Index (Yet Another Generic Swerve Library API)

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

A

absoluteEncoder - Variable in class swervelib.motors.SparkFlexSwerve: Absolute encoder attached to the SparkFlex (if exists)
absoluteEncoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve: Absolute encoder attached to the SparkMax (if exists)
absoluteEncoder - Variable in class swervelib.parser.SwerveModuleConfiguration: The Absolute Encoder for the swerve module.
absoluteEncoderInverted - Variable in class swervelib.parser.json.ModuleJson: Absolute encoder inversion state.
absoluteEncoderInverted - Variable in class swervelib.parser.SwerveModuleConfiguration: Whether the absolute encoder is inverted.
absoluteEncoderOffset - Variable in class swervelib.parser.json.ModuleJson: Absolute encoder offset from 0 in degrees.
absolutePositionCache - Variable in class swervelib.SwerveModule: Absolute encoder position cache.
AbstractDriveTrainSimulation - Class in swervelib.simulation.ironmaple.simulation.drivesims: Represents an Abstract Drivetrain Simulation.
AbstractDriveTrainSimulation(DriveTrainSimulationConfig, Pose2d) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Creates a Simulation of a Drivetrain.
activateAmp(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo: Activates the amp for the specified team.
addAmpCharge(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo: Adds a charge to the amp of the specified team.
addBorderLine(Translation2d, Translation2d) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena.FieldMap
addCollectingPose(String, String, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Adds a collecting pose to the config.
addCustomObstacle(Convex, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena.FieldMap
addCustomSimulation(SimulatedArena.Simulatable) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Registers a custom simulation.
addDriveTrainSimulation(AbstractDriveTrainSimulation) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Registers an AbstractDriveTrainSimulation.
addElectricalAppliances(Supplier<Current>) - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Adds a custom electrical appliance.
addGamePiece(GamePieceOnFieldSimulation) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Registers a GamePieceOnFieldSimulation to the Simulation.
addGamePieceAfterTouchGround(SimulatedArena) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Adds a GamePieceOnFieldSimulation to a SimulatedArena to Simulate the Game Piece After Touch-Ground.
addGamePieceAfterTouchGround(SimulatedArena) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly
addGamePieceProjectile(GamePieceProjectile) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Registers a GamePieceProjectile to the Simulation and Launches It.
addGamePiecesToIntake(int) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Adds a number of game pieces to the intake.
addGamePieceToIntake() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Adds 1 game piece from the intake.
addIntakeSimulation(String, IntakeSimulation) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Adds an intake simulation to the manipulator simulation.
addIntakeSimulation(IntakeSimulation) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Registers an IntakeSimulation.
addMotor(MapleMotorSim) - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Adds a motor to the list of electrical appliances.
addPieceWithVariance(Translation2d, Rotation2d, Distance, LinearVelocity, Angle, double, double, double, double, double) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Adds a game piece too the arena with a certain random variance.
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.Goal: Adds points when a piece has been successfully scored in this goal
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoAmp
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeBargeSimulation
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation
addPoints() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
addProjectileSimulation(String, Supplier<GamePieceProjectile>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Adds a projectile simulation to the manipulator simulation.
addRectangularObstacle(double, double, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena.FieldMap
addScoringPose(String, String, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Adds a scoring pose.
addSlewRateLimiters(SlewRateLimiter, SlewRateLimiter, SlewRateLimiter) - Method in class swervelib.SwerveController: Add slew rate limiters to all controls.
addToScore(boolean, int) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Adds to the score of the specified team
addValueToMatchBreakdown(boolean, String, int) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Adds too a value in the scoring breakdown.
addValueToMatchBreakdown(boolean, String, Double) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Adds too a value in the scoring breakdown.
addVisionEstimation(Pose2d, double) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Adds a vision estimation to the pose estimator.
addVisionEstimation(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Adds a vision estimation to the pose estimator.
addVisionMeasurement(Pose2d, double) - Method in class swervelib.SwerveDrive: Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class swervelib.SwerveDrive: Add a vision measurement to the SwerveDrivePoseEstimator and update the SwerveIMU gyro reading with the given timestamp of the vision measurement.
ADIS16448Swerve - Class in swervelib.imu: IMU Swerve class for the ADIS16448_IMU device.
ADIS16448Swerve() - Constructor for class swervelib.imu.ADIS16448Swerve: Construct the ADIS16448 imu and reset default configurations.
ADIS16470Swerve - Class in swervelib.imu: IMU Swerve class for the ADIS16470_IMU device.
ADIS16470Swerve() - Constructor for class swervelib.imu.ADIS16470Swerve: Construct the ADIS16470 imu and reset default configurations.
ADXRS450Swerve - Class in swervelib.imu: IMU Swerve class for the ADXRS450_Gyro device.
ADXRS450Swerve() - Constructor for class swervelib.imu.ADXRS450Swerve: Construct the ADXRS450 imu and reset default configurations.
aim(Pose2d) - Method in class swervelib.SwerveInputStream: Aim the SwerveDrive at this pose while driving.
aimWhile(boolean) - Method in class swervelib.SwerveInputStream: Enable aiming while the trigger is true.
aimWhile(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Enable aiming while the trigger is true.
algae - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation
alliance - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
allianceRelativeControl(boolean) - Method in class swervelib.SwerveInputStream: Modify the output ChassisSpeeds so that it is always relative to your alliance.
allianceRelativeControl(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Modify the output ChassisSpeeds so that it is always relative to your alliance.
allianceString - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
ALLOW_CREATION_ON_REAL_ROBOT - Static variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Whether to allow the simulation to run a real robot This feature is HIGHLY RECOMMENDED to be turned OFF
allowGrounded - Variable in class swervelib.simulation.ironmaple.simulation.Goal
AnalogAbsoluteEncoderSwerve - Class in swervelib.encoders: Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
AnalogAbsoluteEncoderSwerve(int) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Construct the Encoder given the analog input channel.
AnalogAbsoluteEncoderSwerve(AnalogInput) - Constructor for class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Construct the Thrifty Encoder as a Swerve Absolute Encoder.
AnalogGyroSwerve - Class in swervelib.imu: Creates a IMU for AnalogGyro devices, only uses yaw.
AnalogGyroSwerve(int) - Constructor for class swervelib.imu.AnalogGyroSwerve: Analog port in which the gyroscope is connected.
angle - Variable in class swervelib.parser.json.ModuleJson: Angle motor device configuration.
angle - Variable in class swervelib.parser.json.modules.BoolMotorJson: Angle motor inversion state.
angle - Variable in class swervelib.parser.json.modules.ConversionFactorsJson: Angle motor conversion factors composition.
angle - Variable in class swervelib.parser.json.MotorConfigDouble: Angle motor.
angle - Variable in class swervelib.parser.json.MotorConfigInt: Angle motor.
angle - Variable in class swervelib.parser.json.PIDFPropertiesJson: The PIDF with Integral Zone used for the angle motor.
AngleConversionFactorsJson - Class in swervelib.parser.json.modules: Angle motor conversion factors composite JSON parse class.
AngleConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.AngleConversionFactorsJson
angleFrictionVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: The minimum voltage to spin the module or wheel.
angleJoystickRadiusDeadband - Variable in class swervelib.parser.json.ControllerPropertiesJson: The minimum radius of the angle control joystick to allow for heading adjustment of the robot.
angleJoyStickRadiusDeadband - Variable in class swervelib.parser.SwerveControllerConfiguration: hypotenuse deadband for the robot angle control joystick.
angleLimiter - Variable in class swervelib.SwerveController: SlewRateLimiter for angular movement in radians/second.
angleModules(SwerveDrive, Rotation2d) - Static method in class swervelib.SwerveDriveTest: Set the angle of the modules to a given Rotation2d
angleMotor - Variable in class swervelib.parser.SwerveModuleConfiguration: The drive motor and angle motor of this swerve module.
angleMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: Current limits for the Swerve Module.
angleMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration: State of inversion of the angle motor.
angleMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: The time it takes for the motor to go from 0 to full throttle in seconds.
angleOffset - Variable in class swervelib.parser.SwerveModuleConfiguration: Angle offset in degrees for the Swerve Module.
anglePIDF - Variable in class swervelib.parser.SwerveModuleConfiguration: PIDF configuration options for the angle motor closed-loop PID controller.
angularDamping() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the angularDamping record component.
angularVelocityCoefficient - Variable in class swervelib.SwerveDrive: Angular Velocity Correction Coefficent (expected values between -0.15 and 0.15).
angularVelocityCorrection - Variable in class swervelib.SwerveDrive: Correct for skew that scales with angular velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean)
angularVelocitySkewCorrection(ChassisSpeeds) - Method in class swervelib.SwerveDrive: Correct for skew that worsens as angular velocity increases
antiJitter(SwerveModuleState, SwerveModuleState, double) - Static method in class swervelib.math.SwerveMath: Perform anti-jitter within modules if the speed requested is too low.
applyAntiJitter(SwerveModuleState, boolean) - Method in class swervelib.SwerveModule: Apply anti-jitter to the desired state.
applyDeadband(double, boolean, double) - Static method in class swervelib.math.SwerveMath: Algebraically apply a deadband using a piece wise function.
applyStateOptimizations(SwerveModuleState) - Method in class swervelib.SwerveModule: Apply the SwerveModuleState.optimize(Rotation2d) function if the module state optimization is enabled while debugging.
arena - Variable in class swervelib.simulation.ironmaple.simulation.Goal
arena - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
arena - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
Arena2024Crescendo - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024
Arena2024Crescendo() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
Arena2024Crescendo.CrescendoFieldObstaclesMap - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024: the obstacles on the 2024 competition field
Arena2025Reefscape - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: The playing field for the 2025 FRC Game: Reefscape
Arena2025Reefscape() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
Arena2025Reefscape.ReefscapeFieldObstacleMap - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025
Arena2026Rebuilt - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026
Arena2026Rebuilt() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Creates an Arena for the 2026 FRC game rebuilt
Arena2026Rebuilt(boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Creates an Arena for the 2026 FRC game rebuilt
Arena2026Rebuilt.RebuiltFieldObstaclesMap - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026: the obstacles on the 2024 competition field
ArenaEvergreen - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen: A field with no obstacles
ArenaEvergreen(boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen.ArenaEvergreen: A field with no obstacles
ArenaEvergreen.EvergreenFieldObstacleMap - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen
asAmpShotNote(Runnable) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.NoteOnFly
asSpeakerShotNote(Runnable) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.NoteOnFly
atTargetPose(double) - Method in class swervelib.SwerveInputStream: When the SwerveInputStream is in SwerveInputStream.SwerveInputMode.DRIVE_TO_POSE this function will return if the robot is at the desired pose within the defined tolerance.
autonomousAngularVelocityCorrection - Variable in class swervelib.SwerveDrive: Correct for skew that scales with angular velocity in SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds) during auto.
autonomousChassisVelocityCorrection - Variable in class swervelib.SwerveDrive: Correct chassis velocity in SwerveDrive.setChassisSpeeds(ChassisSpeeds chassisSpeeds) (auto) using 254's correction during auto.

