystems.swerve.SwerveOffsetParams

Any offset has an equivalent within half a turn, and every robot's is there, so a value outside it is a typo (a misplaced digit, or degrees for rotations).

MAX_AIM_TOLERANCE_RAD - Static variable in class frc.robot.subsystems.ShotGate

MAX_AMBIGUITY - Static variable in class frc.robot.subsystems.vision.VisionGates

Any single tag with ambiguity above this rejects the frame (pose-flip risk).

MAX_ATTEMPTS - Static variable in class frc.spectrumLib.hardware.CanConfigBudget

Retry count used while the budget holds.

MAX_DISTANCE_METERS - Static variable in class frc.spectrumLib.checks.AutoStartCheck

Farther than this from the start is the wrong spot, side or alliance.

MAX_ESTIMATE_AGE_SECONDS - Static variable in class frc.robot.subsystems.vision.VisionGates

Estimates older than this (seconds, capture time to now) are rejected.

MAX_FUTURE_SECONDS - Static variable in class frc.robot.subsystems.vision.VisionGates

Estimates captured more than this many seconds after now are rejected.

MAX_HEADING_DEG - Static variable in class frc.spectrumLib.checks.AutoStartCheck

MAX_RAD_PER_SEC - Static variable in class frc.robot.subsystems.swerve.AimFeedforward

Largest feedforward handed to the request, rad/s.

MAX_ROBOT_TILT_DEGREES - Static variable in class frc.robot.subsystems.vision.VisionGates

Robot tilt (degrees, from the Pigeon) above which sources that assume a level robot are rejected: Limelight MegaTag2 and the Orin's gyro and tx/ty sources take only the yaw, so on a bump their camera is not where they think it is.

MAX_TILT_DEGREES - Static variable in class frc.robot.subsystems.vision.VisionGates

Roll or pitch of the solve beyond this means the camera was knocked or the solve is bad.

MAX_YAW_RATE - Static variable in class frc.spectrumLib.checks.CameraHeadingCheck

Faster than this (rad/s), latency between the frame and the gyro reading would add error.

MAX_YAW_RATE_RAD_PER_SEC - Static variable in class frc.robot.subsystems.vision.VisionGates

Chassis yaw rate (rad/s) above which no estimate is fused.

MAX_Z_ERROR_METERS - Static variable in class frc.robot.subsystems.vision.VisionGates

Solves whose robot height is further than this (metres) from the carpet are rejected.

maxAmbiguities - Variable in class frc.spectrumLib.localization.PoseSourceInputs

maxAmbiguity() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the maxAmbiguity record component.

maxAttempts() - Static method in class frc.spectrumLib.hardware.CanConfigBudget

Number of attempts a caller should make for one configuration.

maxSpeed() - Method in record class frc.spectrumLib.localization.OdometryGuard.Settings

Returns the value of the maxSpeed record component.

maxTurnRate() - Method in record class frc.spectrumLib.localization.OdometryGuard.Settings

Returns the value of the maxTurnRate record component.

Mechanism - Class in frc.spectrumLib.mechanism

Abstract base class representing a CTRE TalonFX-driven robot mechanism with common control modes, telemetry, and convenience Command factories.

Mechanism(Mechanism.Config) - Constructor for class frc.spectrumLib.mechanism.Mechanism

Creates a Mechanism and, if Mechanism.Config.isAttached() is true, initializes the leader TalonFX and any configured follower motors.

Mechanism(Mechanism.Config, boolean) - Constructor for class frc.spectrumLib.mechanism.Mechanism

Creates a Mechanism and explicitly overrides the attached flag in the config.

Mechanism.Config - Class in frc.spectrumLib.mechanism

Configuration for a Mechanism, encapsulating the TalonFX hardware configuration, control request objects, and mechanism-level parameters (gear ratio, soft limits, PID/FF gains, Motion Magic profile, current limits, etc.).

Mechanism.FollowerConfig - Class in frc.spectrumLib.mechanism

Configuration for a TalonFX follower motor that mirrors the leader.

MECHANISMS - Static variable in class frc.spectrumLib.hardware.CanBuses

Intake extension, indexer bed, indexer tower and the CANdle.

MEMORY_ALERT_MB - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Available memory below which the memory alert clock starts.

MEMORY_HOLD_SECONDS - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Seconds memory must stay low before the alert shows.

midRungZ - Static variable in class frc.rebuilt.Field.BlueTower

min() - Method in class frc.spectrumLib.params.DoubleParam

min() - Method in class frc.spectrumLib.params.IntParam

min() - Method in class frc.spectrumLib.params.Param

Lower bound, or NaN when the type has none.

MIN_AIM_TOLERANCE_RAD - Static variable in class frc.robot.subsystems.ShotGate

MIN_FRAMES - Static variable in class frc.spectrumLib.checks.CameraHeadingCheck

Frames a camera needs in the window before it is judged.

MIN_TARGET_SIZE_PERCENT - Static variable in class frc.robot.subsystems.vision.VisionGates

Limelight target area (% of image) at or below which a frame is too far to trust.

MISSING_HOLD_SECONDS - Static variable in class frc.spectrumLib.checks.DeviceHealthCheck

A one-loop dropout is not a missing device; half a second of silence is.

missingIs(Supplier) - Method in class frc.spectrumLib.checks.DeviceHealthCheck.Device

How bad it is when this device is missing; CheckResult.Status.FAIL unless changed.

modelName() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the modelName record component.

modifierChords() - Method in class frc.spectrumLib.gamepads.Gamepad

A group for buttons bound both bare and with a modifier (LB + A, RT + X), so the result does not depend on press and release order.

ModifierChords - Class in frc.spectrumLib.gamepads

Buttons shared between bare bindings and modifier chords (LB + A, RT + X, ...), resolved as one answer from the buttons held.

ModifierChords(DoubleSupplier, double) - Constructor for class frc.spectrumLib.gamepads.ModifierChords

modifyMotorConfig(TalonFX, Mechanism.Config) - Method in class frc.spectrumLib.hardware.SpectrumCANcoder

Updates the TalonFX feedback configuration to reference this CANcoder using the chosen feedback source type and the ratios defined in the config.

MODULE_NAMES - Static variable in class frc.robot.subsystems.swerve.SwerveAlignment

Module names, in the order SwerveConfig.getModules() returns them.

moduleConnected - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Per module: drive and steer motors both answering this loop.

moduleLocations() - Method in record class frc.spectrumLib.localization.OdometryGuard.Settings

Returns the value of the moduleLocations record component.

moduleOk() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the moduleOk record component.

moduleRebootedThisLoop(int) - Method in class frc.robot.subsystems.swerve.Swerve

Whether a module's drive motor rebooted this loop, not counting Phoenix's report of the first contact after boot.

moduleResetOccurred - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Per module: Phoenix's raw reset flag for the drive motor, which is also true on the first contact after boot.

modulesUsed() - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

Returns the value of the modulesUsed record component.

moduleTargets - Variable in class frc.robot.subsystems.swerve.SwerveInputs

moduleVelocities - Variable in class frc.robot.subsystems.swerve.SwerveInputs

motor - Variable in class frc.spectrumLib.mechanism.Mechanism

The primary (leader) TalonFX motor controller.

motorConnected() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the motorConnected record component.

MotorInputs - Class in frc.spectrumLib.mechanism

Everything a Mechanism reads from its motors in one loop, as an AdvantageKit input.

MotorInputs() - Constructor for class frc.spectrumLib.mechanism.MotorInputs

motorReset() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the motorReset record component.

MotorResetMonitor - Class in frc.spectrumLib.mechanism

Tracks whether a motor has rebooted since its position was last set, so a homed mechanism stops trusting a position that restarted from the boot value.

MotorResetMonitor() - Constructor for class frc.spectrumLib.mechanism.MotorResetMonitor

motorResetThisLoop() - Method in class frc.spectrumLib.mechanism.Mechanism

The leader's reset input this loop, after refreshing it.

Mount - Interface in frc.spectrumLib.sim

Represents a simulation component that other mechanisms can be attached to.

Mount.MountType - Enum Class in frc.spectrumLib.sim

Discriminates between the two supported mount types so child mechanisms can apply the correct positioning logic.

Mountable - Interface in frc.spectrumLib.sim

Mixin interface for simulation components that can be attached to a Mount.

mountFieldXM - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountFieldYawDeg - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountFieldYM - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountHeightM - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountHeightStdM - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountPitchDeg - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountPitchStdDeg - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountReprojErrorPx - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountRollDeg - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountRollStdDeg - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

mountSamples - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

moveToDegrees(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously moves the mechanism to the specified angular position using Motion Magic Torque Current FOC control (requires Phoenix Pro).

moveToPercentage(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously moves the mechanism to the specified position using Motion Magic Torque Current FOC control (requires Phoenix Pro).

moveToRotations(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously moves the mechanism to the specified position using Motion Magic Torque Current FOC control (requires Phoenix Pro).

Moving a controller between robots - Section in class frc.spectrumLib.params.Params

multipleTagsInView() - Method in class frc.spectrumLib.vision.Limelight

Checks if the LL sees multiple tags

multiTag() - Method in record class frc.spectrumLib.localization.PoseObservation

Whether the solve used more than one tag.

multiTagSeeds() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the multiTagSeeds record component.

N

name() - Method in record class frc.robot.subsystems.vision.Jetson.Camera

Returns the value of the name record component.

name() - Method in class frc.spectrumLib.params.HardwareStamp

name() - Method in class frc.spectrumLib.params.ParamGroup

nearHomeDeg() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns the value of the nearHomeDeg record component.

nearLeftCorner - Static variable in class frc.rebuilt.Field.BlueHub

nearLeftCorner - Static variable in class frc.rebuilt.Field.LeftBlueBump

nearLeftCorner - Static variable in class frc.rebuilt.Field.RightBlueBump

nearRightCorner - Static variable in class frc.rebuilt.Field.BlueHub

nearRightCorner - Static variable in class frc.rebuilt.Field.LeftBlueBump

nearRightCorner - Static variable in class frc.rebuilt.Field.RightBlueBump

Network - Class in frc.spectrumLib.util

Common Network Utilities

Network() - Constructor for class frc.spectrumLib.util.Network

NetworkTablesTransport - Class in frc.spectrumLib.params

Publishes params at <prefix>/<group>/<key> on NetworkTables through AdvantageKit's LoggedNetwork inputs, so the dashboard's requests are in the log too.

NetworkTablesTransport(String) - Constructor for class frc.spectrumLib.params.NetworkTablesTransport

NEUTRAL - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

NEUTRAL - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

Never stops the robot booting - Section in class frc.spectrumLib.params.Params

next() - Static method in class frc.spectrumLib.framework.RobotLoop

Advances to the next loop.

NI_DS - Enum constant in enum class frc.spectrumLib.gamepads.Gamepad.Mapping

The 2026 NI FRC Driver Station (the legacy XInput order, D-pad on the POV).

NI_DS - Enum constant in enum class frc.spectrumLib.gamepads.GamepadLayout

NO_BUTTON - Static variable in enum class frc.spectrumLib.gamepads.GamepadLayout

A D-pad button index for a layout whose D-pad is POV 0 instead.

NO_SHOT - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

Nothing to shoot at: the flywheel is not on a shot (idle, intaking).

NO_TIER - Static variable in interface frc.spectrumLib.localization.StdDevModel

Rejection reason logged when a model returns null.

noAuto() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the noAuto record component.

noBumpers - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when neither bumper is pressed.

noiseScale() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the noiseScale record component.

noModifiers - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when no bumpers and no triggers are pressed (no modifier held).

NONE - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

NONE - Enum constant in enum class frc.spectrumLib.localization.OdometryGuard.HeadingSource

NONE - Static variable in interface frc.robot.subsystems.vision.JetsonIO

Replay / detached: reports nothing and ignores commands.

NONE - Static variable in interface frc.robot.subsystems.vision.OrinCameraIO

Replay / detached: reports nothing and ignores commands.

NONE - Static variable in interface frc.robot.subsystems.vision.QuestNavControl

Does nothing, for replay.

NONE - Static variable in record class frc.spectrumLib.checks.BatteryCheck.Identity

NONE - Static variable in interface frc.spectrumLib.localization.PoseSourceIO

Replay / detached: reports nothing, so the logged inputs are what the code sees.

NORMAL - Enum constant in enum class frc.spectrumLib.telemetry.Telemetry.PrintPriority

normalFeedBlueLeft - Static variable in class frc.rebuilt.Field

normalFeedBlueRight - Static variable in class frc.rebuilt.Field

normalFeedRedLeft - Static variable in class frc.rebuilt.Field

normalFeedRedRight - Static variable in class frc.rebuilt.Field

normalizeAngle(double) - Static method in class frc.rebuilt.FieldHelpers

Normalizes an angle to the range [-π, π).

NOT_LAUNCHING - Enum constant in enum class frc.robot.subsystems.ShotGate.FeedReason

NOT_ZEROED - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.State

Never homed since boot: the hood holds in brake.

noTriggers - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when neither analog trigger is pressed.

nowSeconds() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the nowSeconds record component.

nowSeconds() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the nowSeconds record component.

nowSeconds() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the nowSeconds record component.

nowSeconds() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the nowSeconds record component.

NT_MIRROR_SWITCH_KEY - Static variable in class frc.spectrumLib.telemetry.Telemetry

Dashboard key of the switch that mirrors every log entry to NetworkTables.

NT_PREFIX - Static variable in class frc.spectrumLib.params.Params

NT folder the NetworkTablesTransport publishes params under.

NUM_LEDS - Static variable in class frc.robot.subsystems.leds.Leds

Number of external LEDs attached to the CANdle output (indices 8 to 27 on the device).

number(String, double, String) - Method in class frc.spectrumLib.params.ParamGroup

A number with no bounds beyond being finite.

number(String, double, String, double, double) - Method in class frc.spectrumLib.params.ParamGroup

A number within [min, max]; a file or dashboard value outside it is refused.

NUMBER - Enum constant in enum class frc.spectrumLib.params.Param.Type

O

observation() - Method in record class frc.spectrumLib.localization.PoseSource.Result

Returns the value of the observation record component.

observe(double) - Method in class frc.spectrumLib.checks.AutoStartCheck

observe(double) - Method in class frc.spectrumLib.checks.BatteryCheck

observe(double) - Method in interface frc.spectrumLib.checks.Check

Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time.

observe(double) - Method in class frc.spectrumLib.checks.DeviceHealthCheck

OdometryGuard - Class in frc.spectrumLib.localization

Screens each odometry sample before PoseFusion sees it, so a device that drops off CAN cannot move the pose.

OdometryGuard(OdometryGuard.Settings) - Constructor for class frc.spectrumLib.localization.OdometryGuard

OdometryGuard.HeadingSource - Enum Class in frc.spectrumLib.localization

OdometryGuard.Output - Record Class in frc.spectrumLib.localization

What to hand the estimators.

OdometryGuard.Sample - Record Class in frc.spectrumLib.localization

One odometry sample.

OdometryGuard.Settings - Record Class in frc.spectrumLib.localization

Limits and geometry.

odometryModuleAngles - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Module steer angle per sample, radians, flattened.

odometryModuleDistances - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Module drive distance per sample, metres, flattened.

odometryPeriodSeconds - Variable in class frc.robot.subsystems.swerve.SwerveInputs

odometryPose() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the odometryPose record component.

odometryScale() - Method in class frc.robot.subsystems.swerve.TiltState

odometryScale(double) - Static method in class frc.robot.subsystems.swerve.TiltState

The odometry scale for a tilt: 1 level, 0 at TiltState.TILT_ZERO_DEG and beyond.

odometryTimestamps - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Sample times, Timer.getTimestamp() base.

odometryYawRadians - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Gyro yaw per sample, radians.

of(double) - Static method in class frc.robot.subsystems.swerve.AimFeedforward

The feedforward for a shot solution's heading rate.

of(A, B, C) - Static method in class frc.spectrumLib.util.Trio

Returns a trio comprised of the three given objects.

of(Supplier, Consumer) - Static method in interface frc.spectrumLib.params.ParamTransport.LiveValue

of(AprilTagFieldLayout) - Static method in class frc.spectrumLib.vision.FieldMapHash

The canonical hash of a layout.

of(AprilTagFieldLayout) - Static method in class frc.spectrumLib.vision.FieldMapJson

The layout as JSON: {"tags":[{"ID","pose":{"translation":{x,y,z},"rotation": {"quaternion":{W,X,Y,Z}}}}],"field":{"length","width"}}, tags sorted by ID.

