All Classes and Interfaces
Class
Description
Configuration data for an arm simulation.
WPILib-backed simulation of a single-jointed arm driven by one or more Kraken X60 motors.
Tracks and logs current draw, power, cumulative energy consumption, peak current/power, and
sustained current windows useful for breaker thermal analysis.
Automatically generated build version information.
Caches a DoubleSupplier value so it is computed at most once per scheduler iteration.
Identifies a CAN device by its numeric device ID and the CAN bus name it lives on.
Renders a filled circle in a
Mechanism2d canvas using evenly-spaced radial ligaments.Utility class for unit conversions.
Tracks start-up and caught crash events, logging them to a file which doesn't roll over
This class and its subclasses remap controller stick inputs according to specifics provided of
multiple classes of curves.
This class maps the value of a input to an exponential curve.
Contains various field dimensions and useful reference points.
The Fuel Intake subsystem.
Full-field ball physics simulation for FRC 2026 REBUILT.
Physics feature toggles.
A hub that can be scored in.
One ball in the simulation.
Abstract base class for robot gamepad (Xbox-compatible) controllers.
Configuration for a
Gamepad instance, defining the DriverStation USB port, axis curve
parameters, and whether the controller should be used on this robot.Comparison type used by axis-based
Trigger factories such as Gamepad.leftYTrigger(Threshold, double).The Hood subsystem.
The Indexer Bed subsystem.
The Indexer Tower subsystem.
The Intake Extension subsystem.
The right deploy axis.
Unchecked exception thrown to signal that the robot code should stop executing immediately.
The Launcher subsystem.
Robot LED subsystem for the 2026 REBUILT season.
Provides a high-level interface to a single Limelight camera for AprilTag-based pose estimation
and basic targeting.
Configuration for a single Limelight camera, including its network-table name and physical
mounting position on the robot.
LimelightHelpers provides static methods and classes for interfacing with Limelight vision
cameras in FRC.
Represents hardware statistics from the Limelight.
Encapsulates the state of an internal Limelight IMU.
Represents IMU data from the JSON results.
Limelight Results object, parsed from a Limelight's JSON results output.
Represents a Barcode Target Result extracted from JSON Output
Represents a Neural Classifier Pipeline Result extracted from JSON Output
Represents a Neural Detector Pipeline Result extracted from JSON Output
Represents an AprilTag/Fiducial Target Result extracted from JSON Output
Represents a Color/Retroreflective Target Result extracted from JSON Output
Represents a 3D Pose Estimate.
Represents a Limelight Raw Neural Detector result from Limelight's NetworkTables output.
Represents a Limelight Raw Fiducial result from Limelight's NetworkTables output.
Represents a Limelight Raw Target/Contour result from Limelight's NetworkTables output.
Represents capture rewind buffer statistics.
Configuration data for a linear (elevator-style) mechanism simulation.
WPILib-backed simulation of a linear (elevator-style) mechanism driven by one or more Kraken X60
motors.
Injects Maple-Sim simulation data into a CTRE swerve drivetrain.
Represents the simulation of a single
SwerveModule.Adapts a
TalonFX motor controller for use as a SimulatedMotorController in
Maple-Sim by forwarding encoder state from the simulation into the CTRE sim state.Extends
MapleSimSwerveDrivetrain.TalonFXMotorControllerSim to also drive a remote CANcoder simulation state.Abstract base class representing a CTRE TalonFX-driven robot mechanism with common control modes,
telemetry, and convenience
Command factories.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.).Configuration for a TalonFX follower motor that mirrors the leader.
Represents a simulation component that other mechanisms can be attached to.
Discriminates between the two supported mount types so child mechanisms can apply the correct
positioning logic.
Mixin interface for simulation components that can be attached to a
Mount.Common Network Utilities
Identifies the specific RoboRIO that is running, keyed by its serial number.
The main robot class.
RobotBumpSim — standalone robot-bump physics simulation for MapleSim.
Configuration data for a roller mechanism simulation.
WPILib-backed simulation of a roller (flywheel) mechanism driven by a single Kraken X60 motor.
Immutable snapshot of all quantities needed to command the drive, hood, and flywheel
subsystems for a single shot.
Wraps a CTRE CANcoder and applies Spectrum-specific configuration.
Selects how the TalonFX reads position data from the remote CANcoder.
Configuration parameters for a
SpectrumCANcoder.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.).Functional interface for a LED pattern that drives a segment of a
CANdle strip.Configuration for a
SpectrumLEDs subsystem instance.The base robot class for Spectrum robots.
Represents a global or subsystem-specific state that can be used as a Trigger.
Class that extends the Phoenix SwerveDrivetrain class and implements subsystem so it can be used
in command-based projects easily.
Encapsulates the three SysId characterization routines for a CTRE swerve drivetrain: translation,
rotation, and steer-gains.
Creates CANTalon objects and configures all the parameters we care about to factory defaults.
Telemetry and logging utility.
Named fault conditions that can be surfaced as structured log entries.
Priority levels for printing to the console.
Represents a trio of three objects.
A numeric value that is published to SmartDashboard and can be modified at runtime without
redeploying code.
From 254 lib imported from 1678-2024 Contains basic functions that are used often.
Vision subsystem that manages three Limelights (back, left, right) and fuses their pose estimates
into the swerve odometry via WPILib's
SwerveDrivePoseEstimator.Static configuration for the Vision subsystem, including Limelight identifiers,
camera-to-robot transforms, pipeline indices, and pose estimation covariance parameters.
Logs telemetry data from a
Limelight camera to the robot's data-logging system (DogLog)
under the Vision/<name>/ namespace.