B

BACK - Enum constant in enum class swervelib.simulation.ironmaple.simulation.IntakeSimulation.IntakeSide
becomesGamePieceOnGroundAfterTouchGround - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
begin(ContactCollisionData, Contact) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
behaviorChooser - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
BLUE_NITRILE_TREAD - Enum constant in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Blue Nitrile Tread from AndyMark.
blueActivePublisher - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
blueAmp - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
blueAmpClock - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
blueAmpCount - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
blueAmpPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoAmp
blueBarge - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
blueBargePose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeBargeSimulation
blueDepotBottomRightCorner - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
blueDumpPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
blueHub - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
blueHubPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
blueIsOnClock - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
blueLaunchPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
blueOpponentObstacles - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
blueOpponentPoses - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
blueOpponentTargets - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
blueOutpost - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
blueOutpostPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
blueProcessor - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
blueProcessorLaunchPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation
blueProcessorPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation
bluePublishers - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
blueReefSimulation - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
blueRenderPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
blueScore - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
blueScoringBreakdown - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
blueShootPoses - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
blueSpeaker - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
blueSpeakerPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker
blueTable - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
BoolMotorJson - Class in swervelib.parser.json.modules: Inverted motor JSON parsed class.
BoolMotorJson() - Constructor for class swervelib.parser.json.modules.BoolMotorJson
boundingBoxBuffer - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
boundingBoxTranslation - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
BoundingCheck - Class in swervelib.simulation.ironmaple.simulation.drivesims.configs
BoundingCheck() - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.configs.BoundingCheck
branches - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation
branchesCenterPositionBlue - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
branchesCenterPositionRed - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
branchesFacingOutwardsBlue - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
branchesFacingOutwardsRed - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
BUMPER_COEFFICIENT_OF_FRICTION - Static variable in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation
BUMPER_COEFFICIENT_OF_RESTITUTION - Static variable in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation
bumperLength - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
BumperLength - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
bumperLengthX - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
bumperWidth - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
BumperWidth - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
bumperWidthY - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
burnFlash() - Method in class swervelib.motors.SparkFlexSwerve: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.SparkMaxSwerve: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.SwerveMotor: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.TalonFXSSwerve: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.TalonFXSwerve: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.TalonSRXSwerve: Save the configurations from flash to EEPROM.
burnFlash() - Method in class swervelib.motors.ThriftyNovaSwerve: Save the configurations from flash to EEPROM.