OFF - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

OFF - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

OFF - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.SystemState

OFF - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.WantedState

OFF - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.SystemState

OFF - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.WantedState

OFF - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.SystemState

OFF - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.WantedState

OK - Enum constant in enum class frc.spectrumLib.localization.ImuMountCheck.Verdict

OM_2026 - Enum constant in enum class frc.spectrumLib.hardware.Rio

ombre(Color, Color) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Animated ombre.

omega() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the omega record component.

onAutoEnded(Consumer) - Method in class frc.robot.auton.Auton

Tells the listener why each auto ended, after it is logged (the match summary).

onboardImuAccelX - Variable in class frc.robot.subsystems.swerve.SwerveInputs

Raw, m/s^2: WPILib does not apply the mount orientation to the accelerometer.

onboardImuAccelY - Variable in class frc.robot.subsystems.swerve.SwerveInputs

onboardImuAccelZ - Variable in class frc.robot.subsystems.swerve.SwerveInputs

onboardImuPresent - Variable in class frc.robot.subsystems.swerve.SwerveInputs

SystemCore's onboard IMU, the backup gyro.

onboardImuYawRadians - Variable in class frc.robot.subsystems.swerve.SwerveInputs

onboardImuYawRateRadPerSec - Variable in class frc.robot.subsystems.swerve.SwerveInputs

onEnded(Consumer) - Method in class frc.robot.auton.AutoEnd

Sets the one listener told when an auto ends, on the main thread, after it is logged.

openingHeight - Static variable in class frc.rebuilt.Field.BlueOutpost

openingHeight - Static variable in class frc.rebuilt.Field.BlueTrench

openingTopLeft - Static variable in class frc.rebuilt.Field.LeftBlueTrench

openingTopLeft - Static variable in class frc.rebuilt.Field.RightBlueTrench

openingTopRight - Static variable in class frc.rebuilt.Field.LeftBlueTrench

openingTopRight - Static variable in class frc.rebuilt.Field.RightBlueTrench

openingWidth - Static variable in class frc.rebuilt.Field.BlueOutpost

openingWidth - Static variable in class frc.rebuilt.Field.BlueTrench

openingZ - Static variable in class frc.rebuilt.Field.BlueOutpost

operator - Variable in class frc.robot.Robot.Config

Operator - Class in frc.robot.operator

Operator(Operator.OperatorConfig) - Constructor for class frc.robot.operator.Operator

Operator.OperatorConfig - Class in frc.robot.operator

OperatorConfig() - Constructor for class frc.robot.operator.Operator.OperatorConfig

optional_BBB(boolean) - Method in class frc.robot.auton.Auton

optional_TBT(boolean) - Method in class frc.robot.auton.Auton

origin - Static variable in class frc.robot.RobotSim

ORIN_AUTO_START_IGNORE_SECONDS - Static variable in class frc.robot.subsystems.vision.VisionGates

Vision is ignored for this long after auto starts.

ORIN_MAX_HEADING_ERROR_DEG - Static variable in class frc.robot.subsystems.vision.VisionGates

Once the heading is seeded, a solve whose heading is further than this from the fused heading is a bad solve (AOS).

ORIN_MAX_SINGLE_TAG_AMBIGUITY - Static variable in class frc.robot.subsystems.vision.VisionGates

A single-tag frame is kept only when its best PnP candidate's reprojection error is under this fraction of the other's.

ORIN_MAX_SINGLE_TAG_DISTANCE_METERS - Static variable in class frc.robot.subsystems.vision.VisionGates

Single tags further than this (metres) are dropped.

ORIN_MAX_Z_METERS - Static variable in class frc.robot.subsystems.vision.VisionGates

ORIN_MIN_Z_METERS - Static variable in class frc.robot.subsystems.vision.VisionGates

Solved robot height must be within this range (metres).

ORIN_MODEL - Static variable in class frc.robot.subsystems.vision.VisionGates

The Orin: 6328's model (issue #10, 8b).

OrinCameraInputs - Class in frc.robot.subsystems.vision

Everything one Orin (Jetson + PhotonVision) camera reported since the last loop, as an AdvantageKit input: the raw PhotonLib results plus the Jetson's per-camera topics.

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

OrinCameraIO - Interface in frc.robot.subsystems.vision

Hardware layer for one Orin camera: reads it into OrinCameraInputs, and carries the few commands the robot sends it.

orinGates(DoubleSupplier) - Static method in class frc.robot.subsystems.vision.VisionGates

The Orin's chain: the shared AprilTag gates, then 6328's and AOS's extra rejections.

orinGyroGates(DoubleSupplier) - Static method in class frc.robot.subsystems.vision.VisionGates

Gates for the Orin's gyro-based sources (OrinGyroSourceIO): the shared AprilTag gates, the z range, single-tag distance and start-of-auto gates.

OrinGyroSourceIO - Class in frc.robot.subsystems.vision

An Orin camera pose source that uses the robot's heading instead of solving for it.

OrinGyroSourceIO(OrinGyroSourceIO.Mode, String, OrinPoseSourceIO, Transform3d, AprilTagFieldLayout, Supplier, DoubleFunction) - Constructor for class frc.robot.subsystems.vision.OrinGyroSourceIO

OrinGyroSourceIO.Mode - Enum Class in frc.robot.subsystems.vision

Which estimate this source makes.

OrinPoseSourceIO - Class in frc.robot.subsystems.vision

The Orin camera's pose source: reads the camera into logged OrinCameraInputs, then solves poses from those inputs with OrinSolver.

OrinPoseSourceIO(String, OrinCameraIO, OrinSolver, Supplier, DoubleFunction) - Constructor for class frc.robot.subsystems.vision.OrinPoseSourceIO

OrinSolver - Class in frc.robot.subsystems.vision

Turns one Orin camera's logged PhotonLib results into pose observations.

OrinSolver(Transform3d, AprilTagFieldLayout, double, int, int) - Constructor for class frc.robot.subsystems.vision.OrinSolver

Output(HoodHoming.Action, boolean, boolean, HoodHoming.State, boolean) - Constructor for record class frc.robot.subsystems.hood.HoodHoming.Output

Creates an instance of a Output record class.

Output(Rotation2d, SwerveModulePosition[], int, OdometryGuard.HeadingSource) - Constructor for record class frc.spectrumLib.localization.OdometryGuard.Output

Creates an instance of a Output record class.

OUTTAKE - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

OUTTAKE - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

overCurrentEvents - Variable in class frc.robot.subsystems.vision.JetsonInputs

override() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the override record component.

OVERRIDE - Enum constant in enum class frc.robot.subsystems.ShotGate.FeedReason

overSpeedTrigger(double) - Method in class frc.robot.subsystems.swerve.Swerve

P

Param<T> - Class in frc.spectrumLib.params

One tunable value, declared in code with a name, type, default, units and optional bounds, and resolved from the layers described in Params.

Param.Type - Enum Class in frc.spectrumLib.params

The value types a params file and the transport can carry.

ParamGroup - Class in frc.spectrumLib.params

Declares the params of one group.

params() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the params record component.

Params - Class in frc.spectrumLib.params

Robot params: values tuned on the robot that survive the next deploy, without editing code.

Params(double, double, double, double, double, double) - Constructor for record class frc.robot.subsystems.hood.HoodHoming.Params

Creates an instance of a Params record class.

ParamSource - Enum Class in frc.spectrumLib.params

Where a param's current value came from.

ParamTransport - Interface in frc.spectrumLib.params

How params reach a dashboard for live tuning.

ParamTransport.LiveValue - Interface in frc.spectrumLib.params

A published value: what the dashboard last set, and a way to show a value there.

parseDataArray() - Method in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

Parse data array.

parsePoseEstimate(double[], long, boolean) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Parses a raw botpose array (as published on botpose_wpiblue or botpose_orb_wpiblue) into a LimelightHelpers.PoseEstimate.

pass(String) - Static method in record class frc.spectrumLib.checks.CheckResult

PASS - Enum constant in enum class frc.spectrumLib.checks.CheckResult.Status

path() - Method in class frc.spectrumLib.params.Param

group/key, the name used in logs, NT and messages.

pathfindingCommandToPose(double, double, double, double, double) - Static method in class frc.robot.auton.Auton

peak(double, double) - Method in class frc.spectrumLib.localization.YawRateHistory

Largest |yaw rate| recorded within lookbackSeconds of nowSeconds.

peakYawRateRadPerSec() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the peakYawRateRadPerSec record component.

percentToRotations(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Converts a percentage of the mechanism's maximum range into an absolute rotation count.

periodic() - Static method in class frc.robot.SimScript

Advances the script.

periodic() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake

periodic() - Method in class frc.robot.subsystems.hood.Hood

periodic() - Method in class frc.robot.subsystems.indexerBed.IndexerBed

periodic() - Method in class frc.robot.subsystems.indexerTower.IndexerTower

periodic() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

periodic() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

periodic() - Method in class frc.robot.subsystems.launcher.Launcher

periodic() - Method in class frc.robot.subsystems.leds.Leds

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

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

periodic() - Static method in class frc.robot.subsystems.swerve.SwerveOffsetParams

Raises an alert while an offset differs from the one the drivetrain booted with.

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

periodic() - Method in class frc.spectrumLib.gamepads.Gamepad

Runs the periodic update.

periodic() - Method in class frc.spectrumLib.mechanism.Mechanism

Called once per scheduler loop.

periodic() - Static method in class frc.spectrumLib.params.Params

Applies live changes (Params.liveChangesAllowed(boolean, boolean)), logs the values, handles a save.

periodic() - Static method in class frc.spectrumLib.telemetry.Alert

Logs the active alerts and republishes them for Elastic when they change.

periodic() - Static method in class frc.spectrumLib.telemetry.LogStorage

Alerts and log values from the last background check.

periodic() - Method in class frc.spectrumLib.telemetry.SystemLoadMonitor

Records this loop and, once a second, samples the system and updates the alerts.

periodic() - Static method in class frc.spectrumLib.telemetry.Telemetry

Updates the mirror switch.

periodic() - Method in class frc.spectrumLib.util.CachedDouble

Called by the scheduler each iteration to invalidate the cached value so the next CachedDouble.getAsDouble() call re-queries the source.

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

Sends the Jetson this loop's commands and updates the alerts.

periodic(boolean) - Static method in class frc.spectrumLib.telemetry.DsUploadReceiver

Passes the robot's enabled state to the receiver and logs its counters.

periodic(boolean, boolean, double) - Method in class frc.spectrumLib.checks.PreMatchChecks

Runs the checks.

periodic(boolean, double) - Method in class frc.spectrumLib.checks.PreMatchChecks

Runs the checks with no FMS attached.

periodic(double, boolean) - Method in class frc.spectrumLib.telemetry.MatchSummary

Advances every accumulator, logs the summary once a second, and on a loop that calls for the file (see MatchSummary.Write) hands it to the writer.

periodSeconds() - Static method in class frc.spectrumLib.framework.RobotLoop

The robot loop period in seconds (0.02 at 50 Hz, 0.01 at 100 Hz).

PHOTON - Enum constant in enum class frc.spectrumLib.localization.PoseObservation.Kind

PhotonVision multi-tag (or lowest-ambiguity single-tag) solve.

PHOTON_GYRO - Enum constant in enum class frc.spectrumLib.localization.PoseObservation.Kind

PhotonVision tags solved on the robot with the heading held to the gyro.

PHOTON_TXTY - Enum constant in enum class frc.spectrumLib.localization.PoseObservation.Kind

One tag's angles and distance plus the gyro heading (6328's tx/ty estimate).

PHOTON2026 - Class in frc.robot.configs

PHOTON2026 - Enum constant in enum class frc.spectrumLib.hardware.Rio

PHOTON2026() - Constructor for class frc.robot.configs.PHOTON2026

PhotonOrinIO - Class in frc.robot.subsystems.vision

One PhotonVision camera on the Jetson Orin, read with PhotonLib alpha-2 (the robot must stay on alpha-2: it is the Jetson's wire format).

PhotonOrinIO(String) - Constructor for class frc.robot.subsystems.vision.PhotonOrinIO

PhysicsConfig() - Constructor for class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

Default: everything on.

pigeonAccelXG() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the pigeonAccelXG record component.

pigeonAccelYG() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the pigeonAccelYG record component.

pigeonForward() - Method in class frc.spectrumLib.localization.ImuMountCheck

pigeonForwardConsistency() - Method in class frc.spectrumLib.localization.ImuMountCheck

1 when every sample put the Pigeon at the same angle from the wheels, near 0 if random.

pigeonForwardErrorDeg() - Method in class frc.spectrumLib.localization.ImuMountCheck

How far the Pigeon's X axis sits from the robot's forward, degrees CCW; NaN before data.

pigeonLevel() - Method in class frc.spectrumLib.localization.ImuMountCheck

pigeonOk() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the pigeonOk record component.

pigeonPitchDeg() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the pigeonPitchDeg record component.

pigeonRestPitchDeg() - Method in class frc.spectrumLib.localization.ImuMountCheck

Mean pitch over the most level rest; NaN before a rest.

pigeonRestRollDeg() - Method in class frc.spectrumLib.localization.ImuMountCheck

Mean roll over the most level rest; NaN before a rest.

pigeonRollDeg() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the pigeonRollDeg record component.

pigeonYaw() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the pigeonYaw record component.

pigeonYawSense() - Method in class frc.spectrumLib.localization.ImuMountCheck

pilot - Variable in class frc.robot.Robot.Config

Pilot - Class in frc.robot.pilot

Pilot(Pilot.PilotConfig) - Constructor for class frc.robot.pilot.Pilot

Create a new Pilot with the default name and port.

PILOT_AIM_AT_TARGET - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.SystemState

PILOT_AIM_AT_TARGET - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.WantedState

Pilot.PilotConfig - Class in frc.robot.pilot

PilotConfig() - Constructor for class frc.robot.pilot.Pilot.PilotConfig

pipelineID - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

pipelineIndex - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

The pipeline the camera reports running.

pipelineType - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

pitch - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

Pitch - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

placeFieldBalls() - Method in class frc.rebuilt.FuelPhysicsSim

Spawn all game pieces in their starting positions (neutral zone + depots).

placements() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the placements record component.

placePose - Variable in class frc.robot.SimScript.Actions

placeRobot - Variable in class frc.robot.SimScript.Actions

PM_2026 - Enum constant in enum class frc.spectrumLib.hardware.Rio

PM2026 - Class in frc.robot.configs

PM2026() - Constructor for class frc.robot.configs.PM2026

PORT - Static variable in class frc.spectrumLib.telemetry.DsUploadReceiver

pose - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

pose() - Method in enum class frc.rebuilt.ShotCalculator.SetShot

The spot and heading for the alliance the robot is on (rotated about centre for red).

pose() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the pose record component.

pose() - Method in record class frc.robot.subsystems.vision.QuestNavProtocol.Frame

Returns the value of the pose record component.

pose() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the pose record component.

pose2d() - Method in record class frc.spectrumLib.localization.PoseObservation

The pose flattened to the field plane.

pose2dToArray(Pose2d) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Converts a Pose2d object to an array of doubles in the format [x, y, z, roll, pitch, yaw].

pose3dToArray(Pose3d) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Converts a Pose3d object to an array of doubles in the format [x, y, z, roll, pitch, yaw].

PoseEstimate() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

Instantiates a PoseEstimate object with default values

PoseEstimate(Pose2d, double, double, int, double, double, double, LimelightHelpers.RawFiducial[], boolean) - Constructor for class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

Creates a new PoseEstimate instance.

PoseFusion - Class in frc.spectrumLib.localization

The robot's pose estimate, and the machinery to compare every source against it.

PoseFusion(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], double[]) - Constructor for class frc.spectrumLib.localization.PoseFusion

Creates the estimators.

PoseObservation - Record Class in frc.spectrumLib.localization

One robot-pose measurement from one source, before any gating.

PoseObservation(String, PoseObservation.Kind, double, Pose3d, int, double, double, double, boolean) - Constructor for record class frc.spectrumLib.localization.PoseObservation

An observation with no std-dev scaling.

PoseObservation(String, PoseObservation.Kind, double, Pose3d, int, double, double, double, boolean, double) - Constructor for record class frc.spectrumLib.localization.PoseObservation

Creates an instance of a PoseObservation record class.

PoseObservation.Kind - Enum Class in frc.spectrumLib.localization

What produced an observation.

poseOutOfField(Pose2d) - Static method in class frc.rebuilt.FieldHelpers

poseOutOfField(Pose3d) - Static method in class frc.rebuilt.FieldHelpers

poses - Variable in class frc.spectrumLib.localization.PoseSourceInputs

PoseSource - Class in frc.spectrumLib.localization

One robot-pose source: a device, its own gate chain, and its own trust model.

PoseSource(String, PoseSourceIO, List, StdDevModel, boolean) - Constructor for class frc.spectrumLib.localization.PoseSource

Creates a source.

PoseSource.Result - Record Class in frc.spectrumLib.localization

Gate outcome for one observation.

