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A

angle - Variable in class frc.team4373.swerve.WheelVector

The angle (i.e., direction) of the vector in degrees.

B

brake() - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets the wheels to the configured brake configuration if any is selected.

C

calculateBrakeVectors(SwerveDrivetrain.BrakeMode) - Method in class frc.team4373.swerve.SwerveInputTransform

Calculates a WheelVector.VectorSet for the given brake mode.

currentLimitConfig - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.CurrentLimitConfig configuration for current limiting.

CurrentLimitConfig(int, int) - Constructor for class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

Creates a CurrentLimitConfig object with the specified limit and exceedance duration.

CurrentLimitConfig(int, int, int, boolean, int, int, int, boolean) - Constructor for class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

Creates a CurrentLimitConfig object with the specified parameters.

CurrentLimitConfig(int, int, int, int) - Constructor for class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

Creates a CurrentLimitConfig object with the specified limit and exceedance duration.

D

dimensions - Variable in class frc.team4373.swerve.SwerveConfig

The dimensions of the robot.

drive(double, double, double) - Method in class frc.team4373.swerve.SwerveDrivetrain

Drives using the transform for the given parameters.

driveMotorContinuousAmperage - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

The amperage that the current draw is limited to (for the drive motors).

driveMotorLimitingEnabled - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

Whether or not current limiting is enabled for the drive motors.

driveMotorPeakAmperage - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

The point beyond which current will be limited (for the drive motors).

driveMotorPeakDuration - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

The duration that the current draw is allowed to be over the peak amperage (drive).

E

encoderPhase - Variable in class frc.team4373.swerve.SwerveConfig.MotorConfig

Whether or not the encoder is out of phase with the motor.

end() - Method in class frc.team4373.swerve.commands.SwerveDriveWithJoystick

equals(WheelVector) - Method in class frc.team4373.swerve.WheelVector

equals(WheelVector.VectorSet) - Method in class frc.team4373.swerve.WheelVector.VectorSet

Returns whether the given vector set is equal to another.

execute() - Method in class frc.team4373.swerve.commands.SwerveDriveWithJoystick

F

frc.team4373.swerve - package frc.team4373.swerve

frc.team4373.swerve.commands - package frc.team4373.swerve.commands

G

gains - Variable in class frc.team4373.swerve.SwerveConfig.MotorConfig

The PID gains for the motor.

getAngle() - Method in class frc.team4373.swerve.SwerveDrivetrain

Returns the current angle relative to the starting position (mod 360).

getAverageDriveMotorPosition() - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the average of the drive motor positions.

getBrakeMode() - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the currently selected swerve brake mode.

getDriveMode() - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the current drive mode.

getDriveMotorPosition(SwerveDrivetrain.WheelID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the current position of the drive motor.

getDriveMotorVelocity(SwerveDrivetrain.WheelID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the velocity of the drive motor for the specified wheel.

getPercentOutput(SwerveDrivetrain.WheelID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the percent output of the specified SwerveWheel.

getPigeonYawRaw() - Method in class frc.team4373.swerve.SwerveDrivetrain

Returns the raw Pigeon yaw value.

getRotatorMotorPosition(SwerveDrivetrain.WheelID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the position of the rotator motor for the specified wheel.

getRotatorMotorVelocity(SwerveDrivetrain.WheelID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Gets the velocity of the rotator motor for the specified wheel.

I

id - Variable in class frc.team4373.swerve.SwerveConfig.MotorConfig

The CAN ID of the motor's TalonSRX motor controller.

IMPLODE - frc.team4373.swerve.SwerveDrivetrain.BrakeMode

initialize() - Method in class frc.team4373.swerve.commands.SwerveDriveWithJoystick

interrupted() - Method in class frc.team4373.swerve.commands.SwerveDriveWithJoystick

inverted - Variable in class frc.team4373.swerve.SwerveConfig.MotorConfig

Whether or not the motor output should be inverted.

isFinished() - Method in class frc.team4373.swerve.commands.SwerveDriveWithJoystick

K

kD - Variable in class frc.team4373.swerve.SwerveConfig.PID

The derivative gain.

kF - Variable in class frc.team4373.swerve.SwerveConfig.PID

The feedforward gain.

kI - Variable in class frc.team4373.swerve.SwerveConfig.PID

The integral gain.

kP - Variable in class frc.team4373.swerve.SwerveConfig.PID

The proportional gain.

L

LEFT_1 - frc.team4373.swerve.SwerveDrivetrain.WheelID

LEFT_2 - frc.team4373.swerve.SwerveDrivetrain.WheelID

left1 - Variable in class frc.team4373.swerve.WheelVector.VectorSet

The vector for the front left wheel.

left1Drive - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the front left drive motor.

left1Rotate - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the front left rotator motor.

left2 - Variable in class frc.team4373.swerve.WheelVector.VectorSet

The vector for the rear left wheel.

left2Drive - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the rear left drive motor.

left2Rotate - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the rear left rotator motor.