C

Cache<T> - Class in swervelib.parser: Cache for frequently requested data.
Cache(Supplier<T>, long) - Constructor for class swervelib.parser.Cache: Cache for arbitrary values.
cachedCollectingEntries - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
cachedCollectingWeights - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
cachedScoringEntries - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
cachedScoringWeights - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
calculate() - Method in class swervelib.parser.json.modules.AngleConversionFactorsJson: Calculate the drive conversion factor.
calculate() - Method in class swervelib.parser.json.modules.DriveConversionFactorsJson: Calculate the drive conversion factor.
calculateCurrent(AngularVelocity, Voltage) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Calculates the current of the motor.
calculateCurrent(Torque) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Calculates the current based on the motor's torque.
calculateDegreesPerSteeringRotation(double) - Static method in class swervelib.math.SwerveMath: Calculate the degrees per steering rotation for the integrated encoder.
calculateDegreesPerSteeringRotation(double, double) - Static method in class swervelib.math.SwerveMath: Calculate the degrees per steering rotation for the integrated encoder.
calculateMaxAcceleration(double) - Static method in class swervelib.math.SwerveMath: Calculate the practical maximum acceleration of the robot using the wheel coefficient of friction.
calculateMaxAcceleration(double, double, double, double, double) - Static method in class swervelib.math.SwerveMath: Calculate the maximum theoretical acceleration without friction.
calculateMaxAngularVelocity(double, double, double) - Static method in class swervelib.math.SwerveMath: Calculate the maximum angular velocity.
calculateMechanismVelocity(Current, Voltage) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Calculates the velocity of the motor.
calculateMetersPerRotation(double, double) - Static method in class swervelib.math.SwerveMath: Calculate the meters per rotation for the integrated encoder.
calculateMetersPerRotation(double, double, double) - Static method in class swervelib.math.SwerveMath: Calculate the meters per rotation for the integrated encoder.
calculateTorque(Current) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Calculates the torque based on the motor's current.
calculateVoltage(Current, AngularVelocity) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Calculates the voltage of the motor.
CanandgyroSwerve - Class in swervelib.imu: SwerveIMU interface for the Boron Canandgyro by Redux Robotics
CanandgyroSwerve(int) - Constructor for class swervelib.imu.CanandgyroSwerve: Generate the SwerveIMU for Canandgyro.
CanAndMagSwerve - Class in swervelib.encoders: HELIUM Canandmag from ReduxRobotics absolute encoder, attached through the CAN bus.
CanAndMagSwerve(int) - Constructor for class swervelib.encoders.CanAndMagSwerve: Create the Canandmag
canbus - Variable in class swervelib.parser.json.DeviceJson: The CAN bus name which the device resides on if using CAN.
CANCoderSwerve - Class in swervelib.encoders: Swerve Absolute Encoder for CTRE CANCoders.
CANCoderSwerve(int) - Constructor for class swervelib.encoders.CANCoderSwerve: Initialize the CANCoder on the standard CANBus.
CANCoderSwerve(int, String) - Constructor for class swervelib.encoders.CANCoderSwerve: Initialize the CANCoder on the CANivore.
canIdWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: An Alert for if the CAN ID is greater than 40.
centerModules(SwerveDrive) - Static method in class swervelib.SwerveDriveTest: Set the modules to center to 0.
centerPieceBottomRightCorner - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
chassis - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
chassisVelocityCorrection - Variable in class swervelib.SwerveDrive: Correct chassis velocity in SwerveDrive.drive(Translation2d, double, boolean, boolean) using 254's correction.
check(double, double, double, String, String) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.BoundingCheck
checkCollision(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Returns wether or not the submitted game piece is within the goal.
checkCollision(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
checkGrounded(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Checks whether the submitted game piece is grounded and if this is acceptable
checkIfVendorLibExists(ReflectionsManager.VENDOR) - Static method in class swervelib.parser.deserializer.ReflectionsManager: Check if the vendordep exists.
checkRotation(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Checks wether or not the submitted game piece has a rotation able to be scored in this goal
checkRotation(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
checkValidity(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.Goal: A high level call to check wether or not the provided piece is within this goals hit box and meets all requirements to be scored.
checkVel(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Function to check wether the velocity of potential game pieces is acceptable.
checkVel(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker
checkVel(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
checkVel(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeBargeSimulation
clamp(Voltage) - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Clamps the voltage according to the supplied voltage and the battery's capabilities.
cleanUp() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Clean up the trajectory through GamePieceProjectile.projectileTrajectoryDisplayCallBackHitTarget
clear() - Method in class swervelib.simulation.ironmaple.simulation.Goal: Removes all game pieces from this goal
clearGamePieces() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
clearGamePieces() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Removes All GamePieceOnFieldSimulation Objects from the Simulation.
clearReef() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation: Resets the reef to its original state.
clearStickyFaults() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.CanAndMagSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.CANCoderSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Clear sticky faults on the encoder.
clearStickyFaults() - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
clearStickyFaults() - Method in class swervelib.encoders.TalonSRXEncoderSwerve
clearStickyFaults() - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Clear sticky faults.
clearStickyFaults() - Method in class swervelib.imu.ADIS16448Swerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.ADIS16470Swerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.ADXRS450Swerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.AnalogGyroSwerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.CanandgyroSwerve: Clear sticky faults on Canandgyro.
clearStickyFaults() - Method in class swervelib.imu.NavX3Swerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.NavXSwerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.Pigeon2Swerve: Clear sticky faults on Pigeon2.
clearStickyFaults() - Method in class swervelib.imu.PigeonSwerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.imu.SwerveIMU: Clear sticky faults on IMU.
clearStickyFaults() - Method in class swervelib.motors.SparkFlexSwerve: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.SparkMaxSwerve: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.SwerveMotor: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.TalonFXSSwerve: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.TalonFXSwerve: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.TalonSRXSwerve: Clear the sticky faults on the motor controller.
clearStickyFaults() - Method in class swervelib.motors.ThriftyNovaSwerve: Clear the sticky faults on the motor controller.
clone() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
clone(SmartOpponentConfig.ChassisConfig) - Static method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Creates a new clone of a config.
clone(SmartOpponentConfig.ModuleConfig) - Static method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Constructs a new SmartOpponentConfig.ModuleConfig from a SmartOpponentConfig.ModuleConfig.
close() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve
close() - Method in class swervelib.encoders.CanAndMagSwerve
close() - Method in class swervelib.encoders.CANCoderSwerve
close() - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve
close() - Method in class swervelib.encoders.SparkFlexEncoderSwerve
close() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve
close() - Method in class swervelib.encoders.SparkMaxEncoderSwerve
close() - Method in class swervelib.encoders.SwerveAbsoluteEncoder
close() - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
close() - Method in class swervelib.encoders.TalonSRXEncoderSwerve
close() - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve
close() - Method in class swervelib.imu.ADIS16448Swerve
close() - Method in class swervelib.imu.ADIS16470Swerve
close() - Method in class swervelib.imu.ADXRS450Swerve
close() - Method in class swervelib.imu.AnalogGyroSwerve
close() - Method in class swervelib.imu.CanandgyroSwerve
close() - Method in class swervelib.imu.NavX3Swerve
close() - Method in class swervelib.imu.NavXSwerve
close() - Method in class swervelib.imu.Pigeon2Swerve
close() - Method in class swervelib.imu.PigeonSwerve
close() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve
close() - Method in class swervelib.imu.SwerveIMU
close() - Method in class swervelib.motors.SparkFlexSwerve
close() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve
close() - Method in class swervelib.motors.SparkMaxSwerve
close() - Method in class swervelib.motors.SwerveMotor
close() - Method in class swervelib.motors.TalonFXSSwerve: Closes handles for unit testing.
close() - Method in class swervelib.motors.TalonFXSwerve
close() - Method in class swervelib.motors.TalonSRXSwerve
close() - Method in class swervelib.motors.ThriftyNovaSwerve: Close the motor controller and release any resources it may have acquired.
close() - Method in class swervelib.SwerveDrive
close() - Method in class swervelib.SwerveModule
COEFFICIENT_OF_FRICTION - Static variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation
coefficientOfRestitution() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the coefficientOfRestitution record component.
cof - Variable in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS
collectingMap - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
collectState() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: The collect state to run.
collectState() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.KitBot: The collect state to run.
collectState() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.SuperKitBot: The collect state to run.
collision(ContactCollisionData) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
collisionDebouncer - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
COLSONS - Enum constant in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Colsons Wheels.
column - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
commandInProgress - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
compareTo(MapleADStar.GridPosition) - Method in record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition
config - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation
config - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation
config - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
config - Variable in class swervelib.SwerveController: SwerveControllerConfiguration object storing data to generate the PIDController for controlling the robot heading, and deadband for heading joystick.
configuration - Variable in class swervelib.SwerveModule: Swerve module configuration options.
configure(boolean) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.CanAndMagSwerve: Configure the CANandMag to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.CANCoderSwerve: Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve: Configure the inversion state of the encoder.
configure(boolean) - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Configure the absolute encoder to read from [0, 360) per second.
configure(boolean) - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
configure(boolean) - Method in class swervelib.encoders.TalonSRXEncoderSwerve
configure(boolean) - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Configure the absolute encoder.
configureCANStatusFrames(double, double, double, double, double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the CAN status frames.
configureCANStatusFrames(int) - Method in class swervelib.motors.TalonSRXSwerve: Set the CAN status frames.
configureCANStatusFrames(int, int, int, int, int, int, int, int, int, int, int) - Method in class swervelib.motors.TalonSRXSwerve: Set the CAN status frames.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkFlexSwerve: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SparkMaxSwerve: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.SwerveMotor: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSSwerve: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonFXSwerve: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.TalonSRXSwerve: Configure the integrated encoder for the swerve module.
configureIntegratedEncoder(double) - Method in class swervelib.motors.ThriftyNovaSwerve: Configure the integrated encoder for the ThriftyNova swerve module.
configureModuleSimulation(SwerveModuleSimulation, SwerveModulePhysicalCharacteristics) - Method in class swervelib.SwerveModule: Configure the SwerveModule.simModule with the MapleSim SwerveModuleSimulation
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkFlexSwerve: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SparkMaxSwerve: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.SwerveMotor: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSSwerve: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonFXSwerve: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.TalonSRXSwerve: Configure the PIDF values for the closed loop controller.
configurePIDF(PIDFConfig) - Method in class swervelib.motors.ThriftyNovaSwerve: Configure the PIDF values for the closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkFlexSwerve: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SparkMaxSwerve: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.SwerveMotor: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSSwerve: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonFXSwerve: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.TalonSRXSwerve: Configure the PID wrapping for the position closed loop controller.
configurePIDWrapping(double, double) - Method in class swervelib.motors.ThriftyNovaSwerve: Configure the PID wrapping for the position closed loop controller.
configureSimModule(SwerveModuleSimulation, SwerveModulePhysicalCharacteristics) - Method in class swervelib.simulation.SwerveModuleSimulation: Configure the maple sim module
constrainMagnitude(double, double) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath: Constrains the magnitude of a value.
constrainOutputVoltage(Angle, AngularVelocity, Voltage) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController: (Utility Function) Constrains the Output Voltage of a Motor.
controllerPropertiesJson - Static variable in class swervelib.parser.SwerveParser: Parsed controllerproperties.json
ControllerPropertiesJson - Class in swervelib.parser.json: SwerveController parsed class.
ControllerPropertiesJson() - Constructor for class swervelib.parser.json.ControllerPropertiesJson
conversionFactor - Variable in class swervelib.parser.json.PhysicalPropertiesJson: Deprecated, for removal: This API element is subject to removal in a future version.
conversionFactor - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: The conversion factors for the drive and angle motors, created by SwerveMath.calculateMetersPerRotation(double, double, double) and SwerveMath.calculateDegreesPerSteeringRotation(double, double).
conversionFactors - Variable in class swervelib.parser.json.ModuleJson: Conversion Factors composition.
conversionFactors - Variable in class swervelib.parser.json.PhysicalPropertiesJson: Conversion Factors composition.
conversionFactors - Variable in class swervelib.parser.SwerveModuleConfiguration: Conversion factor for drive motor onboard PID's and angle PID's.
ConversionFactorsJson - Class in swervelib.parser.json.modules: Conversion Factors parsed JSON class
ConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.ConversionFactorsJson
convertToNativeSensorUnits(double, double) - Method in class swervelib.motors.TalonSRXSwerve: Convert the setpoint into native sensor units.
copy() - Method in class swervelib.SwerveInputStream: Copy the SwerveInputStream object.
copy(SmartOpponentConfig.ChassisConfig) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Loads another config into this config.
copy(SmartOpponentConfig.ModuleConfig) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Copies the ModuleConfig from another ModuleConfig.
COTS - Class in swervelib.simulation.ironmaple.simulation.drivesims
COTS() - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.COTS
COTS.WHEELS - Enum Class in swervelib.simulation.ironmaple.simulation.drivesims: Stores the coefficient of friction of some common used wheels.
create(ReflectionsManager.VENDOR, String, Class<?>[], Object[]) - Static method in class swervelib.parser.deserializer.ReflectionsManager: Create objects if the vendordep exists.
createConfigCustomTimeout(double) - Static method in class swervelib.SwerveDriveTest: Creates a SysIdRoutine.Config with a custom final timeout
createControllerConfiguration(SwerveDriveConfiguration, double) - Method in class swervelib.parser.json.ControllerPropertiesJson: Create the SwerveControllerConfiguration based on parsed and given data.
createDriveFeedforward(double, double, double) - Static method in class swervelib.math.SwerveMath: Create the drive feedforward for swerve modules.
createDriveTrainSim(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Creates a new SwerveDriveSimulation from the current ChassisConfig.
createEncoder(SwerveMotor) - Method in class swervelib.parser.json.DeviceJson: Create a SwerveAbsoluteEncoder from the current configuration.
createIMU() - Method in class swervelib.parser.json.DeviceJson: Create a SwerveIMU from the given configuration.
createModuleConfiguration(PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String) - Method in class swervelib.parser.json.ModuleJson: Create the swerve module configuration based off of parsed data.
createModules(SwerveModuleConfiguration[]) - Method in class swervelib.parser.SwerveDriveConfiguration: Create modules based off of the SwerveModuleConfiguration.
createModuleSimConfig() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Creates a new SwerveModuleSimulation from a ModuleConfig.
createMotor(boolean) - Method in class swervelib.parser.json.DeviceJson: Create a SwerveMotor from the given configuration.
createPhysicalProperties() - Method in class swervelib.parser.json.PhysicalPropertiesJson: Create the physical characteristics based off the parsed data.
createPIDController() - Method in class swervelib.parser.PIDFConfig: Create a PIDController from the PID values.
createSwerveDrive(double) - Method in class swervelib.parser.SwerveParser: Create SwerveDrive from JSON configuration directory.
createSwerveDrive(double, double, double) - Method in class swervelib.parser.SwerveParser: Create SwerveDrive from JSON configuration directory.
createSwerveDrive(double, Pose2d) - Method in class swervelib.parser.SwerveParser: Create SwerveDrive from JSON configuration directory.
CRESCENDO_NOTE_INFO - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField
CrescendoAmp - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024: Simulates a AMPS on the field.
CrescendoAmp(Arena2024Crescendo, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoAmp: Creates an Amp of the specified color.
crescendoArena - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoAmp
crescendoArena - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker
CrescendoFieldObstaclesMap() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo.CrescendoFieldObstaclesMap
CrescendoHumanPlayerSimulation - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024
CrescendoHumanPlayerSimulation(Arena2024Crescendo) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoHumanPlayerSimulation
CrescendoNoteOnField - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024
CrescendoNoteOnField(Translation2d) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoNoteOnField
CrescendoSpeaker - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024: Simulates a SPEAKERs on the field.
CrescendoSpeaker(Arena2024Crescendo, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker: Creates an Speaker of the specified color.
cubeRotationControllerAxis(boolean) - Method in class swervelib.SwerveInputStream: Cube the angular velocity controller axis for a non-linear controls scheme.
cubeRotationControllerAxis(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Cube the angular velocity controller axis for a non-linear controls scheme.
cubeTranslation(Translation2d) - Static method in class swervelib.math.SwerveMath: Cube the Translation2d magnitude given in Polar coordinates.
cubeTranslationControllerAxis(boolean) - Method in class swervelib.SwerveInputStream: Cube the translation axis magnitude for a non-linear control scheme
cubeTranslationControllerAxis(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Cube the translation axis magnitude for a non-linear control scheme.
currentLimit - Variable in class swervelib.parser.json.PhysicalPropertiesJson: The current limit in AMPs to apply to the motors.
currentPathFull - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar
currentPathPoses - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar
currentState - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
currentWaypoints - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar
customSimulations - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena

D

d - Variable in class swervelib.parser.PIDFConfig: Derivative Gain for PID.
deadband(double) - Method in class swervelib.SwerveInputStream: Set a deadband for all controller axis.
Default() - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Default Constructor.
DEFAULT_NEOPRENE_TREAD - Enum constant in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Default Neoprene Treads for Mark4 Modules
desiredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: Describes the desired forward, sideways and angular velocity of the robot.
desiredChassisSpeedsObj - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: Describes the desired forward, sideways and angular velocity of the robot.
desiredState - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
desiredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: An array of rotation and velocity values describing the desired state of each swerve module
desiredStatesObj - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: Desired swerve module states object
destroyed(ContactCollisionData, Contact) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
DeviceJson - Class in swervelib.parser.json: Device JSON parsed class.
DeviceJson() - Constructor for class swervelib.parser.json.DeviceJson
diameter - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson: Diameter of the wheel in inches.
DIODutyCycleEncoderSwerve - Class in swervelib.encoders: DutyCycle encoders such as "US Digital MA3 with DIO Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder." attached via a DIO lane.
DIODutyCycleEncoderSwerve(int) - Constructor for class swervelib.encoders.DIODutyCycleEncoderSwerve: Constructor for the DIO duty cycle encoder.
disableBatterySim() - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Disables the battery simulation.
disableBecomeNoteOnFieldAfterTouchGround() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.NoteOnFly
disableBecomesGamePieceOnFieldAfterTouchGround() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures the Game Piece Projectile to Disappear Upon Touching Ground.
disableBreakdownPublishing() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Tells the arena to stop publishing the match breakdown data to network tables
disablePIDWrapping() - Method in class swervelib.motors.SparkFlexSwerve: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.SparkMaxSwerve: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.SwerveMotor: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.TalonFXSSwerve: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.TalonFXSwerve: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.TalonSRXSwerve: Disable PID Wrapping on the motor.
disablePIDWrapping() - Method in class swervelib.motors.ThriftyNovaSwerve: Disable PID Wrapping on the motor.
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Displays game pieces to advantage scope if applicable.
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoAmp
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeBargeSimulation
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
draw(List<Pose3d>) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation
drive - Variable in class swervelib.parser.json.ModuleJson: Drive motor device configuration.
drive - Variable in class swervelib.parser.json.modules.BoolMotorJson: Drive motor inversion state.
drive - Variable in class swervelib.parser.json.modules.ConversionFactorsJson: Drive motor conversion factors composition.
drive - Variable in class swervelib.parser.json.MotorConfigDouble: Drive motor.
drive - Variable in class swervelib.parser.json.MotorConfigInt: Drive motor.
drive - Variable in class swervelib.parser.json.PIDFPropertiesJson: The PIDF with Integral Zone used for the drive motor.
drive(Translation2d, double, boolean, boolean) - Method in class swervelib.SwerveDrive: The primary method for controlling the drivebase.
drive(Translation2d, double, boolean, boolean, Translation2d) - Method in class swervelib.SwerveDrive: The primary method for controlling the drivebase.
drive(ChassisSpeeds) - Method in class swervelib.SwerveDrive: Secondary method for controlling the drivebase.
drive(ChassisSpeeds, boolean, Translation2d) - Method in class swervelib.SwerveDrive: The primary method for controlling the drivebase.
drive(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive: Secondary method for controlling the drivebase.
drive(ChassisSpeeds, SwerveModuleState[], Force[]) - Method in class swervelib.SwerveDrive: Drive the robot using the SwerveModuleState, it is recommended to have SwerveDrive.setCosineCompensator(boolean) set to false for this.
drive(Supplier<ChassisSpeeds>, boolean) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: A Command to drive the SmartOpponent.
DRIVE_FRICTION_VOLTAGE - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
DRIVE_GEAR_RATIO - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
driveBaseRadius() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
driveBaseRadius() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
driveBaseRadius() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Obtains the drive base radius of the swerve drive.
driveController - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
DriveConversionFactorsJson - Class in swervelib.parser.json.modules: Drive motor composite JSON parse class.
DriveConversionFactorsJson() - Constructor for class swervelib.parser.json.modules.DriveConversionFactorsJson
driveCurrentLimit - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
DriveCurrentLimit - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
driveFieldOriented(ChassisSpeeds) - Method in class swervelib.SwerveDrive: Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
driveFieldOriented(ChassisSpeeds, Translation2d) - Method in class swervelib.SwerveDrive: Secondary method of controlling the drive base given velocity and adjusting it for field oriented use.
driveFieldOrientedAndRobotOriented(ChassisSpeeds, ChassisSpeeds) - Method in class swervelib.SwerveDrive: Tertiary method of controlling the drive base given velocity in both field oriented and robot oriented at the same time.
driveFrictionVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: The minimum voltage to spin the module or wheel.
driveFrictionVoltage - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
DriveFrictionVoltage - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
driveGearRatio - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
driveMotor - Variable in class swervelib.parser.SwerveModuleConfiguration: The drive motor and angle motor of this swerve module.
driveMotor - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
DriveMotor - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
driveMotorConfigs - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
driveMotorCurrentLimit - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: Current limits for the Swerve Module.
driveMotorInverted - Variable in class swervelib.parser.SwerveModuleConfiguration: State of inversion of the drive motor.
driveMotorRampRate - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: The time it takes for the motor to go from 0 to full throttle in seconds.
drivePositionCache - Variable in class swervelib.SwerveModule: Drive motor position cache.
DriveRatio - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
driveToPose(Supplier<Pose2d>, ProfiledPIDController, ProfiledPIDController) - Method in class swervelib.SwerveInputStream: Drive to a given pose with the provided ProfiledPIDControllers
driveToPoseAngleTolerance - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
driveToPoseEnabled(boolean) - Method in class swervelib.SwerveInputStream: Enable driving to the target pose.
driveToPoseEnabled(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Enable driving to the target pose.
driveToPoseTolerance - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
drivetrainSim - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
DriveTrainSimulationConfig - Class in swervelib.simulation.ironmaple.simulation.drivesims.configs: Stores the configurations for a swerve drive simulation.
DriveTrainSimulationConfig(Mass, Distance, Distance, Distance, Distance, Supplier<GyroSimulation>, Supplier<SwerveModuleSimulation>...) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Ordinary Constructor
driveTrainSimulations - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
driveVelocityCache - Variable in class swervelib.SwerveModule: Drive motor velocity cache.
DropFromCoralStation(ReefscapeCoralOnFly.CoralStationsSide, DriverStation.Alliance, boolean) - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly
dump() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost: Dumps game pieces from the specified outpost.

E

elevation - Variable in class swervelib.simulation.ironmaple.simulation.Goal
enableBecomeNoteOnFieldAfterTouchGround() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.NoteOnFly
enableBecomesGamePieceOnFieldAfterTouchGround() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures the Game Piece Projectile to Automatically Become a GamePieceOnFieldSimulation Upon Touching Ground.
enableBreakdownPublishing() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Tells the arena to start publishing the match breakdown data to network tables
encoder - Variable in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Encoder as Analog Input.
encoder - Variable in class swervelib.encoders.CanAndMagSwerve: The Canandmag representing the CANandMag on the CAN bus.
encoder - Variable in class swervelib.encoders.CANCoderSwerve: CANCoder with WPILib sendable and support.
encoder - Variable in class swervelib.encoders.SparkFlexEncoderSwerve: The AbsoluteEncoder representing the duty cycle encoder attached to the SparkFlex.
encoder - Variable in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: The SparkAnalogSensor representing the duty cycle encoder attached to the SparkMax analog port.
encoder - Variable in class swervelib.encoders.SparkMaxEncoderSwerve: The AbsoluteEncoder representing the duty cycle encoder attached to the SparkMax.
encoder - Variable in class swervelib.motors.SparkFlexSwerve: Integrated encoder.
encoder - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve: Integrated encoder.
encoder - Variable in class swervelib.motors.SparkMaxSwerve: Integrated encoder.
encoder - Variable in class swervelib.parser.json.ModuleJson: Absolute encoder device configuration.
end(ContactCollisionData, Contact) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
endCtrlCycle() - Static method in class swervelib.telemetry.SwerveDriveTelemetry: Update the Control cycle time.
endOdomCycle() - Static method in class swervelib.telemetry.SwerveDriveTelemetry: Update the odom cycle time.
equals(Object) - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition: Indicates whether some other object is "equal to" this one.
EvergreenFieldObstacleMap() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen.ArenaEvergreen.EvergreenFieldObstacleMap