PoseSourceInputs - Class in frc.spectrumLib.localization

Everything a pose source reported since the last loop, as an AdvantageKit input.

PoseSourceInputs() - Constructor for class frc.spectrumLib.localization.PoseSourceInputs

PoseSourceIO - Interface in frc.spectrumLib.localization

Hardware layer for one pose source, AdvantageKit style.

poseTrusted() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the poseTrusted record component.

positionDeg() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the positionDeg record component.

positionRestored() - Method in class frc.spectrumLib.mechanism.MotorResetMonitor

The mechanism wrote a known position (it homed), so it can be trusted again.

positionRotations - Variable in class frc.spectrumLib.mechanism.MotorInputs

positions() - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

Returns the value of the positions record component.

PositionWrite - Class in frc.spectrumLib.mechanism

A position written to a motor off the main thread, tracked until the motor's readings show it.

PositionWrite() - Constructor for class frc.spectrumLib.mechanism.PositionWrite

powerW - Variable in class frc.robot.subsystems.vision.JetsonInputs

PreMatchChecks - Class in frc.spectrumLib.checks

Pre-match self-checks: a registry of Checks that run while the robot is disabled and add up to one GO / NO-GO.

PreMatchChecks(String) - Constructor for class frc.spectrumLib.checks.PreMatchChecks

PRIMARY - Enum constant in enum class frc.spectrumLib.localization.OdometryGuard.HeadingSource

primaryOk() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the primaryOk record component.

primaryYaw() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the primaryYaw record component.

print(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Prints a message at Telemetry.PrintPriority.NORMAL priority.

print(String, Telemetry.PrintPriority) - Static method in class frc.spectrumLib.telemetry.Telemetry

Print a statement if the priority allows it.

printDebug() - Method in class frc.spectrumLib.vision.Limelight

Prints the vision, estimated, and odometry pose to SmartDashboard

printPoints(double[][]) - Method in class frc.spectrumLib.util.Curve

Prints the values of a 2D double array of points.

printPoints(int) - Method in class frc.spectrumLib.util.Curve

Prints a set of points on the curve of length pointCount.

printPoseEstimate(LimelightHelpers.PoseEstimate) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Prints detailed information about a PoseEstimate to standard output.

problem(Supplier) - Method in class frc.spectrumLib.checks.DeviceHealthCheck.Device

Anything else wrong with it while connected (e.g.

process(GateContext) - Method in class frc.spectrumLib.localization.PoseSource

Runs every observation through the gate chain and the trust model, and logs the outcome.

publish(Param) - Method in class frc.spectrumLib.params.NetworkTablesTransport

publish(Param) - Method in interface frc.spectrumLib.params.ParamTransport

Publishes a param with its current value.

publishFieldMap(String, String, String) - Method in class frc.robot.subsystems.vision.Jetson

Publishes the robot's field map for the Jetson to load (once, at boot).

publishFieldMap(String, String, String) - Method in interface frc.robot.subsystems.vision.JetsonIO

Publishes the robot's AprilTag field map under /SpectrumVision/FieldMap/, for the Jetson to load and to report back the hash of what it loaded.

publishFieldMap(String, String, String) - Method in class frc.robot.subsystems.vision.JetsonNTIO

publishPositions() - Method in class frc.rebuilt.FuelPhysicsSim

Push ball positions and sim stats to NetworkTables for visualization.

publishRobotClock() - Method in interface frc.robot.subsystems.vision.JetsonIO

Publishes the robot's wall clock (/photonvision/clock/unixMs) if it has been set, so the Jetson, which has no clock battery, gets the date (section 6).

publishRobotClock() - Method in class frc.robot.subsystems.vision.JetsonNTIO

At 1 Hz: the value changes every millisecond, so NetworkTables would send every call, and the Jetson only needs it fresher than 5 s.

purple - Variable in class frc.spectrumLib.leds.SpectrumLEDs

Spectrum purple color constant (RGB 130, 103, 185).

PUSH_LIMELIGHT_MOUNTS - Static variable in class frc.robot.subsystems.vision.CameraParams

Whether to push the configured mounts to the Limelights, so a reflashed or swapped camera still gets the right mount.

pushConfiguredCameraPose() - Method in class frc.spectrumLib.vision.Limelight

Writes this camera's configured mount pose (Limelight.LimelightConfig.withTranslation(double, double, double) and Limelight.LimelightConfig.withRotation(double, double, double)) to the camera over NetworkTables, making the code the source of truth for the offsets instead of the values typed into the web UI.

putTable(LogTable) - Method in class frc.spectrumLib.telemetry.DashboardReceiver

putTable(LogTable) - Method in class frc.spectrumLib.telemetry.RadioStatusRedactor

pythonOutput - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

Q

quaternion - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

QUEST_LOW_BATTERY_PERCENT - Static variable in class frc.robot.subsystems.vision.CameraParams

Quest battery below this percentage raises an alert (1425 uses 20).

QUEST_MODEL - Static variable in class frc.robot.subsystems.vision.VisionGates

QuestNav: QuestNav's own suggested std-devs for translation.

QUESTNAV - Enum constant in enum class frc.spectrumLib.localization.PoseObservation.Kind

Meta Quest inside-out tracking via QuestNav.

QuestNavControl - Interface in frc.robot.subsystems.vision

The one command the robot sends a QuestNav: where the robot is, so it can re-origin.

QuestNavIO - Class in frc.robot.subsystems.vision

Meta Quest running QuestNav, over NetworkTables table QuestNav.

QuestNavIO(Transform3d) - Constructor for class frc.robot.subsystems.vision.QuestNavIO

QuestNavProtocol - Class in frc.robot.subsystems.vision

The few QuestNav protobuf messages FM uses, encoded and decoded by hand.

QuestNavProtocol.DeviceData - Record Class in frc.robot.subsystems.vision

A decoded device status.

QuestNavProtocol.Frame - Record Class in frc.robot.subsystems.vision

A decoded frame.

QuestSimIO(Supplier) - Constructor for class frc.robot.subsystems.vision.SimVision.QuestSimIO

Quick-start integration with MapleSim - Section in class frc.rebuilt.RobotBumpSim

R

radialVelocity() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the radialVelocity record component.

RadioStatusRedactor - Class in frc.spectrumLib.telemetry

Rewrites the radio's status JSON in "RadioStatus/Status" before any log file or dashboard gets it, keeping only fields known to be safe and blanking the rest.

RadioStatusRedactor() - Constructor for class frc.spectrumLib.telemetry.RadioStatusRedactor

rainbow() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Static rainbow.

rainbow(double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Static rainbow with configurable brightness.

ramUsage - Variable in class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

ramUtilPct - Variable in class frc.robot.subsystems.vision.JetsonInputs

RANGE - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

rangeResidualsM() - Method in class frc.spectrumLib.localization.TagEkf.CameraStats

RawDetection(int, double, double, double, double, double, double, double, double, double, double, double) - Constructor for class frc.spectrumLib.vision.LimelightHelpers.RawDetection

Creates a new RawDetection instance.

RawFiducial(int, double, double, double, double, double, double) - Constructor for class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

Creates a new RawFiducial instance.

rawFiducials - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

RawTarget(double, double, double) - Constructor for class frc.spectrumLib.vision.LimelightHelpers.RawTarget

Creates a new RawTarget instance.

rawYaw - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

RB - Variable in class frc.robot.operator.Operator

RB - Variable in class frc.robot.pilot.Pilot

readFailures - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

Results PhotonLib failed to read this loop (PhotonVision #2528); they were dropped.

ready() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns the value of the ready record component.

READY - Enum constant in enum class frc.robot.subsystems.ShotGate.FeedReason

REAL - Enum constant in enum class frc.robot.Constants.Mode

Running on a real robot.

reason() - Method in record class frc.robot.auton.AutoEnd.Ended

Returns the value of the reason record component.

reason() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns the value of the reason record component.

reason() - Method in record class frc.spectrumLib.checks.CheckResult

Returns the value of the reason record component.

RECENT_REBOOT_SECONDS - Static variable in class frc.spectrumLib.checks.DeviceHealthCheck

Covers the previous match and the queue before this one.

record(double, double) - Method in class frc.spectrumLib.localization.YawRateHistory

Records |yaw rate| at a time.

recordAsOutputs(String) - Method in class frc.spectrumLib.localization.PoseSourceInputs

Records these observations as AdvantageKit outputs under prefix, for a source whose observations are computed from other logged inputs (see PoseSourceIO.derived()).

recordedWithHoming - Variable in class frc.robot.subsystems.hood.HoodHoming.LogMarker

red - Static variable in class frc.rebuilt.Field

redHubCenter - Static variable in class frc.rebuilt.Field

refresh() - Method in class frc.robot.subsystems.vision.SimVision.LimelightSimCamera

Reads this loop's frames.

refreshSignalsOncePerLoop() - Method in class frc.spectrumLib.mechanism.Mechanism

Refreshes every status signal this mechanism reads, once per robot loop, in one Phoenix call.

refusedInFile(Param) - Static method in class frc.spectrumLib.params.Params

Whether a params file refused this param's value (wrong type or out of bounds), or its group's file is unreadable or was saved on another robot, so the value came from a lower layer.

register(PoseSource) - Method in class frc.spectrumLib.localization.PoseFusion

Registers a source so it gets a shadow estimator.

register(String, Check) - Method in class frc.spectrumLib.checks.PreMatchChecks

Adds a check.

register(DoubleConsumer) - Static method in class frc.spectrumLib.sim.SimLoop

Registers a step callback, invoked with the real elapsed time (seconds) since the previous tick.

rejected - Variable in class frc.spectrumLib.localization.TagEkf.CameraStats

rejectIf(String, BiPredicate) - Static method in interface frc.spectrumLib.localization.Gate

A named gate: returns reason whenever rejectIf is true.

rejection() - Method in record class frc.spectrumLib.localization.PoseSource.Result

Returns the value of the rejection record component.

remainingTime() - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

Returns the value of the remainingTime record component.

RemoteCANcoder - Enum constant in enum class frc.spectrumLib.hardware.SpectrumCANcoder.CANCoderFeedbackType

Position is read remotely; motor encoder is used for velocity.

reorient(double) - Method in class frc.robot.subsystems.swerve.Swerve

reorientBack() - Method in class frc.robot.subsystems.swerve.Swerve

reorientForward() - Method in class frc.robot.subsystems.swerve.Swerve

reorientLeft() - Method in class frc.robot.subsystems.swerve.Swerve

reorientRight() - Method in class frc.robot.subsystems.swerve.Swerve

Replay - Section in class frc.spectrumLib.params.Params

REPLAY - Enum constant in enum class frc.robot.Constants.Mode

Replaying from a log file.

reportCurrentUsage(String, double...) - Method in class frc.spectrumLib.telemetry.BatteryLogger

Records the current draw for a named subsystem channel and accumulates it into the running totals.

requested() - Static method in class frc.robot.SimScript

Whether the script runs: requested in simulation, and always in replay.

requestSave() - Static method in class frc.spectrumLib.params.Params

Asks for a save at the next Params.periodic(); refused unless disabled.

reset(Pose2d) - Method in class frc.spectrumLib.localization.TagEkf

Hard-resets the pose (auto start, driver reorient).

resetConfig() - Method in class frc.spectrumLib.gamepads.Gamepad

Resets the controller configuration state so that the next Gamepad.configure() call will re-detect connection and re-apply button bindings.

resetCounters() - Method in class frc.rebuilt.FuelPhysicsSim

resetCurrentPositionToMax() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

resetCurrentPositionToMaxCommand() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

resetOccurred - Variable in class frc.spectrumLib.mechanism.MotorInputs

The motor rebooted since last loop, so its position restarted and its signal rates went back to defaults.

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

Resets every pose track (and, in sim, the simulated robot) to pose.

resetPose(Pose2d) - Method in interface frc.robot.subsystems.vision.QuestNavControl

Tells the Quest the robot's current field pose.

resetPose(Pose2d) - Method in class frc.robot.subsystems.vision.QuestNavIO

Tells the Quest where the robot is, re-origining its field frame.

resetPose(Pose2d) - Method in class frc.robot.subsystems.vision.SimVision.QuestSimIO

resetPose(Pose2d) - Method in class frc.spectrumLib.localization.PoseFusion

Hard-resets every estimator to a pose (auto start, driver reorient).

resetPosition() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns the value of the resetPosition record component.

resetQuest - Variable in class frc.robot.SimScript.Actions

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

Re-origins the QuestNav onto the current robot pose.

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

Sends the Quest the current fused pose.

resets(BooleanSupplier) - Method in class frc.spectrumLib.checks.DeviceHealthCheck.Device

Its reset input: true on the loop it reports having rebooted.

resetToInitialPos() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

resize(int) - Method in class frc.spectrumLib.localization.PoseSourceInputs

Sets the observation arrays to hold n entries.

Result(PoseObservation, String, StdDevModel.StdDevs) - Constructor for record class frc.spectrumLib.localization.PoseSource.Result

Creates an instance of a Result record class.

resultCount - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

Results the camera sent this loop, including any not logged in OrinCameraInputs.results: while the robot is disabled only the newest result with targets is kept, at 10 Hz, to keep the log small (the Orin feeds neither the pose nor the seed while disabled).

resultOf(String) - Method in class frc.spectrumLib.checks.PreMatchChecks

The latest result of a check, or null before it has been judged since the last disable.

results - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

Serialized PhotonPipelineResults, oldest first.

RESYNC - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

resyncCommand() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

Runs a full resync: drives both sides into the extended hard stop, re-zeros each, then returns the subsystem to STOPPED.

REVERSE_SOFT_LIMIT - Static variable in class frc.robot.subsystems.hood.Hood.HoodConfig

8.64 deg, 0.36 deg under the 9 deg bottom stop on purpose.

REVERSE_SOFT_LIMIT - Static variable in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig

rewindFramesDropped - Variable in class frc.robot.subsystems.vision.JetsonInputs

rewindFreeGB - Variable in class frc.robot.subsystems.vision.JetsonInputs

rewindRecording - Variable in class frc.robot.subsystems.vision.JetsonInputs

rewindSession - Variable in class frc.robot.subsystems.vision.JetsonInputs

rewindStats - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

RewindStats() - Constructor for class frc.spectrumLib.vision.LimelightHelpers.RewindStats

Creates a new RewindStats instance.

rgbCycle() - Method in class frc.spectrumLib.leds.SpectrumLEDs

RGB color-cycle animation using the CANdle's built-in hardware animation engine.

RIGHT_TRENCH - Enum constant in enum class frc.rebuilt.ShotCalculator.SetShot

Mirror of ShotCalculator.SetShot.LEFT_TRENCH across the field's long centreline.

RightBlueBump() - Constructor for class frc.rebuilt.Field.RightBlueBump

RightBlueTrench() - Constructor for class frc.rebuilt.Field.RightBlueTrench

rightBumper - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the right bumper (RB).

rightBumper - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

rightBumperOnly - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when only the right bumper is pressed.

RightConfig(IntakeExtension.IntakeExtensionConfig) - Constructor for class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight.RightConfig

rightCorner - Static variable in class frc.rebuilt.Field.BlueDepot

rightDpad - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for D-pad right (including up-right and down-right diagonals).

rightStick - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

rightStick(double) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a Trigger that fires when either right-stick axis exceeds the given absolute threshold.

rightStickClick - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for pressing the right analog stick (R3).

rightStickCurve - Variable in class frc.spectrumLib.gamepads.Gamepad

Exponential response curve applied to both right-stick axes.

rightStickPress - Variable in class frc.robot.operator.Operator

rightStickPress - Variable in class frc.robot.pilot.Pilot

rightStickX - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active when the right stick X-axis exceeds the configured deadzone.

rightStickY - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active when the right stick Y-axis exceeds the configured deadzone.

rightTrigger - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active when the right analog trigger exceeds the configured deadzone threshold.

rightTrigger - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

rightTriggerOnly - Variable in class frc.spectrumLib.gamepads.Gamepad

Active when only the right trigger is pressed.

rightUpright - Static variable in class frc.rebuilt.Field.BlueTower

rightX - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

rightXTrigger(Gamepad.Threshold, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a Trigger that fires based on the right-stick X axis and the given threshold comparison.

rightY - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

rightYTrigger(Gamepad.Threshold, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a Trigger that fires based on the right-stick Y axis and the given threshold comparison.

Rio - Enum Class in frc.spectrumLib.hardware

Identifies the specific RoboRIO that is running, keyed by its serial number.

RIO_CANBUS - Static variable in class frc.spectrumLib.hardware.CanBuses

Where the devices that were on the roboRIO's own CAN bus in 2026 (the intake rollers) now live: SystemCore CAN port 0.

RIO_CANBUS - Static variable in enum class frc.spectrumLib.hardware.Rio

CAN bus name for the native RoboRIO CAN interface.