M

maxWheelSpeed - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The maximum speed, in native encoder units, allowed for the drive motors.

modularizeEncoders() - Method in class frc.team4373.swerve.SwerveDrivetrain

Resets the encoders to within [-4095, 4095] Call this method in `robotInit` to (almost) eliminate the possibility of accumulator rollover during one power cycle.

MotorConfig(int, boolean, NeutralMode, boolean, SwerveConfig.PID) - Constructor for class frc.team4373.swerve.SwerveConfig.MotorConfig

Constructs a new MotorConfig.

N

neutralMode - Variable in class frc.team4373.swerve.SwerveConfig.MotorConfig

The mode for the motor when its input is zero.

NONE - frc.team4373.swerve.SwerveDrivetrain.BrakeMode

NONE - Static variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

A current limit configuration for no current limiting.

NORTH_UP - frc.team4373.swerve.SwerveDrivetrain.DriveMode

O

OCTAGON - frc.team4373.swerve.SwerveDrivetrain.BrakeMode

OWN_SHIP_UP - frc.team4373.swerve.SwerveDrivetrain.DriveMode

P

PID(double, double, double, double) - Constructor for class frc.team4373.swerve.SwerveConfig.PID

Constructs a new PID parameters object.

pigeonID - Variable in class frc.team4373.swerve.SwerveConfig

The CAN ID for the Pigeon IMU.

processNorthUp(double, double, double, double) - Method in class frc.team4373.swerve.SwerveInputTransform

Produces swerve velocity vectors relative to the field for the given input.

processOwnShipUp(double, double, double) - Method in class frc.team4373.swerve.SwerveInputTransform

Produces swerve velocity vectors relative to the robot for the given inputs.

processRotation(double) - Method in class frc.team4373.swerve.SwerveInputTransform

Processes rotational input from the joystick to produce rotational-only movement vectors.

processTranslation(double, double) - Method in class frc.team4373.swerve.SwerveInputTransform

Processes x-y input from the joystick to produce translational-only movement vectors.

R

resetEncoder(SwerveDrivetrain.WheelID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Resets the position of the rotator encoder of the given wheel.

resetPigeonYaw() - Method in class frc.team4373.swerve.SwerveDrivetrain

Resets the pigeon's yaw to consider the current orientation field-forward (zero degrees).

RIGHT_1 - frc.team4373.swerve.SwerveDrivetrain.WheelID

RIGHT_2 - frc.team4373.swerve.SwerveDrivetrain.WheelID

right1 - Variable in class frc.team4373.swerve.WheelVector.VectorSet

The vector for the front right wheel.

right1Drive - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the front right drive motor.

right1Rotate - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the front right rotator motor.

right2 - Variable in class frc.team4373.swerve.WheelVector.VectorSet

The vector for the rear right wheel.

right2Drive - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the rear right drive motor.

right2Rotate - Variable in class frc.team4373.swerve.SwerveConfig.WheelsConfig

The SwerveConfig.MotorConfig configuration for the rear right rotator motor.

RobotDimensions(double, double) - Constructor for class frc.team4373.swerve.SwerveConfig.RobotDimensions

Constructs an object describing the dimensions of a swerve bot.

rotatorMotorContinuousAmperage - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

The amperage that the current draw is limited to (for the rotator motors).

rotatorMotorLimitingEnabled - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

Whether or not current limiting is enabled for the rotator motors.

rotatorMotorPeakAmperage - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

The point beyond which current will be limited (for the rotator motors).

rotatorMotorPeakDuration - Variable in class frc.team4373.swerve.SwerveConfig.CurrentLimitConfig

The duration that the current draw is allowed to be over the peak amperage (rotator).

S

setBrakeMode(SwerveDrivetrain.BrakeMode) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets the swerve brake mode.

setDriveMode(SwerveDrivetrain.DriveMode) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets the swerve drive mode (north- or own-ship-up).

setMaxWheelAcceleration(double) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets the max acceleration for each wheel.

setPID(SwerveDrivetrain.WheelID, SwerveConfig.PID, SwerveConfig.PID) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets the PID gains for a specified wheel.

setPigeonYaw(double) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets the pigeon's yaw to be a given value at the current position.

setWheelsPercOut(WheelVector.VectorSet) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets vectors to the SwerveWheels with a PID setpoint for angle and % output for speed.

setWheelsPID(WheelVector.VectorSet) - Method in class frc.team4373.swerve.SwerveDrivetrain

Sets velocity vectors to the four SwerveWheels with PID setpoints for both speed and angle.

speed - Variable in class frc.team4373.swerve.WheelVector

The speed (i.e., magnitude) of the vector (in the range [-1, 1]).

stop() - Method in class frc.team4373.swerve.SwerveDrivetrain

Stops the robot (i.e., sets outputs of all motors of all wheels to zero).