F

f - Variable in class swervelib.parser.PIDFConfig: Feedforward value for PID.
factor - Variable in class swervelib.parser.json.modules.AngleConversionFactorsJson: Calculated or given conversion factor.
factor - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson: Calculated conversion factor.
factoryDefault() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.CanAndMagSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.CANCoderSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Reset the encoder to factory defaults.
factoryDefault() - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
factoryDefault() - Method in class swervelib.encoders.TalonSRXEncoderSwerve
factoryDefault() - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Set factory default.
factoryDefault() - Method in class swervelib.imu.ADIS16448Swerve: Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.ADIS16470Swerve: Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.ADXRS450Swerve: Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.AnalogGyroSwerve: Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.CanandgyroSwerve: Reset Canandgyro to factory default.
factoryDefault() - Method in class swervelib.imu.NavX3Swerve: Reset offset to current gyro reading.
factoryDefault() - Method in class swervelib.imu.NavXSwerve: Reset offset to current gyro reading.
factoryDefault() - Method in class swervelib.imu.Pigeon2Swerve: Reset Pigeon2 to factory default.
factoryDefault() - Method in class swervelib.imu.PigeonSwerve: Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Reset IMU to factory default.
factoryDefault() - Method in class swervelib.imu.SwerveIMU: Reset IMU to factory default.
factoryDefaults() - Method in class swervelib.motors.SparkFlexSwerve: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.SparkMaxSwerve: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.SwerveMotor: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.TalonFXSSwerve: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.TalonFXSwerve: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.TalonSRXSwerve: Configure the factory defaults.
factoryDefaults() - Method in class swervelib.motors.ThriftyNovaSwerve: Set factory defaults on the motor controller.
field - Variable in class swervelib.SwerveDrive: Field object.
FIELD_HEIGHT - Static variable in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
FIELD_HEIGHT - Static variable in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
FIELD_WIDTH - Static variable in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
FIELD_WIDTH - Static variable in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
FieldMap() - Constructor for class swervelib.simulation.ironmaple.simulation.SimulatedArena.FieldMap
FieldMirroringUtils - Class in swervelib.simulation.ironmaple.utils
FieldMirroringUtils() - Constructor for class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
findCouplingRatio(SwerveDrive, double, boolean) - Static method in class swervelib.SwerveDriveTest: Find the coupling ratio for all modules.
findDriveMotorKV(SwerveDrive, double, double, double) - Static method in class swervelib.SwerveDriveTest: Find the minimum amount of power required to move the swerve drive motors.
flip(Pose3d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
flip(Rotation2d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
flip(Translation2d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
flip90 - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
flipRotation(Rotation3d) - Static method in class swervelib.simulation.ironmaple.simulation.Goal: Reverses a rotation so that the returned rotation points directly "behind" the original rotation.
followPath(PathPlannerPath) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Has the opponent run a new FollowPathCommand.
forwardDirection - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The direction the robot should be facing when the "Robot Rotation" is zero or blank.
freeSpinCurrent() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
freeSpinMechanismVelocity() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
friction - Variable in class swervelib.parser.json.PhysicalPropertiesJson: Minimum voltage to spin the module or wheel.
friction - Variable in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
front - Variable in class swervelib.parser.json.modules.LocationJson: Location of the swerve module in inches from the center of the robot horizontally.
FRONT - Enum constant in enum class swervelib.simulation.ironmaple.simulation.IntakeSimulation.IntakeSide