Robot - Class in frc.robot

FM (2026 "Final Machine") on SystemCore, competing as 8515.

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

ROBOT - Enum constant in enum class frc.spectrumLib.params.ParamSource

params/robots/<robot>/<group>.json in the deploy folder.

ROBOT_TILT_GATE - Static variable in class frc.robot.subsystems.vision.VisionGates

Rejects frames while the robot is tilted, for sources that assume it is level.

Robot.Config - Class in frc.robot

RobotBumpSim - Class in frc.rebuilt

RobotBumpSim is a standalone robot-bump physics simulation for MapleSim.

RobotBumpSim(Translation2d[]) - Constructor for class frc.rebuilt.RobotBumpSim

Creates a new RobotBumpSim for a swerve drivetrain.

robotInEnemyZone() - Method in class frc.robot.subsystems.SuperStructure

robotInFeedZone() - Method in class frc.robot.subsystems.SuperStructure

robotInNeutralZone() - Method in class frc.robot.subsystems.SuperStructure

robotInScoreZone() - Method in class frc.robot.subsystems.SuperStructure

RobotLoop - Class in frc.spectrumLib.framework

Counts robot loops so work can be done "once per loop" or "every Nth loop" without a timer.

RobotParams - Class in frc.robot

Every class that declares params.

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

robotPose() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the robotPose record component.

RobotSim - Class in frc.robot

RobotSim(SuperStructure) - Constructor for class frc.robot.RobotSim

robotSpeedMs() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the robotSpeedMs record component.

robotTiltDegrees() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the robotTiltDegrees record component.

robotToCamera() - Method in record class frc.robot.subsystems.vision.Jetson.Camera

Returns the value of the robotToCamera record component.

robotToCamera() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the robotToCamera record component.

robotToCamera(Limelight.LimelightConfig) - Static method in class frc.robot.subsystems.vision.SimVision

A Limelight's mount in WPILib's robot frame (x forward, y left, z up).

robotVelocity - Variable in class frc.robot.subsystems.swerve.SwerveInputs

robotVelocity() - Method in record class frc.spectrumLib.localization.GateContext

Returns the value of the robotVelocity record component.

robotYaw - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

robotYaw - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

roll - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

Roll - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

RollerConfig - Class in frc.spectrumLib.sim

Configuration data for a roller mechanism simulation.

RollerConfig(double) - Constructor for class frc.spectrumLib.sim.RollerConfig

Creates a RollerConfig for a roller with the given diameter.

RollerSim - Class in frc.spectrumLib.sim

WPILib-backed simulation of a roller (flywheel) mechanism driven by a single Kraken X60 motor.

RollerSim(RollerConfig, Mechanism2d, TalonFX, String) - Constructor for class frc.spectrumLib.sim.RollerSim

Creates and registers a roller simulation.

rotationsToDegrees(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Converts rotations to degrees (1 rotation = 360 degrees).

rotationsToPercent(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Converts an absolute rotation count into a percentage of the mechanism's maximum range.

RPMtoRPS(double) - Static method in class frc.spectrumLib.util.Conversions

Converts revolutions per minute (RPM) to revolutions per second (RPS).

RPMtoRPS(DoubleSupplier) - Static method in class frc.spectrumLib.util.Conversions

Converts revolutions per minute (RPM) to revolutions per second (RPS).

RPStoRPM(double) - Static method in class frc.spectrumLib.util.Conversions

Converts revolutions per second (RPS) to revolutions per minute (RPM).

RT - Variable in class frc.robot.operator.Operator

RT - Variable in class frc.robot.pilot.Pilot

Rules that come with AdvantageKit - Section in class frc.spectrumLib.telemetry.Telemetry

rumbleCommand(double, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Overloaded method for rumbleCommand that allows for the same intensity on both rumble motors.

rumbleCommand(double, double, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Command that can be used to rumble the pilot controller.

rumbleCommand(Command) - Method in class frc.spectrumLib.gamepads.Gamepad

Returns a new Command object that combines the given command with a rumble command.

rumbleController(double, double) - Method in class frc.spectrumLib.gamepads.Gamepad

Immediately sets the left and right rumble motor intensities.

run(String, DoubleFunction) - Static method in class frc.spectrumLib.hardware.CanConfigBudget

Runs one configuration call with the bounded timeout and charges its cost to the budget when it fails.

runCurrentLimits(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that applies new supply and stator current limits to the mechanism.

runFocRotations(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously moves the mechanism to the specified position using Motion Magic Torque Current FOC control (requires Phoenix Pro).

runningDefaultCommand() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Trigger that is active whenever this subsystem's current command is its default command.

runPercentage(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously applies an open-loop percent output to the mechanism using voltage compensation.

runStop() - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that stops the mechanism and holds it stopped for its duration.

RuntimeInputs - Class in frc.robot

Facts about where the code is running that logic depends on, as an AdvantageKit input.

runTorqueCurrentFoc(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously drives the mechanism at the specified torque current using FOC control (requires Phoenix Pro).

runVelocity(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously drives the mechanism at the specified velocity using closed-loop voltage control.

runVelocityTcFocRPM(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously drives the mechanism at the specified velocity using closed-loop Torque Current FOC control (requires Phoenix Pro).

runVoltage(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously applies the specified voltage to the mechanism, bypassing any closed-loop control.

runVoltageNoSoftLimit(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Returns a Command that continuously applies the specified voltage to the mechanism, bypassing closed-loop control and ignoring software limit switches.

S

Sample(double, double, boolean, double, boolean, double[], double[], boolean[]) - Constructor for record class frc.spectrumLib.localization.OdometryGuard.Sample

Creates an instance of a Sample record class.

SAMPLE_PERIOD_SECONDS - Static variable in class frc.spectrumLib.telemetry.SystemLoadMonitor

Seconds between samples and dashboard publishes.

sampleAt(double) - Method in class frc.spectrumLib.localization.PoseFusion

The fused pose at a past time, if still in the buffer.

Saving - Section in class frc.spectrumLib.params.Params

scrollingRainbow() - Method in class frc.spectrumLib.leds.SpectrumLEDs

Scrolling rainbow that advances quickly across the strip.

secondMan_BBD(boolean) - Method in class frc.robot.auton.Auton

secondMan_TBTB(boolean) - Method in class frc.robot.auton.Auton

seconds() - Method in record class frc.robot.auton.AutoEnd.Ended

Returns the value of the seconds record component.

secondsHeld() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns the value of the secondsHeld record component.

secondsSinceFusedEstimate() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the secondsSinceFusedEstimate record component.

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

Seconds since a vision measurement last moved the fused pose; infinite before the first one.

secondsWaited() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the secondsWaited record component.

seed(Pose2d, double, double, double) - Method in class frc.spectrumLib.localization.PoseFusion

Adds one measurement straight to the fused pose and every shadow.

seedConfirmed() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the seedConfirmed record component.

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

A BooleanSupplier for whether the pose seed is confirmed.

seedFusedOnly(Pose2d, double, double, double) - Method in class frc.spectrumLib.localization.PoseFusion

Like PoseFusion.seed(Pose2d, double, double, double) but leaves the tag EKF alone, for a pose built from the fused translation that would otherwise count odometry twice in the EKF.

seenTags - Variable in class frc.robot.subsystems.vision.OrinSolver

Every fiducial id seen in the last OrinSolver.solve(OrinCameraInputs, Set, DoubleFunction) call's results.

select - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the Select / Back / View button.

selectButton - Variable in class frc.robot.operator.Operator

selectButton - Variable in class frc.robot.pilot.Pilot

selectSetShot(ShotCalculator.SetShot) - Static method in class frc.rebuilt.ShotCalculator

Picks which fixed shot the SET_SHOT super state runs.

sendInvalidStatus(String) - Method in class frc.spectrumLib.vision.Limelight

Marks this camera as not integrating and updates the log status message.

sendValidStatus(String) - Method in class frc.spectrumLib.vision.Limelight

Marks this camera as actively integrating and updates the log status message.

sent(double, double, double) - Method in class frc.spectrumLib.mechanism.PositionWrite

The mechanism sent a position write this loop.

sequence() - Method in class frc.spectrumLib.util.BackgroundSampler.Latest

Increments each time a new value lands; compare to see whether one is new.

serial() - Static method in enum class frc.spectrumLib.hardware.Rio

The controller serial number read at boot; "" in simulation.

set(boolean) - Method in class frc.spectrumLib.framework.SpectrumState

Creates an instant command that sets the state to the given value.

set(boolean) - Static method in class frc.spectrumLib.params.TuningMode

set(boolean) - Method in class frc.spectrumLib.telemetry.Alert

set(int, PoseObservation) - Method in class frc.spectrumLib.localization.PoseSourceInputs

Writes observation i.

set(Object) - Method in interface frc.spectrumLib.params.ParamTransport.LiveValue

Shows a value on the dashboard, e.g.

SET_SHOT - Enum constant in enum class frc.robot.subsystems.hood.Hood.SystemState

SET_SHOT - Enum constant in enum class frc.robot.subsystems.hood.Hood.WantedState

The selected set shot's angle, off the hub model at the spot's range.

SET_SHOT - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.SystemState

SET_SHOT - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.WantedState

The selected set shot's speed, off the hub model at the spot's range.

SET_SHOT - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

SET_SHOT - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

Fixed shot from a known parking spot, picked with ShotCalculator.selectSetShot(ShotCalculator.SetShot).

setAimDeadband(double) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setAllianceWinOverride(Supplier) - Static method in class frc.rebuilt.ShiftHelpers

setAngle(double) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the orientation angle of the linear stage in the Mechanism2d canvas.

setAngularSpeedAt12Volts(AngularVelocity) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setAnimationSlot(int) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

CANdle hardware animation slot (0 to 7) used by this instance's animation patterns.

setAttached(boolean) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Whether this controller should be used on the current robot; false disables it.

setAttached(boolean) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Whether this LED strip is physically connected to the robot.

setAttached(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Whether physical hardware is attached.

setAttached(boolean) - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Whether this camera is physically connected to the robot.

setBackgroundColor(Color8Bit) - Method in class frc.spectrumLib.sim.Circle

Sets all background radial lines to the same color.

setBatteryVoltage(double) - Method in class frc.spectrumLib.telemetry.BatteryLogger

Battery terminal voltage used to convert current to power, in volts.

setBrakeMode(boolean) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

Sets brake mode on both deploy axes.

setBrakeMode(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism

Sets the motor's neutral mode to brake or coast and immediately applies the change to hardware.

setBrightness(double) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Overall brightness scalar applied in hardware (0.0 to 1.0).

setBrownedOutAvailable(boolean) - Method in class frc.spectrumLib.telemetry.MatchSummary

Says whether the browned-out flag passed to MatchSummary.periodic(double, boolean) comes from an API that works here.

setBrownoutApiAvailable(boolean) - Static method in class frc.robot.RuntimeInputs

Starts reading the brownout state, once the robot has found the API works.

setCameraPose_RobotSpace(String, double, double, double, double, double, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the camera pose relative to the robot.

setCanBus(CANBus) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setCanBus(CANBus) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

CAN bus used when no SpectrumLEDs.Config.sharedCandle is provided.

setCANcoderID(int) - Method in class frc.spectrumLib.hardware.SpectrumCANcoderConfig

CAN device ID of the CANcoder; may be set after construction.

setCarriageMass(double) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the carriage mass used by the physics simulation.

setColor(Color8Bit) - Method in class frc.spectrumLib.sim.ArmConfig

Sets the color.

setColor(Color8Bit) - Method in class frc.spectrumLib.sim.Circle

Color applied to all background lines when the circle is drawn.

setColor(Color8Bit) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the color of the moving stage ligament in the Mechanism2d canvas.

setCommandPriority(int) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Priority level of the pattern command currently running.

setCondition(String, boolean) - Static method in class frc.spectrumLib.framework.SpectrumState

Set the value of an event condition

setConfig(FuelPhysicsSim.PhysicsConfig) - Method in class frc.rebuilt.FuelPhysicsSim

setCropWindow(String, double, double, double, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the crop window for the camera.

setCurrentLimits(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Immediately applies new supply and stator current limits to the motor configuration.

setDeadband(double) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setDeadzone(double) - Method in class frc.spectrumLib.util.Curve

Sets the value of deadzone, the value for the width in the center of the curve where any input results in an output of 0.0.

setDeterministic(long) - Method in class frc.rebuilt.FuelPhysicsSim

Lock the RNG seed so tests are repeatable.

setDeviceId(int) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

CAN device ID used when no SpectrumLEDs.Config.sharedCandle is provided.

setDriveGearRatio(double) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setDynMMPositionFoc(DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control using Dynamic Motion Magic with Torque Current FOC (requires Phoenix Pro).

setDynMMPositionVoltage(DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control using Dynamic Motion Magic with voltage compensation.

setEnabled(boolean) - Method in class frc.spectrumLib.localization.PoseSource

Sets the enable switch (also reflected on the dashboard).

setEnabled(boolean) - Method in class frc.spectrumLib.telemetry.BatteryLogger

When false all methods are no-ops, allowing the logger to be disabled at runtime.

setExcludedTags(long[]) - Method in interface frc.robot.subsystems.vision.JetsonIO

Publishes the tags every camera's multi-tag solve should ignore ( /photonvision/excludedTags, sections 11b and 12).

setExcludedTags(long[]) - Method in class frc.robot.subsystems.vision.JetsonNTIO

setExpVal(double) - Method in class frc.spectrumLib.util.ExpCurve

Sets the value of expVal, the base of the exponent used to map the input.

setFalse() - Method in class frc.spectrumLib.framework.SpectrumState

Creates an instant command that sets the state to false.

setFalseForTime(DoubleSupplier) - Method in class frc.spectrumLib.framework.SpectrumState

Create a command that will set the state to false for a given time.

setFastOutputLogging(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Publish the leader's output signals (duty cycle, motor voltage, torque current) at the control rate and log its applied voltage on every loop instead of at 10 Hz.

setFeedOverride(BooleanSupplier) - Method in class frc.robot.subsystems.SuperStructure

Sets the control that bypasses the gate while held.

setFiducial3DOffset(String, double, double, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets 3D offset point for easy 3D targeting.

SetFiducialDownscalingOverride(String, float) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the downscaling factor for AprilTag detection.

SetFiducialIDFiltersOverride(String, int[]) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Overrides the valid AprilTag IDs that will be used for localization.

setFollowerConfigs(Mechanism.FollowerConfig...) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Sets the follower motor configurations.

setGearRatio(double) - Method in class frc.spectrumLib.sim.RollerConfig

Sets the gear ratio.

setHalfBackground(Color8Bit, Color8Bit) - Method in class frc.spectrumLib.sim.Circle

Alternates two colors across the background lines, giving the circle a two-tone appearance (useful for indicating reverse spin direction).

setHopperCount(int) - Method in class frc.rebuilt.FuelPhysicsSim

Puts fuel in the robot's hopper without driving over it, for scripted shooting runs.

SetIMUAssistAlpha(String, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Configures the complementary filter alpha value for IMU Assist Modes (Modes 3 and 4)

setIMUmode(int) - Method in class frc.spectrumLib.vision.Limelight

Sets the IMU mode on the Limelight.

SetIMUMode(String, int) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Configures the IMU mode for MegaTag2 Localization

setInitialPosition(double) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Seeds this axis's encoder to a known starting position (rotations).

setInitialX(double) - Method in class frc.spectrumLib.sim.ArmConfig

Initial X position of the arm pivot in the Mechanism2d canvas (metres).

setInitialY(double) - Method in class frc.spectrumLib.sim.ArmConfig

Initial Y position of the arm pivot in the Mechanism2d canvas (metres).

setIntegratedThisLoop(boolean) - Method in class frc.spectrumLib.vision.Limelight

Whether an estimate from this camera was fused into the pose estimator this loop.

setIntegrating(boolean) - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Whether pose measurements from this camera are currently being fused into the estimator.

setIntegrating(boolean) - Method in class frc.spectrumLib.vision.Limelight

Whether pose measurements from this camera are currently being integrated.

setInvertLeftSide(boolean) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setInvertRightSide(boolean) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setKeystone(String, double, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the keystone modification for the crop window.

setLastEstimateAgeSeconds(double) - Method in class frc.spectrumLib.vision.Limelight

Age in seconds (capture time to now) of the last estimate this camera produced this loop, or NaN if it produced none.

setLEDMode(boolean) - Method in class frc.spectrumLib.vision.Limelight

Sets the LED mode of the LL.

setLEDMode_ForceBlink(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the led mode force blink.

setLEDMode_ForceOff(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the led mode force off.

setLEDMode_ForceOn(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the led mode force on.

setLEDMode_PipelineControl(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets LED mode to be controlled by the current pipeline.

setLeftStickDeadzone(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Deadzone applied to both left-stick axes before the exponential curve.

setLeftStickExp(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Exponent for the left-stick exponential response curve (1.0 = linear).

setLeftStickScalar(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Output scalar applied after the left-stick exponential curve.

setLength(double) - Method in class frc.spectrumLib.sim.ArmConfig

Visual length of the arm ligament in the Mechanism2d canvas (metres).

setLimelightNTDouble(String, String, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the limelight nt double.

setLimelightNTDoubleArray(String, String, double[]) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the limelight nt double array.

setLimelightPipeline(int) - Method in class frc.spectrumLib.vision.Limelight

Sets the LL pipeline to the given index.