SwerveConfig - Class in frc.team4373.swerve

A configuration object for a swerve bot.

SwerveConfig(SwerveConfig.RobotDimensions, SwerveConfig.WheelsConfig, int) - Constructor for class frc.team4373.swerve.SwerveConfig

Constructs a new configuration object for a swerve bot.

SwerveConfig.CurrentLimitConfig - Class in frc.team4373.swerve

A configuration object representing the current limiting to perform on the drivetrain.

SwerveConfig.MotorConfig - Class in frc.team4373.swerve

A configuration object for a single motor.

SwerveConfig.PID - Class in frc.team4373.swerve

A configuration object containing the gains for a PID controller.

SwerveConfig.RobotDimensions - Class in frc.team4373.swerve

A configuration object representing the dimensions of the robot.

SwerveConfig.WheelsConfig - Class in frc.team4373.swerve

A configuration object for all four wheels of a swerve bot.

SwerveDrivetrain - Class in frc.team4373.swerve

A programmatic representation of a swerve drivetrain.

SwerveDrivetrain(SwerveConfig) - Constructor for class frc.team4373.swerve.SwerveDrivetrain

Creates a new SwerveDrivetrain subclass instance with the given configuration.

SwerveDrivetrain.BrakeMode - Enum in frc.team4373.swerve

The swerve brake mode for the swerve bot (i.e., what to do when the input is zero).

SwerveDrivetrain.DriveMode - Enum in frc.team4373.swerve

The drive mode for the swerve bot.

SwerveDrivetrain.WheelID - Enum in frc.team4373.swerve

A programmatic representation of which wheel is being referenced.

SwerveDriveWithJoystick - Class in frc.team4373.swerve.commands

A default command for controlling a SwerveDrivetrain.

SwerveDriveWithJoystick(DoubleSupplier, DoubleSupplier, DoubleSupplier, SwerveDrivetrain) - Constructor for class frc.team4373.swerve.commands.SwerveDriveWithJoystick

Constructs a new SwerveDriveWithJoystick command.

SwerveInputTransform - Class in frc.team4373.swerve

A class to transform inputs into the proper swerve outputs.

SwerveInputTransform(double, double) - Constructor for class frc.team4373.swerve.SwerveInputTransform

Constructs a new swerve input transform for given robot dimensions.

T

toString() - Method in class frc.team4373.swerve.WheelVector

toString() - Method in class frc.team4373.swerve.WheelVector.VectorSet

trackwidth - Variable in class frc.team4373.swerve.SwerveConfig.RobotDimensions

The trackwidth of the robot.

transform - Variable in class frc.team4373.swerve.SwerveDrivetrain

The SwerveInputTransform transform object for this swerve bot.

V

valueOf(String) - Static method in enum frc.team4373.swerve.SwerveDrivetrain.BrakeMode

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

valueOf(String) - Static method in enum frc.team4373.swerve.SwerveDrivetrain.DriveMode

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

valueOf(String) - Static method in enum frc.team4373.swerve.SwerveDrivetrain.WheelID

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

values() - Static method in enum frc.team4373.swerve.SwerveDrivetrain.BrakeMode

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

values() - Static method in enum frc.team4373.swerve.SwerveDrivetrain.DriveMode

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

values() - Static method in enum frc.team4373.swerve.SwerveDrivetrain.WheelID

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

VectorSet(WheelVector, WheelVector, WheelVector, WheelVector) - Constructor for class frc.team4373.swerve.WheelVector.VectorSet

Constructs a new WheelVector VectorSet.

W

wheelbase - Variable in class frc.team4373.swerve.SwerveConfig.RobotDimensions

The wheelbase of the robot.

wheels - Variable in class frc.team4373.swerve.SwerveConfig

The SwerveConfig.WheelsConfig configuration for the wheels of the robot.

WheelsConfig(SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, double) - Constructor for class frc.team4373.swerve.SwerveConfig.WheelsConfig

Constructs a new configuration object for all wheels on a swerve bot (no current limit).

WheelsConfig(SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, SwerveConfig.MotorConfig, double, SwerveConfig.CurrentLimitConfig) - Constructor for class frc.team4373.swerve.SwerveConfig.WheelsConfig

Constructs a new configuration object for all wheels on a swerve bot.

WheelVector - Class in frc.team4373.swerve

A programmatic representation of a vector that wheels can be set to follow.

WheelVector(double, double) - Constructor for class frc.team4373.swerve.WheelVector

Constructs a new WheelVector.

WheelVector.VectorSet - Class in frc.team4373.swerve

A set of four vectors corresponding to the four wheels of the bot.

Z

ZERO - Static variable in class frc.team4373.swerve.WheelVector.VectorSet

The set of vectors which are all zero.

ZERO - Static variable in class frc.team4373.swerve.WheelVector

The vector with 0 for both components.

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