G

GamePiece - Interface in swervelib.simulation.ironmaple.simulation.gamepieces: Interface for all Game pieces.
GamePieceContactListener() - Constructor for class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
gamePieceCount - Variable in class swervelib.simulation.ironmaple.simulation.Goal
gamePieceHeight() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the gamePieceHeight record component.
GamePieceInfo(String, Convex, Distance, Mass, double, double, double) - Constructor for record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Creates an instance of a GamePieceInfo record class.
gamePieceLaunched() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Returns a list of all projectile pieces on the field
gamePieceMass() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the gamePieceMass record component.
GamePieceOnFieldSimulation - Class in swervelib.simulation.ironmaple.simulation.gamepieces: Simulates a Game Piece on the Field.
GamePieceOnFieldSimulation(GamePieceOnFieldSimulation.GamePieceInfo, Pose2d) - Constructor for class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation: Creates a Game Piece on the Field with Fixed Height.
GamePieceOnFieldSimulation(GamePieceOnFieldSimulation.GamePieceInfo, DoubleSupplier, Pose2d, Translation2d) - Constructor for class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation: Creates a Game Piece on the Field with Custom Height Supplier and Initial Velocity.
GamePieceOnFieldSimulation.GamePieceInfo - Record Class in swervelib.simulation.ironmaple.simulation.gamepieces: Stores the info of a type of game piece
GamePieceProjectile - Class in swervelib.simulation.ironmaple.simulation.gamepieces: Simulates a Game Piece Launched into the Air
GamePieceProjectile(GamePieceOnFieldSimulation.GamePieceInfo, Translation2d, Translation2d, double, double, Rotation3d) - Constructor for class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Creates a Game Piece Projectile Ejected from a Shooter.
GamePieceProjectile(GamePieceOnFieldSimulation.GamePieceInfo, Translation2d, Translation2d, ChassisSpeeds, Rotation2d, Distance, LinearVelocity, Angle) - Constructor for class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Creates a Game Piece Projectile Ejected from a Shooter.
gamePieceRotation - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
gamePieces - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
gamePiecesOnField() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Returns a list of all grounded pieces on the field
gamePieceType - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
gamePieceType - Variable in class swervelib.simulation.ironmaple.simulation.Goal
gearing - Variable in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
gearRatio - Variable in class swervelib.parser.json.modules.AngleConversionFactorsJson: Gear ratio for the angle/steering/azimuth motor on the Swerve Module.
gearRatio - Variable in class swervelib.parser.json.modules.DriveConversionFactorsJson: Gear ratio for the drive motor rotations to turn the wheel 1 complete rotation.
generateRandomNormal(double, double) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath: using the random number generator of a fixed seed, generate the next random normal variable
generateSysIdCommand(SysIdRoutine, double, double, double) - Static method in class swervelib.SwerveDriveTest: Creates a command that can be mapped to a button or other trigger.
genericInfoTable - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
GenericMotorController(DCMotor) - Constructor for class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController
GeometryConvertor - Class in swervelib.simulation.ironmaple.utils.mathutils: utils to convert between WPILIB and dyn4j geometry classes
GeometryConvertor() - Constructor for class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
get() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
get() - Method in class swervelib.SwerveInputStream: Gets a ChassisSpeeds
getAbsoluteEncoder() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.CanAndMagSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.CANCoderSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve: Get the encoder object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
getAbsoluteEncoder() - Method in class swervelib.encoders.TalonSRXEncoderSwerve
getAbsoluteEncoder() - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Get the instantiated absolute encoder Object.
getAbsoluteEncoder() - Method in class swervelib.SwerveModule: Get the SwerveAbsoluteEncoder for the SwerveModule.
getAbsoluteEncoderReadIssue() - Method in class swervelib.SwerveModule: Get if the last Absolute Encoder had a read issue, such as it does not exist.
getAbsolutePosition() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.CanAndMagSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.CANCoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
getAbsolutePosition() - Method in class swervelib.encoders.TalonSRXEncoderSwerve
getAbsolutePosition() - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Get the absolute position of the encoder.
getAbsolutePosition() - Method in class swervelib.SwerveModule: Get the absolute position.
getAccel() - Method in class swervelib.imu.ADIS16448Swerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.ADIS16470Swerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.ADXRS450Swerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.AnalogGyroSwerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.CanandgyroSwerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.NavX3Swerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.NavXSwerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.Pigeon2Swerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.PigeonSwerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.imu.SwerveIMU: Fetch the acceleration [x, y, z] from the IMU in meters per second squared.
getAccel() - Method in class swervelib.simulation.SwerveIMUSimulation: Fetch the acceleration [x, y, z] from the IMU in m/s/s.
getAccel() - Method in class swervelib.SwerveDrive: Gets current acceleration of the robot in m/s/s.
getActualPoseInSimulationWorld() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtain the ACTUAL robot pose.
getActualSpeedsFieldRelative() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Get the ACTUAL field-relative chassis speeds of the robot.
getActualSpeedsRobotRelative() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Get the ACTUAL robot-relative chassis speeds of the robot.
getAngle(Translation2d) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath: Obtains the angle of a translation, ignores zero translation.
getAngleMotor() - Method in class swervelib.SwerveModule: Get the angle SwerveMotor for the SwerveModule.
getAngleMotorSim() - Method in class swervelib.parser.SwerveDriveConfiguration: Get the DCMotor corresponding to the first module configuration.
getAnglePIDF() - Method in class swervelib.SwerveModule: Get the current angle/azimuth/steering motor PIDF values.
getAngularPosition() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the final position of the mechanism.
getAppliedOutput() - Method in class swervelib.motors.SparkFlexSwerve: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.SparkMaxSwerve: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.SwerveMotor: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.TalonFXSSwerve: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.TalonFXSwerve: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.TalonSRXSwerve: Get the applied dutycycle output.
getAppliedOutput() - Method in class swervelib.motors.ThriftyNovaSwerve: Get the voltage output of the motor controller.
getAppliedVoltage() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the applied voltage by the motor controller.
getAppliedVoltage() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController
getBatteryVoltage() - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Obtains the voltage of the battery.
getBehavior() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Returns the behavior map.
getBehaviorChooser() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets the behavior SendableChooser<Command>.
getBranches() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation: Obtains the amount of CORAL held on the BRANCHES.
getBranches(DriverStation.Alliance) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape: Obtains the amount of CORAL held on the BRANCHES.
getCachedDriveEncoderUnGearedPositions() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Cached Readings of the Drive Encoder's Un-Geared Position.
getCachedDriveWheelFinalPositions() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Cached Readings of the Drive Encoder's Final Position (Wheel Rotations).
getCachedGyroReadings() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation: gyro readings for high-frequency odometers.
getCachedModulePositions() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtains the CACHED module positions measured by the encoders.
getCachedSteerAbsolutePositions() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Cached Readings of the Steer Absolute Positions.
getCachedSteerRelativeEncoderPositions() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Cached Readings of the Steer Relative Encoder's Position.
getChassisSpeedsTranslationalComponent(ChassisSpeeds) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
getCollectingMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Compiles a compacted collecting map.
getCollectingMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Compiles a compacted collecting map.
getCollectingPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Compiles a list of all collecting poses.
getCollectingPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Compiles a list of all collecting poses.
getCollectTarget() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Gets a random collect target based on pose weights.
getCollectWeights() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets the map of collect weights.
getConfig() - Method in class swervelib.motors.SparkFlexSwerve: Get the current configuration of the SparkFlex
getConfig() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the current configuration of the SparkMax
getConfig() - Method in class swervelib.motors.SparkMaxSwerve: Get the current configuration of the SparkMax
getConfig() - Method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.Presets: Returns a new ChassisConfig for the preset.
getConfig() - Method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.Presets: Returns a new ModuleConfig for the preset.
getConfigs() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the configuration of the motor.
getConfiguration() - Method in class swervelib.SwerveModule: Fetch the SwerveModuleConfiguration for the SwerveModule with the parsed configurations.
getCurrentAllianceDriverStationFacing() - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
getCurrentAllianceDriverStationFacing() - Static method in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
getCurrentPath(PathConstraints, GoalEndState) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar: Get the most recently calculated path
getCurrentState() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation
getDefaultFeedforward() - Method in class swervelib.SwerveModule: Get the default SimpleMotorFeedforward for the swerve module drive motor.
getDensityKgPerSquaredMeters() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Calculates the density of the robot.
getDriveBaseRadiusMeters() - Method in class swervelib.parser.SwerveDriveConfiguration: Calculate the Drive Base Radius
getDriveEncoderUnGearedPosition() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Position of the Drive Encoder.
getDriveEncoderUnGearedSpeed() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Speed of the Drive Encoder.
getDriveMotor() - Method in class swervelib.SwerveModule: Get the drive SwerveMotor for the SwerveModule.
getDriveMotorAppliedVoltage() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Actual Output Voltage of the Drive Motor.
getDriveMotorConfigs() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation
getDriveMotorSim() - Method in class swervelib.parser.SwerveDriveConfiguration: Get the DCMotor corresponding to the first module's configuration.
getDriveMotorStatorCurrent() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Stator current the Drive Motor.
getDriveMotorSupplyCurrent() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Amount of Current Supplied to the Drive Motor.
getDrivePIDF() - Method in class swervelib.SwerveModule: Get the current drive motor PIDF values.
getDriveTrainSimulatedChassisSpeedsFieldRelative() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Gets the Actual Field-Relative Chassis Speeds from the Simulation.
getDriveTrainSimulatedChassisSpeedsRobotRelative() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Gets the Actual Robot-Relative Chassis Speeds from the Simulation.
getDriveTrainSimulation() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtain the SwerveDriveSimulation object controlled by this simplified swerve simulation.
getDriveWheelFinalPosition() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Final Position of the Wheel.
getDriveWheelFinalSpeed() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Final Speed of the Wheel.
getEfficiencyMode() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Returns wether or not the arena is in Efficiency mode