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

Sets all Limelights to a pipeline.

setLinearSpeedAt12Volts(LinearVelocity) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setLineWidth(double) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the stroke width of the stage ligaments in the Mechanism2d canvas.

setLogStatus(String) - Method in class frc.spectrumLib.vision.Limelight

Human-readable string describing the current integration status, logged for diagnostics.

setLossOfSignalBehavior(LossOfSignalBehaviorValue) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Behavior of the strip when CAN signal is lost.

setMapping(Gamepad.Mapping) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Which Driver Station's controller layout to read.

setMaxAngle(double) - Method in class frc.spectrumLib.sim.ArmConfig

Maximum allowable arm angle (radians).

setMaxHeight(double) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the maximum travel height of the mechanism.

setMaxRotationalVelocity(double) - Method in class frc.robot.pilot.Pilot

setMaxVelocity(double) - Method in class frc.robot.pilot.Pilot

setMinAngle(double) - Method in class frc.spectrumLib.sim.ArmConfig

Minimum allowable arm angle (radians).

setMMPosition(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control using Motion Magic with voltage compensation (slot 0).

setMMPosition(DoubleSupplier, int) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control using Motion Magic with voltage compensation and an explicit PID/FF gain slot.

setMMPositionFoc(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control using Motion Magic with Torque Current FOC (requires Phoenix Pro).

setMMVelocityFOC(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop velocity control using Motion Magic with Torque Current FOC (requires Phoenix Pro).

setMotorPosition(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Sets the motor's internal position register to the specified value without moving the motor.

setMount(ArmSim) - Method in class frc.spectrumLib.sim.LinearConfig

Attaches this linear stage to a parent ArmSim mount so its root tracks the arm tip's position.

setMount(ArmSim) - Method in class frc.spectrumLib.sim.RollerConfig

Attaches this roller to an ArmSim mount so its axle tracks the arm tip's position.

setMount(ArmSim, boolean) - Method in class frc.spectrumLib.sim.ArmConfig

Attaches this arm to a parent ArmSim mount so its pivot tracks the parent arm's tip position.

setMount(LinearSim) - Method in class frc.spectrumLib.sim.LinearConfig

Attaches this linear stage to a parent LinearSim mount so its root tracks the parent stage's position.

setMount(LinearSim) - Method in class frc.spectrumLib.sim.RollerConfig

Attaches this roller to a LinearSim mount so its axle tracks the linear stage's position.

setMount(LinearSim, boolean) - Method in class frc.spectrumLib.sim.ArmConfig

Attaches this arm to a LinearSim mount so its pivot tracks the linear stage's position.

setMovingLength(double) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the visual length of the moving stage ligament.

setName(String) - Method in class frc.spectrumLib.sim.Circle

Label prefix used when naming Mechanism2d elements.

setName(String) - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Must match the name given in the LL dashboard.

setNumLeds(int) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Number of LEDs in the segment owned by this instance.

setNumMotors(int) - Method in class frc.spectrumLib.sim.ArmConfig

Number of Kraken X60 motors driving the arm.

setNumMotors(int) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the number of motors.

setOdometryNoiseScale(double) - Method in class frc.spectrumLib.localization.TagEkf

Multiplies odometry translation variance, e.g.

setOffset(double) - Method in class frc.spectrumLib.util.Curve

Sets the value of offset, the value added to the final curve.

setOnboardImuMount(OnboardIMU.MountOrientation) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setPattern(SpectrumLEDs.CANdlePattern) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Returns a command that continuously applies pattern to the LED segment at priority 0.

setPattern(SpectrumLEDs.CANdlePattern, int) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Returns a command that continuously applies pattern to the LED segment and records the given priority while running.

setPercentOutput(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Open-loop percent output control with voltage compensation.

setPipelineIndex(int) - Method in interface frc.robot.subsystems.vision.OrinCameraIO

Asks the camera to run a pipeline (issue #10, 11c: 0 = event, 1 = practice field).

setPipelineIndex(int) - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

Asks the camera to run a pipeline.

setPipelineIndex(int) - Method in class frc.robot.subsystems.vision.PhotonOrinIO

setPipelineIndex(String, int) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the pipeline index.

setPivotX(double) - Method in class frc.spectrumLib.sim.ArmConfig

Current X position of the arm pivot used during simulation updates (metres).

setPivotY(double) - Method in class frc.spectrumLib.sim.ArmConfig

Current Y position of the arm pivot used during simulation updates (metres).

setPosition(double, double) - Method in class frc.spectrumLib.sim.RollerConfig

Sets the initial position of the roller axle in the Mechanism2d canvas.

setPosition(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control with voltage compensation.

setPositionFocWithVelocity(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control using PositionTorqueCurrentFOC with an explicit velocity feedforward.

setPositionWithVelocity(DoubleSupplier, DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop position control with voltage compensation and an explicit velocity feedforward.

setPriorityTagID(String, int) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the priority tag id.

setPythonScriptData(String, double[]) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets the python script data.

setRatio(double) - Method in class frc.spectrumLib.sim.ArmConfig

Motor rotations required for one full revolution of the arm mechanism.

setReversedLinkage(boolean) - Method in class frc.spectrumLib.sim.ArmConfig

Mirrors the simulated motor so the sim's travel matches the motor's positive direction.

setReversedLinkage(boolean) - Method in class frc.spectrumLib.sim.LinearConfig

Mirrors the simulated motor so the sim's travel matches the motor's positive direction.

setReversedLinkage(boolean) - Method in class frc.spectrumLib.sim.RollerConfig

Mirrors the simulated motor so the sim's travel matches the motor's positive direction.

setRewind(boolean, String) - Method in interface frc.robot.subsystems.vision.JetsonIO

Sets Rewind's recording name and whether it records.

setRewind(boolean, String) - Method in class frc.robot.subsystems.vision.JetsonNTIO

setRewindEnabled(String, boolean) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Enables or pauses the rewind buffer recording.

setRightStickDeadzone(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Deadzone applied to both right-stick axes before the exponential curve.

setRightStickExp(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Exponent for the right-stick exponential response curve.

setRightStickScalar(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Output scalar applied after the right-stick exponential curve.

setRioCurrent(double) - Method in class frc.spectrumLib.telemetry.BatteryLogger

Estimated current drawn by the RoboRIO itself, in amps.

setRobotHeading(double, double) - Method in class frc.spectrumLib.checks.CameraHeadingCheck

The robot's fused heading now, with the gyro's yaw now, so each camera can be compared with the heading the robot will drive by.

setRobotOrientation(double) - Method in class frc.spectrumLib.vision.Limelight

Sets the robot orientation in degrees for the Limelight's internal IMU.

setRobotOrientation(double, double) - Method in class frc.spectrumLib.vision.Limelight

Sets the robot orientation and yaw rate for the Limelight's internal IMU fusion (MegaTag2).

SetRobotOrientation(String, double, double, double, double, double, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets robot orientation values used by MegaTag2 localization algorithm.

SetRobotOrientation_NoFlush(String, double, double, double, double, double, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets robot orientation values without flushing.

setRotationVelocityCoefficient(double) - Method in class frc.robot.subsystems.swerve.Swerve

setScalar(double) - Method in class frc.spectrumLib.util.Curve

Sets the value of scalar, the value multiplied to the curve before it is offset.

setSharedCandle(CANdle) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

Pre-built CANdle to reuse.

setShot() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the setShot record component.

setShotCommand(ShotCalculator.SetShot) - Method in class frc.robot.subsystems.SuperStructure

Picks a fixed shot and requests SuperStructure.WantedSuperState.SET_SHOT in one command.

setShotLeftTrench_LB_X - Variable in class frc.robot.pilot.Pilot

setShotRightTrench_LB_B - Variable in class frc.robot.pilot.Pilot

setShotTower_LB_A - Variable in class frc.robot.pilot.Pilot

setSimCGLength(double) - Method in class frc.spectrumLib.sim.ArmConfig

Distance from the pivot to the arm's centre of gravity used by the physics simulation (metres).

setSimMOI(double) - Method in class frc.spectrumLib.sim.ArmConfig

Moment of inertia used by the physics simulation (kg·m²).

setSimMOI(double) - Method in class frc.spectrumLib.sim.RollerConfig

Sets the moment of inertia used by the flywheel physics simulation.

setSimulatedGravity(boolean) - Method in class frc.spectrumLib.sim.ArmConfig

Sets whether simulated gravity is applied.

setSimulateGravity(boolean) - Method in class frc.spectrumLib.sim.ArmConfig

Whether the physics simulation should apply gravitational force to the arm.

setSimulateGravity(boolean) - Method in class frc.spectrumLib.sim.LinearConfig

Sets whether the physics model applies gravity to the carriage.

setSlipCurrent(Current) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setStartIdx(int) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

First LED index (inclusive) in the strip.

setStartingAngle(double) - Method in class frc.spectrumLib.sim.ArmConfig

Arm angle at the start of the simulation (radians).

setState(boolean) - Method in class frc.spectrumLib.framework.SpectrumState

Directly set the spectrum state to the specified value

setStateCommand(SuperStructure.WantedSuperState) - Method in class frc.robot.subsystems.SuperStructure

setStaticLength(double) - Method in class frc.spectrumLib.sim.LinearConfig

Sets the visual length of the static (non-moving) stage ligament.

setStaticRootX(double) - Method in class frc.spectrumLib.sim.LinearConfig

Current X position of the static root, updated when mounted (metres).

setStaticRootY(double) - Method in class frc.spectrumLib.sim.LinearConfig

Current Y position of the static root, updated when mounted (metres).

setSteerGearRatio(double) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setSteerMotorReversed(boolean) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setStreamMode_PiPMain(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Enables Picture-in-Picture mode with secondary stream in the corner.

setStreamMode_PiPSecondary(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Enables Picture-in-Picture mode with primary stream in the corner.

setStreamMode_Standard(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Enables standard side-by-side stream mode.

setStripType(StripTypeValue) - Method in class frc.spectrumLib.leds.SpectrumLEDs.Config

LED strip type (RGB, RGBW, GRB, etc.).

setTagStatus(String) - Method in class frc.spectrumLib.vision.Limelight

Human-readable string describing the currently visible tag(s), logged for diagnostics.

setTalonConfig(TalonFXConfiguration) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Full TalonFX hardware configuration applied to the leader motor on startup.

setTargetHeading(double) - Method in class frc.robot.subsystems.swerve.SwerveConfig

setTeleopVelocityCoefficient(double) - Method in class frc.robot.subsystems.swerve.Swerve

setText(String) - Method in class frc.spectrumLib.telemetry.Alert

SetThrottle(String, int) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Configures the throttle value.

Settings(double, double, Translation2d[]) - Constructor for record class frc.spectrumLib.localization.OdometryGuard.Settings

Creates an instance of a Settings record class.

SETTINGS_RESEND_PERIOD_SECONDS - Static variable in class frc.robot.subsystems.vision.CameraParams

How often the settings the robot owns (IMU mode, and the mount poses when CameraParams.PUSH_LIMELIGHT_MOUNTS is on) are re-sent.

SettingsCheck - Class in frc.spectrumLib.checks

Flags settings that are not at their defaults: a field layout other than the season's, a practice profile left on, a dashboard switch flipped in the pits.

SettingsCheck() - Constructor for class frc.spectrumLib.checks.SettingsCheck

settingsJson - Variable in class frc.robot.subsystems.vision.JetsonInputs

settingsJson - Variable in class frc.robot.subsystems.vision.OrinCameraInputs

/photonvision/<camera>/settingsJson (section 11a); written to the log on change.

settleSeconds() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns the value of the settleSeconds record component.

SETTLING - Enum constant in enum class frc.robot.subsystems.ShotGate.Blocker

Every check passes, but has not yet for ShotGate.Tolerances.settleSeconds.

setTorqueCurrentFoc(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Applies a torque current setpoint using FOC control (requires Phoenix Pro).

setTrackingStopEnabled(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism.Config

Stop the mechanism on a tracking fault.

setTriggersDeadzone(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Deadzone applied to both analog trigger axes before the exponential curve.

setTriggersExp(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Exponent for the analog-trigger exponential response curve.

setTriggersScalar(double) - Method in class frc.spectrumLib.gamepads.Gamepad.Config

Output scalar applied after the analog-trigger exponential curve.

setTrue() - Method in class frc.spectrumLib.framework.SpectrumState

Creates an instant command that sets the state to true.

setTrueForTime(DoubleSupplier) - Method in class frc.spectrumLib.framework.SpectrumState

Create a command that will set the state to true for a given time.

setTrueForTimeWithCancel(DoubleSupplier, Trigger) - Method in class frc.spectrumLib.framework.SpectrumState

Create a command that will set the state to true for a given time, or until a cancel condition is met.

setTrueWhileRunning() - Method in class frc.spectrumLib.framework.SpectrumState

Create a command that sets the state to true while it runs, then to false when it is cancelled.

setTruth(Optional) - Method in class frc.spectrumLib.localization.PoseFusion

Sets the simulation ground truth used for the ErrorVsTruth metrics.

setupPortForwardingUSB(int) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Sets up port forwarding for a Limelight 3A/3G connected via USB.

setupSelectors() - Method in class frc.robot.auton.Auton

This method configures the available autonomous routines that can be selected from the SmartDashboard.

setVelocity(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop velocity control with voltage compensation.

setVelocityRPM(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop velocity control with voltage compensation, taking RPM.

setVelocityTCFOCrpm(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop velocity control using Torque Current FOC with an RPM input (requires Phoenix Pro).

setVelocityTorqueCurrentFOC(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Closed-loop velocity control using Torque Current FOC (requires Phoenix Pro).

setVoltageOutput(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Open-loop voltage control.

setVoltageOutputNoSoftLimit(DoubleSupplier) - Method in class frc.spectrumLib.mechanism.Mechanism

Open-loop voltage control that ignores software limit switches.

setWantedState(FuelIntake.WantedState) - Method in class frc.robot.subsystems.fuelIntake.FuelIntake

setWantedState(Hood.WantedState) - Method in class frc.robot.subsystems.hood.Hood

setWantedState(IndexerBed.WantedState) - Method in class frc.robot.subsystems.indexerBed.IndexerBed

setWantedState(IndexerTower.WantedState) - Method in class frc.robot.subsystems.indexerTower.IndexerTower

setWantedState(IntakeExtension.WantedState) - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

setWantedState(Launcher.WantedState) - Method in class frc.robot.subsystems.launcher.Launcher

setWantedState(Swerve.WantedState) - Method in class frc.robot.subsystems.swerve.Swerve

setWantedSuperState(SuperStructure.WantedSuperState) - Method in class frc.robot.subsystems.SuperStructure

setWheelHeading(boolean) - Method in class frc.spectrumLib.localization.PoseFusion

Whether the odometry heading is coming from the wheels, both gyros being out.

setWheelRadius(Distance) - Method in class frc.robot.subsystems.swerve.SwerveConfig

SHIFT1 - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

SHIFT2 - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

SHIFT3 - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

SHIFT4 - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

ShiftHelpers - Class in frc.rebuilt

ShiftHelpers() - Constructor for class frc.rebuilt.ShiftHelpers

ShiftHelpers.ShiftEnum - Enum Class in frc.rebuilt

ShiftHelpers.ShiftInfo - Record Class in frc.rebuilt

ShiftInfo(ShiftHelpers.ShiftEnum, double, double, boolean) - Constructor for record class frc.rebuilt.ShiftHelpers.ShiftInfo

Creates an instance of a ShiftInfo record class.

SHOOTER - Static variable in class frc.spectrumLib.hardware.CanBuses

Launcher (4 TalonFX) and hood.

ShootingParameters(boolean, Rotation2d, double, double, double, double, double, double, double, double, double, double, boolean, String) - Constructor for record class frc.rebuilt.ShotCalculator.ShootingParameters

Creates an instance of a ShootingParameters record class.

Shot(double, double, String, boolean, String, ShotGate.Decision, double, ShotCalculator.ShootingParameters, ShotCalculator.SetShot, double, double, double, double, double, double, boolean, double, boolean, double, Pose2d) - Constructor for record class frc.robot.subsystems.ShotLog.Shot

Creates an instance of a Shot record class.

ShotCalculator - Class in frc.rebuilt

ShotCalculator.SetShot - Enum Class in frc.rebuilt

The fixed shots, one per parking spot, from the offseason bot's set shots (463c465, fa1376b) less its hub-face shot, which FM cannot make.

ShotCalculator.ShootingParameters - Record Class in frc.rebuilt

Immutable snapshot of all quantities needed to command the drive, hood, and flywheel subsystems for a single shot.

ShotGate - Class in frc.robot.subsystems

Decides, once per loop, whether fuel may be fed into the flywheel.

ShotGate(ShotGate.Tolerances) - Constructor for class frc.robot.subsystems.ShotGate

ShotGate.Blocker - Enum Class in frc.robot.subsystems

Why the feed is being held, or ShotGate.Blocker.NONE.

ShotGate.Decision - Record Class in frc.robot.subsystems

The gate's answer for one loop.

ShotGate.FeedReason - Enum Class in frc.robot.subsystems

Why fuel is (or is not) going in.

ShotGate.Inputs - Record Class in frc.robot.subsystems

One loop's view of the shot, every field from a logged input or something computed from one.

ShotGate.Tolerances - Record Class in frc.robot.subsystems

Gate tolerances.

ShotLog - Class in frc.robot.subsystems

One row per volley, under ShotLog/: what was aimed, and what the mechanisms were doing, on the loop the feed opened.

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

ShotLog.Shot - Record Class in frc.robot.subsystems

Everything a row needs that the log cannot look up itself.

shotValid() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns the value of the shotValid record component.

SIM - Enum constant in enum class frc.robot.Constants.Mode

Running a physics simulator.

SIM - Enum constant in enum class frc.spectrumLib.hardware.Rio

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

simLaunching() - Static method in class frc.robot.RobotSim

Fuel leaves the simulated robot while the shot gate is feeding, in any launch state.

SimLoop - Class in frc.spectrumLib.sim

Shared high-frequency simulation loop.

simMode - Static variable in class frc.robot.Constants

Desktop mode.

SimMotor - Class in frc.spectrumLib.sim

Shared wiring between a TalonFX and the WPILib physics sims in this package.

SimScript - Class in frc.robot

A scripted drive for the desktop simulation, so the localization testbed can be exercised (and checked) without a driver: sit disabled so the Limelights seed the pose, then drive a lap of straights, strafes and spins in teleop while every pose source is logged.

SimScript.Actions - Class in frc.robot

The script's two non-driver actions, as an AdvantageKit input so a replay of a scripted run performs them on the same loop (the driving itself is already replayed, through the logged Driver Station).

simState(TalonFX, boolean) - Static method in class frc.spectrumLib.sim.SimMotor

Returns the motor's sim state, flipping Orientation when the sim's travel runs opposite the motor's positive direction.

simulateController(GenericHIDSim) - Method in enum class frc.spectrumLib.gamepads.GamepadLayout

Makes a simulated joystick look like an Xbox controller as this Driver Station reports it: the same buttons, axes and POV, so GamepadLayout.detect(GenericHID) recognises it.

simulateReboot() - Method in class frc.spectrumLib.mechanism.Mechanism

Desktop simulation only: what a brownout does to the leader, its position back to 0 and a reset reported next loop.

Simulation - Section in class frc.robot.subsystems.swerve.Swerve

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

simulationInit() - Method in class frc.robot.subsystems.fuelIntake.FuelIntake

simulationInit() - Method in class frc.robot.subsystems.hood.Hood

simulationInit() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension

simulationInit() - Method in class frc.robot.subsystems.launcher.Launcher

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

simulationPeriodic() - Method in class frc.spectrumLib.mechanism.Mechanism

Called once per simulation loop.

SimVision - Class in frc.robot.subsystems.vision

Simulated cameras for every pose source, on PhotonLib's VisionSystemSim.

SimVision(AprilTagFieldLayout, Supplier) - Constructor for class frc.robot.subsystems.vision.SimVision

SimVision.LimelightSimCamera - Class in frc.robot.subsystems.vision

One simulated Limelight: PhotonLib results read once per loop, shared by MT1 and MT2.

SimVision.LimelightSimIO - Class in frc.robot.subsystems.vision

A Limelight source backed by a PhotonLib sim camera.

SimVision.QuestSimIO - Class in frc.robot.subsystems.vision

Simulated QuestNav: reports truth in its own frame, which lines up with the field only after SimVision.QuestSimIO.resetPose(Pose2d), plus a random-walk drift.

skip(String) - Static method in record class frc.spectrumLib.checks.CheckResult

skip(String, String) - Method in class frc.spectrumLib.localization.TagEkf

Counts a tag the caller chose not to apply.

SKIP - Enum constant in enum class frc.spectrumLib.checks.CheckResult.Status

Nothing to check on this robot (no such device, no data source).

sleepFrameThreshold - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

sleepingEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

sleepVelocityThreshold - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

SLOW_CLOSE - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

SLOW_CLOSE - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

SLOW_INDEX - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.SystemState

SLOW_INDEX - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.WantedState

SLOW_INDEX - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.SystemState

SLOW_INDEX - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.WantedState

SLOW_INTAKE - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

SLOW_INTAKE - Enum constant in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

SLOW_LAUNCH - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.SystemState

SLOW_LAUNCH - Enum constant in enum class frc.robot.subsystems.launcher.Launcher.WantedState

SLOW_LOG_PERIOD_SECONDS - Static variable in class frc.spectrumLib.telemetry.Telemetry

Seconds between slow-tier publishes (10 Hz at any loop rate).

slowLogThisLoop() - Static method in class frc.spectrumLib.telemetry.Telemetry

Returns true on the loops the slow telemetry tier publishes on.

socPowerW - Variable in class frc.robot.subsystems.vision.JetsonInputs

socTempC - Variable in class frc.robot.subsystems.vision.JetsonInputs

softLimitsNeedReboot() - Method in class frc.spectrumLib.mechanism.Mechanism

Whether a soft-limit param changed since this mechanism was built.

solid(Color) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Solid color pattern.

solve(OrinCameraInputs, Set, DoubleFunction) - Method in class frc.robot.subsystems.vision.OrinSolver

Solves every logged result.

solverIterations - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

source() - Method in record class frc.robot.subsystems.vision.Jetson.Camera

Returns the value of the source record component.

source() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the source record component.

source() - Method in class frc.spectrumLib.params.Param

Which layer the current value came from.

spawnBall(Translation3d) - Method in class frc.rebuilt.FuelPhysicsSim

Drop a ball at this position, sitting on the ground.

spawnBall(Translation3d, Translation3d) - Method in class frc.rebuilt.FuelPhysicsSim

Drop a ball with some initial velocity.

SpectrumAuton(String, boolean) - Method in class frc.robot.auton.Auton

Creates a SpectrumAuton command sequence.

SpectrumAuton(String, boolean, double) - Method in class frc.robot.auton.Auton

SpectrumCANcoder - Class in frc.spectrumLib.hardware

Wraps a CTRE CANcoder and applies Spectrum-specific configuration.

SpectrumCANcoder(int, SpectrumCANcoderConfig, TalonFX, Mechanism.Config, SpectrumCANcoder.CANCoderFeedbackType) - Constructor for class frc.spectrumLib.hardware.SpectrumCANcoder

Creates and configures a SpectrumCANcoder, then updates the motor's feedback configuration.

SpectrumCANcoder.CANCoderFeedbackType - Enum Class in frc.spectrumLib.hardware

Selects how the TalonFX reads position data from the remote CANcoder.

SpectrumCANcoderConfig - Class in frc.spectrumLib.hardware

Configuration parameters for a SpectrumCANcoder.

SpectrumCANcoderConfig(double, double, double, boolean, boolean) - Constructor for class frc.spectrumLib.hardware.SpectrumCANcoderConfig

Creates a fully-specified CANcoder configuration.

SpectrumLEDs - Class in frc.spectrumLib.leds

CANdle-based addressable LED subsystem that wraps a CTRE CANdle and exposes a rich library of pattern factories (solid, stripe, blink, breathe, rainbow, chase, bounce, gradient, ombre, wave, countdown, etc.).

SpectrumLEDs(SpectrumLEDs.Config) - Constructor for class frc.spectrumLib.leds.SpectrumLEDs

Constructs the LED subsystem, configures the hardware (or reuses a shared device), and registers with the WPILib CommandScheduler.

SpectrumLEDs.CANdlePattern - Interface in frc.spectrumLib.leds

Functional interface for a LED pattern that drives a segment of a CANdle strip.

SpectrumLEDs.Config - Class in frc.spectrumLib.leds

Configuration for a SpectrumLEDs subsystem instance.

SpectrumRobot - Class in frc.spectrumLib.framework

Base robot class for Spectrum robots on SystemCore: AdvantageKit's LoggedRobot, which runs the loop, records every input, and drives replay.

SpectrumRobot(double) - Constructor for class frc.spectrumLib.framework.SpectrumRobot

Starts the robot loop at periodSeconds and sets the loop overrun watchdogs to SpectrumRobot.LOOP_OVERRUN_WARNING_SECONDS.

SpectrumState - Class in frc.spectrumLib.framework

Represents a global or subsystem-specific state that can be used as a Trigger.

SpectrumState(String) - Constructor for class frc.spectrumLib.framework.SpectrumState

Create a new EventTrigger.

SpectrumState(EventLoop, String) - Constructor for class frc.spectrumLib.framework.SpectrumState

Create a new EventTrigger that gets polled by the given event loop instead of the EventScheduler

spinDecayEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

spinDecayTau - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

spinTransferEnabled - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

stallDegPerSec() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns the value of the stallDegPerSec record component.

stallSeconds() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns the value of the stallSeconds record component.

start - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the Start / Menu button.

start - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

start() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns the value of the start record component.

start() - Method in class frc.spectrumLib.telemetry.DashboardReceiver

start() - Static method in class frc.spectrumLib.telemetry.LogStorage

Reports the boot cleanup and starts the background free-space check.

start(ShotLog.Shot) - Method in class frc.robot.subsystems.ShotLog

Writes the row for a volley that starts this loop.

start(Telemetry.PrintPriority) - Static method in class frc.spectrumLib.telemetry.Telemetry

Sets the console print priority.

start(String) - Static method in class frc.spectrumLib.telemetry.DsUploadReceiver

Starts the receiver on a daemon thread, writing to <logFolder>/ds.

start(Path, String, Path, ParamTransport) - Static method in class frc.spectrumLib.params.Params

Params.start(Path, String, Path, ParamTransport, Map) with no hard-stop groups.

start(Path, String, Path, ParamTransport, Map) - Static method in class frc.spectrumLib.params.Params

Reads the params files and re-resolves anything declared so far.

start(Command, double) - Method in class frc.robot.auton.AutoEnd

Schedules an auto and watches how it ends.

startButton - Variable in class frc.robot.operator.Operator

startButton - Variable in class frc.robot.pilot.Pilot

startDashboard(boolean) - Static method in class frc.spectrumLib.telemetry.Telemetry

Creates the mirror switch.

STARTING_DRIVE_ANGLE_OFFSET - Static variable in class frc.rebuilt.ShotCalculator

STARTING_HOOD_ANGLE_OFFSET - Static variable in class frc.rebuilt.ShotCalculator

startingLineX - Static variable in class frc.rebuilt.Field

state() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns the value of the state record component.

State(String, boolean, boolean, Optional, Pose2d, long, long, boolean, boolean, boolean, int) - Constructor for record class frc.spectrumLib.checks.AutoStartCheck.State

Creates an instance of a State record class.

stateOf(Mechanism) - Static method in class frc.spectrumLib.checks.HomingCheck

A mechanism's state from its reboot tracking alone.

statorCurrentAmps - Variable in class frc.spectrumLib.mechanism.MotorInputs

status() - Method in record class frc.spectrumLib.checks.CheckResult

Returns the value of the status record component.

StdDevModel - Interface in frc.spectrumLib.localization

Chooses how much the estimator should trust an observation that has passed every gate.

StdDevModel.StdDevs - Record Class in frc.spectrumLib.localization

Standard deviations handed to the pose estimator.

stdDevs() - Method in record class frc.spectrumLib.localization.PoseSource.Result

Returns the value of the stdDevs record component.

StdDevs(double, double, String) - Constructor for record class frc.spectrumLib.localization.StdDevModel.StdDevs

Creates an instance of a StdDevs record class.

stdDevScale() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the stdDevScale record component.

stdDevScales - Variable in class frc.spectrumLib.localization.PoseSourceInputs

Per-observation PoseObservation.stdDevScale; logged only when some entry isn't 1.

stop() - Method in class frc.spectrumLib.mechanism.Mechanism

Stops the motor output.

stopAxis() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Holds the axis (neutral output).

stopDeg() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns the value of the stopDeg record component.

STOPPED - Enum constant in enum class frc.robot.subsystems.hood.Hood.SystemState

STOPPED - Enum constant in enum class frc.robot.subsystems.hood.Hood.WantedState

STOPPED - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

STOPPED - Enum constant in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

storedSeconds - Variable in class frc.spectrumLib.vision.LimelightHelpers.RewindStats

string(String, String) - Method in class frc.spectrumLib.params.ParamGroup

STRING - Enum constant in enum class frc.spectrumLib.params.Param.Type

StringParam - Class in frc.spectrumLib.params

Text, such as a camera name or a mode.

stripe(double, Color, Color) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Two-color stripe: the first percent fraction of LEDs shows color1, the remainder shows color2.

subticks - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

successfulDaqs - Variable in class frc.robot.subsystems.swerve.SwerveInputs

superState() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the superState record component.

SuperStructure - Class in frc.robot.subsystems

SuperStructure(Swerve, FuelIntake, IntakeExtension, IndexerTower, IndexerBed, Launcher, Hood) - Constructor for class frc.robot.subsystems.SuperStructure

SuperStructure.CurrentSuperState - Enum Class in frc.robot.subsystems

SuperStructure.WantedSuperState - Enum Class in frc.robot.subsystems

supplyCurrentAmps - Variable in class frc.spectrumLib.mechanism.MotorInputs

swerve - Variable in class frc.robot.Robot.Config

Swerve - Class in frc.robot.subsystems.swerve

FM's swerve drivetrain: Phoenix 6's SwerveDrivetrain for control and 250 Hz odometry, with the robot pose owned by PoseFusion on the main loop so it can be replayed.

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

Constructs a new Swerve drive subsystem.

Swerve.SimErrors - Class in frc.robot.subsystems.swerve

Deliberate odometry error in simulation, so the comparison between vision sources has something to correct.

Swerve.SystemState - Enum Class in frc.robot.subsystems.swerve

Swerve.WantedState - Enum Class in frc.robot.subsystems.swerve

SwerveAlignment - Class in frc.robot.subsystems.swerve

Publishes the raw per-module CANcoder data that swerve alignment needs.

SwerveAlignment(SwerveModule[], SwerveConfig) - Constructor for class frc.robot.subsystems.swerve.SwerveAlignment

Creates the alignment publisher.

SwerveConfig - Class in frc.robot.subsystems.swerve

SwerveConfig() - Constructor for class frc.robot.subsystems.swerve.SwerveConfig

SwerveInputs - Class in frc.robot.subsystems.swerve

Everything the drivetrain reads from CTRE in one loop, as an AdvantageKit input.

SwerveInputs() - Constructor for class frc.robot.subsystems.swerve.SwerveInputs

SwerveOffsetParams - Class in frc.robot.subsystems.swerve

The swerve CANcoder magnet offsets as params, group swerve, so a module re-zeroed in the pit (SwerveAlignment) can be saved without a code change.

switchCountdown(Color) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Alliance switch countdown.

SyncCANcoder - Enum constant in enum class frc.spectrumLib.hardware.SpectrumCANcoder.CANCoderFeedbackType

Motor encoder is synchronized to the CANcoder position on enable.

SYSTEMCORE_PREFIX - Static variable in class frc.spectrumLib.hardware.CanBuses

Prefix for a SystemCore native port, e.g.

SystemLoadMonitor - Class in frc.spectrumLib.telemetry

Watches the things that made the robot fall behind on 2026-09-05 and says so on the dashboard.

SystemLoadMonitor() - Constructor for class frc.spectrumLib.telemetry.SystemLoadMonitor

T

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

ta - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawTarget

tag26X - Static variable in class frc.rebuilt.Field

tag29Y - Static variable in class frc.rebuilt.Field.BlueOutpost

tag31Y - Static variable in class frc.rebuilt.Field.BlueTower

tagCount - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

tagCount() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the tagCount record component.

tagCounts - Variable in class frc.spectrumLib.localization.PoseSourceInputs

TagEkf - Class in frc.spectrumLib.localization

An extended Kalman filter over (x, y, heading) that takes every camera's tags one at a time, in the style of 971's AOS localizer: each tag is a bearing and a distance from its camera, so a single or far tag still corrects the pose at a low weight instead of being thrown away, and every camera feeds the same estimate.

TagEkf(Translation2d[]) - Constructor for class frc.spectrumLib.localization.TagEkf

TagEkf.CameraStats - Class in frc.spectrumLib.localization

Per-camera tag counts, and this loop's residuals of the tags that passed.

tagField() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the tagField record component.

TagField - Class in frc.robot.subsystems.vision

Which AprilTag field the robot solves with, as a logged input (Vision/FieldMap/Name and Hash).

TagField.Choice - Record Class in frc.robot.subsystems.vision

The field vision solves with.

tagId() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the tagId record component.

tagIds - Variable in class frc.spectrumLib.localization.PoseSourceInputs

Every tag id seen this loop, for display.

TagSighting - Record Class in frc.spectrumLib.localization

One AprilTag seen by one camera in one frame: where the tag's centre was, relative to the camera.

TagSighting(String, double, int, Translation3d, Transform3d, Translation3d, double) - Constructor for record class frc.spectrumLib.localization.TagSighting

Creates an instance of a TagSighting record class.

tagSpan - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

talonConfig - Variable in class frc.spectrumLib.mechanism.Mechanism.Config

Full TalonFX hardware configuration applied to the leader motor on startup.

TalonFXFactory - Class in frc.spectrumLib.hardware

Creates CANTalon objects and configures all the parameters we care about to factory defaults.

tangentialVelocity() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the tangentialVelocity record component.

tareMotor() - Method in class frc.spectrumLib.mechanism.Mechanism

Sets the mechanism's reported position to zero (tares the motor encoder).

targetInView() - Method in class frc.spectrumLib.vision.Limelight

Returns whether the LL has any valid targets (April tags or other vision targets)

targets_Barcode - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

targets_Classifier - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

targets_Detector - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

targets_Fiducials - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

targets_Retro - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

targetSizePercent() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the targetSizePercent record component.

targetSizes - Variable in class frc.spectrumLib.localization.PoseSourceInputs

Target tracking - Section in class frc.spectrumLib.mechanism.Mechanism

TBTB(boolean) - Method in class frc.robot.auton.Auton

TBTT(boolean) - Method in class frc.robot.auton.Auton

Telemetry - Class in frc.spectrumLib.telemetry

Telemetry and logging facade, backed by AdvantageKit.

Telemetry.Fault - Enum Class in frc.spectrumLib.telemetry

Named fault conditions that can be surfaced as structured log entries.

Telemetry.PrintPriority - Enum Class in frc.spectrumLib.telemetry

Priority levels for printing to the console.

teleop - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active during the teleoperated period.

teleop - Static variable in class frc.spectrumLib.util.Util

Trigger that is true when the robot is enabled in teleop mode.

teleop() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the teleop record component.

TELEOP_DRIVE - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.SystemState

TELEOP_DRIVE - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.WantedState

TELEOP_REWIND_SECONDS - Static variable in class frc.robot.subsystems.vision.CameraParams

Limelight rewind saved at the end of teleop: the most a Limelight keeps.

teleopDuration - Static variable in class frc.rebuilt.ShiftHelpers

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

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

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

tempCelsius - Variable in class frc.spectrumLib.mechanism.MotorInputs

temperature - Variable in class frc.spectrumLib.vision.LimelightHelpers.HardwareReport

testMode - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger active during the test mode period.

testMode - Static variable in class frc.spectrumLib.util.Util

Trigger that is true when the robot is enabled in test mode.

thetaRadians() - Method in record class frc.spectrumLib.localization.StdDevModel.StdDevs

Returns the value of the thetaRadians record component.

threadCensus(String) - Static method in class frc.spectrumLib.telemetry.SystemLoadMonitor

Prints the thread ids that appeared since the last call, labelled, to the console (the journal on the robot).

thriftiestCam() - Static method in class frc.robot.subsystems.vision.SimVision

Properties of a Thrifty Bot Thriftiest Cam (OV9281, 1280x800) as the Orin runs it.

throttle - Variable in class frc.robot.subsystems.vision.JetsonInputs

Why the Jetson is slowing itself down: None, OVER-CURRENT, HIGH TEMP (...), ...

tick() - Method in class frc.rebuilt.FuelPhysicsSim

Step the sim forward one period (20ms) and publish ball positions to NT.

tier() - Method in record class frc.spectrumLib.localization.StdDevModel.StdDevs

Returns the value of the tier record component.

Tiers - Section in class frc.spectrumLib.telemetry.Telemetry

TILT_DEADBAND_DEG - Static variable in class frc.robot.subsystems.swerve.TiltState

Below this tilt (degrees) the floor and the IMU's own noise; odometry is not scaled.

TILT_ZERO_DEG - Static variable in class frc.robot.subsystems.swerve.TiltState

At this tilt (degrees) and beyond, wheel travel is not counted at all (6328: 25 deg).

tiltDeg() - Method in class frc.robot.subsystems.swerve.TiltState

tiltDegrees(double, double) - Static method in class frc.robot.subsystems.swerve.TiltState

The angle between the robot's up axis and vertical, degrees.

tilted() - Method in class frc.robot.subsystems.swerve.TiltState

TILTED_DEG - Static variable in class frc.robot.subsystems.swerve.TiltState

Tilt (degrees) above which the robot counts as tilted, for gating.

tiltRateDegPerSec() - Method in class frc.robot.subsystems.swerve.TiltState

TiltState - Class in frc.robot.subsystems.swerve

What the Pigeon says about the robot's attitude and knocks, derived from logged inputs so it replays.

TiltState() - Constructor for class frc.robot.subsystems.swerve.TiltState

time() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the time record component.

time() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns the value of the time record component.

time(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Starts a timed span.

TIMED_OUT - Enum constant in enum class frc.robot.auton.AutoEnd.Reason

It ran past its time limit and was cancelled.

TIMED_OUT - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.State

The last attempt ran out of time before finding the stop, and the hood is not zeroed.

timedOut() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns the value of the timedOut record component.

timeEnd(String) - Static method in class frc.spectrumLib.telemetry.Telemetry

Ends a timed span and logs its length in seconds, so existing analysis of the Scheduler/* keys keeps working.

timeOfFlight() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns the value of the timeOfFlight record component.

TIMEOUT - Enum constant in enum class frc.robot.subsystems.ShotGate.FeedReason

timeoutSeconds() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns the value of the timeoutSeconds record component.

timeoutSeconds() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns the value of the timeoutSeconds record component.

timestamp_LIMELIGHT_publish - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

timestamp_nt - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

timestamp_RIOFPGA_capture - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

timestamp_sys - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

timestamp_us - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

timestamps - Variable in class frc.spectrumLib.localization.PoseSourceInputs

timestampSeconds - Variable in class frc.spectrumLib.vision.LimelightHelpers.PoseEstimate

timestampSeconds() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the timestampSeconds record component.

timestampSeconds() - Method in record class frc.spectrumLib.localization.TagSighting

Returns the value of the timestampSeconds record component.

timestampsLookWrong(String) - Method in class frc.robot.subsystems.vision.Jetson

Whether a camera's result timestamps have been far from now (a time-sync problem).

tjTempC - Variable in class frc.robot.subsystems.vision.JetsonInputs

toggle() - Method in class frc.spectrumLib.framework.SpectrumState

Creates an instant command that flips the current state value.

toggleReverseSoftLimit(boolean) - Method in class frc.spectrumLib.mechanism.Mechanism

Enables or disables the reverse software limit switch and immediately applies the change.

toggleSupplyCurrentLimit(DoubleSupplier, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism

Enables or disables the supply current limit and immediately applies the change.

toggleToFalse() - Method in class frc.spectrumLib.framework.SpectrumState

Command to set state to true, and then to false, ensuring triggers bound to the false transition fire reliably.

toggleTorqueCurrentLimit(DoubleSupplier, boolean) - Method in class frc.spectrumLib.mechanism.Mechanism

Enables or disables a forward/reverse torque current limit and immediately applies the change.

toggleToTrue() - Method in class frc.spectrumLib.framework.SpectrumState

Command to set state to false, and then to true, ensuring your state will trigger actions

TOKEN_FILE - Static variable in class frc.spectrumLib.telemetry.DsUploadReceiver

TOKEN_HEADER - Static variable in class frc.spectrumLib.telemetry.DsUploadReceiver

Tolerances(double, double, double, double, double, double) - Constructor for record class frc.robot.subsystems.ShotGate.Tolerances

Creates an instance of a Tolerances record class.

toLog(LogTable) - Method in class frc.robot.RuntimeInputs

toLog(LogTable) - Method in class frc.robot.SimScript.Actions

toLog(LogTable) - Method in class frc.robot.subsystems.hood.HoodHoming.LogMarker

toLog(LogTable) - Method in class frc.robot.subsystems.swerve.SwerveInputs

toLog(LogTable) - Method in class frc.robot.subsystems.vision.JetsonInputs

toLog(LogTable) - Method in class frc.robot.subsystems.vision.OrinCameraInputs

toLog(LogTable) - Method in class frc.spectrumLib.localization.PoseSourceInputs

toLog(LogTable) - Method in class frc.spectrumLib.mechanism.MotorInputs

topCenter - Static variable in class frc.rebuilt.Field.BlueHub

toPose2D(double[]) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Takes a 6-length array of pose data and converts it to a Pose2d object.

toPose3D(double[]) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Takes a 6-length array of pose data and converts it to a Pose3d object.

topViewHeight - Static variable in class frc.robot.RobotSim

topViewWidth - Static variable in class frc.robot.RobotSim

toString() - Method in record class frc.rebuilt.ShiftHelpers.ShiftInfo

Returns a string representation of this record class.

toString() - Method in record class frc.rebuilt.ShotCalculator.ShootingParameters

Returns a string representation of this record class.

toString() - Method in record class frc.robot.auton.AutoEnd.Ended

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.ShotGate.Decision

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.ShotGate.Inputs

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.ShotGate.Tolerances

Returns a string representation of this record class.

toString() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns a string representation of this record class.

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

Returns a string representation of this record class.

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

Returns a string representation of this record class.

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

Returns a string representation of this record class.

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

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.checks.AutoStartCheck.State

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.checks.BatteryCheck.Identity

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.checks.CheckResult

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.GateContext

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.OdometryGuard.Output

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.OdometryGuard.Sample

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.OdometryGuard.Settings

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.PoseSource.Result

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.StdDevModel.StdDevs

Returns a string representation of this record class.

toString() - Method in record class frc.spectrumLib.localization.TagSighting

Returns a string representation of this record class.

totalHeight - Static variable in class frc.rebuilt.Field.BlueHub

TOWER - Enum constant in enum class frc.rebuilt.ShotCalculator.SetShot

Intake (front bumper) against the tower's field-facing wall, on its centreline, back of the robot to the hub: (1.525, 3.746) m, 3.11 m out.

TOWER_CENTRE_Y_METERS - Static variable in class frc.rebuilt.ShotCalculator

The y of the tower's centreline, metres.

TRACK_TARGET - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

TRACK_TARGET - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

tracking - Variable in class frc.spectrumLib.localization.PoseSourceInputs

tracking() - Method in record class frc.robot.subsystems.vision.QuestNavProtocol.Frame

Returns the value of the tracking record component.

tracking() - Method in record class frc.spectrumLib.localization.PoseObservation

Returns the value of the tracking record component.

trackingLostCounter() - Method in record class frc.robot.subsystems.vision.QuestNavProtocol.DeviceData

Returns the value of the trackingLostCounter record component.

TrackingStop - Class in frc.spectrumLib.mechanism

Latches a mechanism to a stop once it has stayed out of tolerance of its closed-loop goal for a debounce time: a jam, a slipped belt, a motor fighting a hard stop.

TrackingStop(double, double) - Constructor for class frc.spectrumLib.mechanism.TrackingStop

Tracking stop - Section in class frc.spectrumLib.mechanism.Mechanism

trackingStopped() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the trackingStopped record component.

trackTarget_X - Variable in class frc.robot.pilot.Pilot

TRANSITION - Enum constant in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

TRANSLATION_ERROR_MARGIN_METERS - Static variable in class frc.robot.subsystems.swerve.Swerve

triggerRewindCapture(String, double) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Triggers a rewind capture with the specified duration.

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

Saves the last seconds of the rewind buffer of each FM Limelight: video plus every frame's results, reviewable frame by frame afterwards.

triggersCurve - Variable in class frc.spectrumLib.gamepads.Gamepad

Exponential response curve applied to both analog trigger axes.

triggerSnapshot(String) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Triggers a snapshot capture via NetworkTables by incrementing the snapshot counter.

Trio<A,B,C> - Class in frc.spectrumLib.util

Represents a trio of three objects.

Trio(A, B, C) - Constructor for class frc.spectrumLib.util.Trio

Constructs a pair.

ts - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

ts - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

TTTT(boolean) - Method in class frc.robot.auton.Auton

Tunable constants - Section in class frc.rebuilt.RobotBumpSim

TuneValue - Class in frc.spectrumLib.telemetry

A number that can be changed from a dashboard at runtime without redeploying, for tuning gains, speeds and other constants.

TuneValue(String, double) - Constructor for class frc.spectrumLib.telemetry.TuneValue

Creates a TuneValue, publishing defaultValue if tuning mode is on.

TUNING_MODE - Static variable in class frc.robot.Constants

Tuning mode: dashboards may change params under /Tuning/ (applied while disabled) and save them to the robot, and may change TuneValues.

TuningMode - Class in frc.spectrumLib.params

Whether dashboards may change tunable values.

tx - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

tx - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

tx - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

tx - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

tx - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

tx - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

tx_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

tx_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

tx_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

tx_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

tx_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

tx_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

tx_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

tx_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

tx_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

tx_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

txnc - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

txnc - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

txnc - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawTarget

TXTY - Enum constant in enum class frc.robot.subsystems.vision.OrinGyroSourceIO.Mode

ty - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

ty - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

ty - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

ty - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

ty - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

ty - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

ty_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

ty_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

ty_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

ty_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

ty_nocrosshair - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

ty_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Barcode

ty_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

ty_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Detector

ty_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Fiducial

ty_pixels - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Retro

tync - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawDetection

tync - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawFiducial

tync - Variable in class frc.spectrumLib.vision.LimelightHelpers.RawTarget

type() - Method in class frc.spectrumLib.params.BooleanParam

type() - Method in class frc.spectrumLib.params.DoubleParam

type() - Method in class frc.spectrumLib.params.IntParam

type() - Method in class frc.spectrumLib.params.Param

type() - Method in class frc.spectrumLib.params.StringParam

U

units() - Method in class frc.spectrumLib.params.Param

UNJAM - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.SystemState

UNJAM - Enum constant in enum class frc.robot.subsystems.indexerBed.IndexerBed.WantedState

UNJAM - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.SystemState

UNJAM - Enum constant in enum class frc.robot.subsystems.indexerTower.IndexerTower.WantedState

UNJAM - Enum constant in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

UNJAM - Enum constant in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

unjam_A - Variable in class frc.robot.pilot.Pilot

UNKNOWN - Enum constant in enum class frc.spectrumLib.hardware.Rio

UNKNOWN - Enum constant in enum class frc.spectrumLib.localization.ImuMountCheck.Verdict

update() - Static method in class frc.robot.RuntimeInputs

Records (or in replay, restores) the inputs.

update() - Method in class frc.robot.subsystems.vision.SimVision

Moves every simulated camera to the current truth pose.

update() - Method in class frc.spectrumLib.localization.PoseSource

Reads the device and records (or, in replay, restores) the raw inputs.

update() - Method in class frc.spectrumLib.telemetry.TuneValue

Reads the current value and caches it locally.

update(boolean, boolean) - Method in class frc.spectrumLib.mechanism.MotorResetMonitor

Advances on this loop's logged reset input.

update(double) - Method in class frc.spectrumLib.sim.ArmSim

Advances the arm physics simulation by one robot period, updates the TalonFX rotor position and velocity, and refreshes the Mechanism2d visualization.

update(double) - Method in class frc.spectrumLib.sim.LinearSim

Advances the elevator physics simulation by one robot period, updates the TalonFX rotor position and velocity, and refreshes both the static and moving Mechanism2d ligaments.

update(double) - Method in class frc.spectrumLib.sim.RollerSim

Advances the flywheel physics simulation by one robot period, updates the TalonFX rotor velocity and position, moves the axle to its current mount position, and updates the Mechanism2d color to reflect the roller's spin direction.

update(double, boolean, boolean, boolean, double, boolean) - Method in class frc.spectrumLib.mechanism.TrackingStop

Advances one loop.

update(double, boolean, double, double) - Method in class frc.spectrumLib.mechanism.PositionWrite

Advances on one loop's logged readings.

update(double, double, double, double, double, double, double, double) - Method in class frc.robot.subsystems.swerve.TiltState

Updates from this loop's inputs.

update(HoodHoming.Inputs) - Method in class frc.robot.subsystems.hood.HoodHoming

Advances homing one loop.

update(ShotGate.Inputs) - Method in class frc.robot.subsystems.ShotGate

Advances the gate one loop.

update(ImuMountCheck.Inputs) - Method in class frc.spectrumLib.localization.ImuMountCheck

update(OdometryGuard.Sample) - Method in class frc.spectrumLib.localization.OdometryGuard

Screens one sample.

update(Pose2d, ChassisVelocities, int) - Method in class frc.rebuilt.RobotBumpSim

Advances the bump simulation by one 20 ms period and returns the robot's 3D pose.

updateArticulatedMechanisms() - Method in class frc.robot.RobotSim

updateCameraPose(Pose3d) - Method in class frc.spectrumLib.vision.Limelight

updateConfig() - Method in class frc.robot.subsystems.swerve.SwerveConfig

updateInputs() - Method in class frc.robot.subsystems.swerve.Swerve

Reads the drivetrain into Swerve.inputs, records them, and integrates this loop's odometry into the fused pose.

updateInputs() - Method in class frc.robot.subsystems.vision.Jetson

Reads the Jetson.

updateInputs() - Method in class frc.spectrumLib.mechanism.Mechanism

Refreshes the motor inputs for this loop.

updateInputs(JetsonInputs) - Method in interface frc.robot.subsystems.vision.JetsonIO

Fills inputs with the Jetson's latest values.

updateInputs(JetsonInputs) - Method in class frc.robot.subsystems.vision.JetsonNTIO

updateInputs(OrinCameraInputs) - Method in interface frc.robot.subsystems.vision.OrinCameraIO

Fills inputs with everything reported since the last call.

updateInputs(OrinCameraInputs) - Method in class frc.robot.subsystems.vision.PhotonOrinIO

updateInputs(PoseSourceInputs) - Method in class frc.robot.subsystems.vision.LimelightIO

updateInputs(PoseSourceInputs) - Method in class frc.robot.subsystems.vision.OrinGyroSourceIO

updateInputs(PoseSourceInputs) - Method in class frc.robot.subsystems.vision.OrinPoseSourceIO

updateInputs(PoseSourceInputs) - Method in class frc.robot.subsystems.vision.QuestNavIO

updateInputs(PoseSourceInputs) - Method in class frc.robot.subsystems.vision.SimVision.LimelightSimIO

updateInputs(PoseSourceInputs) - Method in class frc.robot.subsystems.vision.SimVision.QuestSimIO

updateInputs(PoseSourceInputs) - Method in interface frc.spectrumLib.localization.PoseSourceIO

Fills inputs with everything reported since the last call.

upDpad - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for D-pad up.

uprightHeight - Static variable in class frc.rebuilt.Field.BlueTower

uptimeSeconds - Variable in class frc.robot.subsystems.vision.JetsonInputs

Seconds since the Jetson booted; a drop means it rebooted.

USB_LOGS - Static variable in class frc.spectrumLib.telemetry.LogStorage

USB_MOUNT - Static variable in class frc.spectrumLib.telemetry.LogStorage

USE_CANIVORE - Static variable in class frc.spectrumLib.hardware.CanBuses

Whether FM runs its CANivore.

Util - Class in frc.spectrumLib.util

Basic helpers imported from the 254 lib (1678-2024).

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

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

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

V

valid - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightResults

validPoseEstimate(LimelightHelpers.PoseEstimate) - Static method in class frc.spectrumLib.vision.LimelightHelpers

Returns true if the pose estimate is valid.

valueOf(String) - Static method in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

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

valueOf(String) - Static method in enum class frc.rebuilt.ShotCalculator.SetShot

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

valueOf(String) - Static method in enum class frc.robot.auton.AutoEnd.Reason

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

valueOf(String) - Static method in enum class frc.robot.Constants.Mode

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

valueOf(String) - Static method in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.hood.Hood.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.hood.Hood.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.hood.HoodHoming.Action

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

valueOf(String) - Static method in enum class frc.robot.subsystems.hood.HoodHoming.State

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

valueOf(String) - Static method in enum class frc.robot.subsystems.indexerBed.IndexerBed.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.indexerBed.IndexerBed.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.indexerTower.IndexerTower.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.indexerTower.IndexerTower.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.launcher.Launcher.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.launcher.Launcher.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.ShotGate.Blocker

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

valueOf(String) - Static method in enum class frc.robot.subsystems.ShotGate.FeedReason

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

valueOf(String) - Static method in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.swerve.Swerve.SystemState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.swerve.Swerve.WantedState

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

valueOf(String) - Static method in enum class frc.robot.subsystems.vision.OrinGyroSourceIO.Mode

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

valueOf(String) - Static method in enum class frc.spectrumLib.checks.CheckResult.Status

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

valueOf(String) - Static method in enum class frc.spectrumLib.checks.HomingCheck.State

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

valueOf(String) - Static method in enum class frc.spectrumLib.gamepads.Gamepad.Mapping

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

valueOf(String) - Static method in enum class frc.spectrumLib.gamepads.Gamepad.Threshold

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

valueOf(String) - Static method in enum class frc.spectrumLib.gamepads.GamepadLayout

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

valueOf(String) - Static method in enum class frc.spectrumLib.hardware.Rio

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

valueOf(String) - Static method in enum class frc.spectrumLib.hardware.SpectrumCANcoder.CANCoderFeedbackType

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

valueOf(String) - Static method in enum class frc.spectrumLib.localization.ImuMountCheck.Verdict

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

valueOf(String) - Static method in enum class frc.spectrumLib.localization.OdometryGuard.HeadingSource

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

valueOf(String) - Static method in enum class frc.spectrumLib.localization.PoseObservation.Kind

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

valueOf(String) - Static method in enum class frc.spectrumLib.params.Param.Type

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

valueOf(String) - Static method in enum class frc.spectrumLib.params.ParamSource

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

valueOf(String) - Static method in enum class frc.spectrumLib.sim.Mount.MountType

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

valueOf(String) - Static method in enum class frc.spectrumLib.telemetry.Telemetry.Fault

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

valueOf(String) - Static method in enum class frc.spectrumLib.telemetry.Telemetry.PrintPriority

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

values() - Static method in enum class frc.rebuilt.ShiftHelpers.ShiftEnum

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

values() - Static method in enum class frc.rebuilt.ShotCalculator.SetShot

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

values() - Static method in enum class frc.robot.auton.AutoEnd.Reason

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

values() - Static method in enum class frc.robot.Constants.Mode

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

values() - Static method in enum class frc.robot.subsystems.fuelIntake.FuelIntake.SystemState

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

values() - Static method in enum class frc.robot.subsystems.fuelIntake.FuelIntake.WantedState

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

values() - Static method in enum class frc.robot.subsystems.hood.Hood.SystemState

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

values() - Static method in enum class frc.robot.subsystems.hood.Hood.WantedState

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

values() - Static method in enum class frc.robot.subsystems.hood.HoodHoming.Action

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

values() - Static method in enum class frc.robot.subsystems.hood.HoodHoming.State

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

values() - Static method in enum class frc.robot.subsystems.indexerBed.IndexerBed.SystemState

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

values() - Static method in enum class frc.robot.subsystems.indexerBed.IndexerBed.WantedState

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

values() - Static method in enum class frc.robot.subsystems.indexerTower.IndexerTower.SystemState

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

values() - Static method in enum class frc.robot.subsystems.indexerTower.IndexerTower.WantedState

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

values() - Static method in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.SystemState

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

values() - Static method in enum class frc.robot.subsystems.intakeExtension.IntakeExtension.WantedState

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

values() - Static method in enum class frc.robot.subsystems.launcher.Launcher.SystemState

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

values() - Static method in enum class frc.robot.subsystems.launcher.Launcher.WantedState

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

values() - Static method in enum class frc.robot.subsystems.ShotGate.Blocker

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

values() - Static method in enum class frc.robot.subsystems.ShotGate.FeedReason

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

values() - Static method in enum class frc.robot.subsystems.SuperStructure.CurrentSuperState

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

values() - Static method in enum class frc.robot.subsystems.SuperStructure.WantedSuperState

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

values() - Static method in enum class frc.robot.subsystems.swerve.Swerve.SystemState

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

values() - Static method in enum class frc.robot.subsystems.swerve.Swerve.WantedState

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

values() - Static method in enum class frc.robot.subsystems.vision.OrinGyroSourceIO.Mode

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

values() - Static method in enum class frc.spectrumLib.checks.CheckResult.Status

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

values() - Static method in enum class frc.spectrumLib.checks.HomingCheck.State

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

values() - Static method in enum class frc.spectrumLib.gamepads.Gamepad.Mapping

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

values() - Static method in enum class frc.spectrumLib.gamepads.Gamepad.Threshold

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

values() - Static method in enum class frc.spectrumLib.gamepads.GamepadLayout

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

values() - Static method in enum class frc.spectrumLib.hardware.Rio

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

values() - Static method in enum class frc.spectrumLib.hardware.SpectrumCANcoder.CANCoderFeedbackType

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

values() - Static method in enum class frc.spectrumLib.localization.ImuMountCheck.Verdict

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

values() - Static method in enum class frc.spectrumLib.localization.OdometryGuard.HeadingSource

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

values() - Static method in enum class frc.spectrumLib.localization.PoseObservation.Kind

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

values() - Static method in enum class frc.spectrumLib.params.Param.Type

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

values() - Static method in enum class frc.spectrumLib.params.ParamSource

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

values() - Static method in enum class frc.spectrumLib.sim.Mount.MountType

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

values() - Static method in enum class frc.spectrumLib.telemetry.Telemetry.Fault

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

values() - Static method in enum class frc.spectrumLib.telemetry.Telemetry.PrintPriority

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

velocityDependentCOR - Variable in class frc.rebuilt.FuelPhysicsSim.PhysicsConfig

velocityRps - Variable in class frc.spectrumLib.mechanism.MotorInputs

verdict() - Method in class frc.spectrumLib.localization.ImuMountCheck.YawSense

version() - Method in class frc.spectrumLib.params.Param

Goes up by one each time the value changes, for code that must act on a change (re-sending a setting to a device, say): keep the last version seen and compare.

VERSION - Static variable in class frc.robot.BuildConstants

VERSION - Static variable in class frc.spectrumLib.telemetry.MatchSummary

Bumped when a field changes meaning or is removed.

VERY_LOW_VOLTS - Static variable in class frc.spectrumLib.telemetry.MatchSummary

vision - Variable in class frc.robot.Robot.Config

Vision - Class in frc.robot.subsystems.vision

FM's multi-source localization testbed: up to three Limelights, three Orin/PhotonVision cameras and a QuestNav, each gated on its own and each logged well enough to compare after the fact.

Vision(Vision.VisionConfig, Swerve) - Constructor for class frc.robot.subsystems.vision.Vision

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

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

VisionGates - Class in frc.robot.subsystems.vision

Gate chains and trust models for FM's pose sources.

voltage - Variable in class frc.spectrumLib.mechanism.MotorInputs

volts() - Method in record class frc.robot.subsystems.hood.HoodHoming.Params

Returns the value of the volts record component.

vx() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the vx record component.

vy() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the vy record component.

W

wantedHoodDeg() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the wantedHoodDeg record component.

wantedRpm() - Method in record class frc.robot.subsystems.ShotLog.Shot

Returns the value of the wantedRpm record component.

wantsHome() - Method in record class frc.robot.subsystems.hood.HoodHoming.Inputs

Returns the value of the wantsHome record component.

warn(String) - Static method in record class frc.spectrumLib.checks.CheckResult

WARN - Enum constant in enum class frc.spectrumLib.checks.CheckResult.Status

Worth a look, but not a reason to hold the match.

WARN_DEG - Static variable in class frc.spectrumLib.checks.CameraHeadingCheck

Above this, a camera's mount yaw is probably off and worth solving again.

WARN_VOLTS - Static variable in class frc.spectrumLib.checks.BatteryCheck

A full pack reads 12.6-12.9 V disabled on FM's SystemCore (TXMAN1 pre-match, nine logs: lowest 12.57 V).

warning() - Method in record class frc.robot.subsystems.vision.TagField.Choice

Returns the value of the warning record component.

wasBumpedRecently() - Method in class frc.robot.subsystems.swerve.Swerve

Whether the robot took a knock (collision, bump landing) in the last half second.

wave(Color, Color, double, double) - Method in class frc.spectrumLib.leds.SpectrumLEDs

Sinusoidal wave pattern blending between two colors.

What this class does - Section in class frc.rebuilt.RobotBumpSim

WHEEL_SCALE - Static variable in class frc.robot.subsystems.swerve.Swerve.SimErrors

Measured wheel distance over true distance.

WHEELS - Enum constant in enum class frc.spectrumLib.localization.OdometryGuard.HeadingSource

wheelsOk() - Method in record class frc.spectrumLib.localization.ImuMountCheck.Inputs

Returns the value of the wheelsOk record component.

Where the pose comes from - Section in class frc.robot.subsystems.swerve.Swerve

white - Variable in class frc.spectrumLib.leds.SpectrumLEDs

Convenience alias for Color.WHITE.

width - Static variable in class frc.rebuilt.Field.BlueBumps

width - Static variable in class frc.rebuilt.Field.BlueDepot

width - Static variable in class frc.rebuilt.Field.BlueHub

width - Static variable in class frc.rebuilt.Field.BlueTower

width - Static variable in class frc.rebuilt.Field.BlueTrench

WINDOW_SECONDS - Static variable in class frc.spectrumLib.checks.CameraHeadingCheck

Frames older than this are dropped, so a fixed or re-seeded heading clears soon.

withRotation(double, double, double) - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Sets the rotation of the limelight in degrees

withTranslation(double, double, double) - Method in class frc.spectrumLib.vision.Limelight.LimelightConfig

Sets the camera position relative to the robot center, in meters.

worst(CheckResult.Status) - Method in enum class frc.spectrumLib.checks.CheckResult.Status

The more severe of two verdicts.

WPILIB_DS - Enum constant in enum class frc.spectrumLib.gamepads.Gamepad.Mapping

The 2027 WPILib Driver Station (the 2027 Gamepad order, D-pad as buttons).

WPILIB_DS - Enum constant in enum class frc.spectrumLib.gamepads.GamepadLayout

wrapRotations(double) - Static method in class frc.robot.subsystems.swerve.SwerveAlignment

Wraps a rotation count into [-0.5, 0.5), matching how CTRE reports CANcoder absolute position.

WRONG - Enum constant in enum class frc.spectrumLib.localization.ImuMountCheck.Verdict

X

x - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

X - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the X (square) face button.

X_BRAKE - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.SystemState

X_BRAKE - Enum constant in enum class frc.robot.subsystems.swerve.Swerve.WantedState

XButton - Variable in class frc.robot.operator.Operator

XButton - Variable in class frc.robot.pilot.Pilot

XM2026 - Class in frc.robot.configs

XM2026() - Constructor for class frc.robot.configs.XM2026

xyMeters() - Method in record class frc.spectrumLib.localization.StdDevModel.StdDevs

Returns the value of the xyMeters record component.

Y

y - Variable in enum class frc.spectrumLib.gamepads.GamepadLayout

Y - Variable in class frc.spectrumLib.gamepads.Gamepad

Trigger for the Y (triangle) face button.

yaw - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUResults

Yaw - Variable in class frc.spectrumLib.vision.LimelightHelpers.IMUData

YAW_RATE_LOOKBACK_SECONDS - Static variable in class frc.robot.subsystems.vision.VisionGates

How far back (seconds) the yaw-rate gate looks.

YawRateHistory - Class in frc.spectrumLib.localization

Ring buffer of chassis yaw-rate samples, for the lookback spin gate.

YawRateHistory(int) - Constructor for class frc.spectrumLib.localization.YawRateHistory

YawSense() - Constructor for class frc.spectrumLib.localization.ImuMountCheck.YawSense

YButton - Variable in class frc.robot.operator.Operator

YButton - Variable in class frc.robot.pilot.Pilot

Z

zeroAtMax() - Method in class frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

Re-zeroes this axis at the fully-extended hard stop.

zeroed() - Method in record class frc.robot.subsystems.hood.HoodHoming.Output

Returns the value of the zeroed record component.

ZEROED - Enum constant in enum class frc.robot.subsystems.hood.HoodHoming.State

zone - Variable in class frc.spectrumLib.vision.LimelightHelpers.LimelightTarget_Classifier

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