getEncoderPosition() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the angular position measured by the relative encoder of the motor.
getEncoderVelocity() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the angular velocity measured by the relative encoder of the motor.
getFieldVelocity() - Method in class swervelib.SwerveDrive: Gets the measured field-relative robot velocity (x, y and omega)
getFreeSpinState() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the "free spin" state of the module
getGamePieceContactListener() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Obtains a New Instance of the IntakeSimulation.GamePieceContactListener for This Intake.
getGamePieceCount() - Method in class swervelib.simulation.ironmaple.simulation.Goal: Returns the number of game pieces currently scored in this goal.
getGamePiecesAmount() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Get the amount of game pieces in the intake.
getGamePiecesArrayByType(String) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Obtains the 3D Poses of a Specific Type of Game Piece as an array.
getGamePiecesByType(String) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Returns all game pieces on the field of the specified type as a list
getGamePiecesPosesByType(String) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
getGamePiecesPosesByType(String) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
getGamePiecesPosesByType(String) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Obtains the 3D Poses of a Specific Type of Game Piece.
getGrippingForceNewtons(double) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
getGyro() - Method in class swervelib.SwerveDrive: Getter for the SwerveIMU.
getGyroReading() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation: Obtains the Estimated Rotation of the Gyro.
getGyroRotation3d() - Method in class swervelib.simulation.SwerveIMUSimulation: Gets the estimated gyro Rotation3d of the robot.
getGyroRotation3d() - Method in class swervelib.SwerveDrive: Gets the current gyro Rotation3d of the robot, as reported by the imu.
getGyroSim() - Method in class swervelib.parser.SwerveDriveConfiguration: Get the gyro simulation for the robot.
getGyroSimulation() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation
getIMU() - Method in class swervelib.imu.ADIS16448Swerve: Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.ADIS16470Swerve: Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.ADXRS450Swerve: Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.AnalogGyroSwerve: Get the instantiated IMU object.
getIMU() - Method in class swervelib.imu.CanandgyroSwerve: Get the instantiated Canandgyro IMU object.
getIMU() - Method in class swervelib.imu.NavX3Swerve: Get the instantiated NavX(Navx) IMU object.
getIMU() - Method in class swervelib.imu.NavXSwerve: Get the instantiated NavX(AHRS) IMU object.
getIMU() - Method in class swervelib.imu.Pigeon2Swerve: Get the instantiated Pigeon2 object.
getIMU() - Method in class swervelib.imu.PigeonSwerve: Get the instantiated WPI_PigeonIMU IMU object.
getIMU() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Get the instantiated WPI_PigeonIMU IMU object.
getIMU() - Method in class swervelib.imu.SwerveIMU: Get the instantiated IMU object.
getInitialPose(DriverStation.Alliance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Gets an initial pose, removing it from the list.
getInstance() - Static method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Gets/Creates the Default Simulation World
getIntakeSimulation(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Gets an intake simulation from the manipulator simulation.
getIntakeSimulations() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: The Map of IntakeSimulation types.
getJoystick() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets the optional joystick Object.
getJoystickAngle(double, double) - Method in class swervelib.SwerveController: Get the angle in radians based off of the heading joysticks.
getLatestModulePositions() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtains the LATEST module positions measured by the encoders.
getManager() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets this opponent's manager if registered.
getMapleSimDrive() - Method in class swervelib.SwerveDrive: Gets the maple-sim drivetrain simulation instance This is used to add intake simulation / launch game pieces from the robot
getMaxAngularVelocity() - Method in class swervelib.SwerveModule: Get the maximum module angular velocity as a AngularVelocity based on the RPM and gear ratio.
getMaxDriveVelocityMetersPerSecond() - Method in class swervelib.SwerveModule: Get the maximum drive velocity of the module in Meters Per Second.
getMaximumChassisAngularVelocity() - Method in class swervelib.SwerveDrive: Get the maximum angular velocity, either SwerveDrive.attainableMaxRotationalVelocityRadiansPerSecond or SwerveControllerConfiguration.maxAngularVelocity, whichever is the lower limit on the robot's speed.
getMaximumChassisVelocity() - Method in class swervelib.SwerveDrive: Get the maximum velocity from SwerveDrive.attainableMaxTranslationalSpeedMetersPerSecond or SwerveDrive.maxChassisSpeedMPS whichever is the lower limit on the robot's speed.
getMaximumModuleAngleVelocity() - Method in class swervelib.SwerveDrive: Get the maximum angular velocity of an azimuth/angle motor in the swerve module.
getMaximumModuleDriveVelocity() - Method in class swervelib.SwerveDrive: Get the maximum drive velocity of a module as a LinearVelocity.
getMaxVelocity() - Method in class swervelib.SwerveModule: Get the maximum module velocity as a LinearVelocity based on the RPM and gear ratio.
getMeasuredAngularVelocity() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation: Gets the Measured Angular Velocity of the Gyro.
getMeasuredSpeedsFieldRelative(boolean) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtain the field-relative chassis speeds measured from the encoders.
getMeasuredSpeedsRobotRelative(boolean) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtain the robot-relative chassis speeds measured from the encoders.
getMeasuredState() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
getMeasuredStates() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtain the MEASURED swerve states.
getModuleConfigurationByName(String, SwerveDriveConfiguration) - Static method in class swervelib.parser.SwerveParser: Get the swerve module by the json name.
getModuleMap() - Method in class swervelib.SwerveDrive: Get the SwerveModule's as a HashMap where the key is the swerve module configuration name.
getModulePosition() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
getModulePositions() - Method in class swervelib.SwerveDrive: Gets the current module positions (azimuth and wheel position (meters)).
getModules() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation
getModules() - Method in class swervelib.SwerveDrive: Get the SwerveModules associated with the SwerveDrive.
getModuleStateOptimization() - Method in class swervelib.SwerveModule: Check if the module state optimization used by SwerveModuleState.optimize(Rotation2d) is enabled.
getMotor() - Method in class swervelib.motors.SparkFlexSwerve: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.SparkMaxSwerve: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.SwerveMotor: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.TalonFXSSwerve: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.TalonFXSwerve: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.TalonSRXSwerve: Get the motor object from the module.
getMotor() - Method in class swervelib.motors.ThriftyNovaSwerve: Get the motor object from the module.
getObstaclesDynamic(Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Saves a list globally in OpponentManager and returns that list only updating it if the last update exceeds the given time.
getObstaclesDynamic(DriverStation.Alliance, Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Saves a list globally in OpponentManager and returns that list only updating it if the last update exceeds the given time.
getOdometryEstimatedPose() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtains the robot pose measured by the odometry.
getOdometryHeading() - Method in class swervelib.SwerveDrive: Fetch the latest odometry heading, should be trusted over SwerveDrive.getYaw().
getOpponentManager() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape: Gets the opponent manager for FRC 2025 Reefscape.
getOpponentManager() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Gets the current OpponentManager.
getOpponentPose() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Gets the current actual opponent pose.
getOpponentPosesDynamic(Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Returns all registered opponent poses.
getOpponentPosesDynamic(DriverStation.Alliance, Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Returns only the opponent poses for the given alliance.
getOpponents() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Gets the list of all registered SmartOpponents.
getOpponents(DriverStation.Alliance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Makes a list of opponents on the given alliance.
getOpponentTargetsDynamic(Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Dynamically caches and refreshed a list of opponent targets.
getOpponentTargetsDynamic(DriverStation.Alliance, Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Returns only the opponent targets for the given alliance.
getPitch() - Method in class swervelib.simulation.SwerveIMUSimulation: Pitch is not simulated currently, always returns 0.
getPitch() - Method in class swervelib.SwerveDrive: Gets the current pitch angle of the robot, as reported by the imu.
getPose() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch: Gives the pose of the reef branch.
getPose() - Method in class swervelib.SwerveDrive: Gets the measured pose (position and rotation) of the robot, as reported by odometry.
getPose3d() - Method in interface swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece: Gives the pose3d of a game piece.
getPose3d() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation: Obtains a 3d pose of the game piece.
getPose3d() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Calculates the Projectile's Current Position.
getPoseOfBranchAt(boolean, int, int) - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch: Returns the required pose of a reef branch at the designated position.
getPoseOnField() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation: Obtains the 2d position of the game piece
getPosition() - Method in class swervelib.motors.SparkFlexSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.SparkMaxSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.SwerveMotor: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.TalonFXSSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.TalonFXSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.TalonSRXSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.motors.ThriftyNovaSwerve: Get the position of the integrated encoder.
getPosition() - Method in class swervelib.simulation.SwerveModuleSimulation: Get the simulated swerve module position.
getPosition() - Method in class swervelib.SwerveModule: Get the position of the swerve module.
getPositionAtTime(double) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Calculates the Projectile's Position at a Given Time.
getProjectileSimulation(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Gets a projectile simulation from the manipulator simulation.
getProjectileSimulations() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: The Map of the GamePieceProjectile types.
getQueeningPose() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Gets a queening pose, removing it from the list.
getRandomFromMap(Map<String, Pose2d>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Gets a random pose from a map.
getRawAbsolutePosition() - Method in class swervelib.SwerveModule: Get the absolute position.
getRawCollectingMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Gets the raw collecting map.
getRawCollectingMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets the raw collecting map.
getRawGyroAngle() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Deprecated.
This rotation is NOT the actual facing of the robot; it is uncalibrated and is only used for features like rotation lock.
getRawRotation3d() - Method in class swervelib.imu.ADIS16448Swerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.ADIS16470Swerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.ADXRS450Swerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.CanandgyroSwerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.NavX3Swerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.NavXSwerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.Pigeon2Swerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.PigeonSwerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Fetch the Rotation3d from the IMU without any zeroing.
getRawRotation3d() - Method in class swervelib.imu.SwerveIMU: Fetch the Rotation3d from the IMU without any zeroing.
getRawScoringMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Gets the raw scoring map.
getRawScoringMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets the raw scoring map.
getRawTargetSpeeds(double, double, double) - Method in class swervelib.SwerveController: Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
getRawTargetSpeeds(double, double, double, double) - Method in class swervelib.SwerveController: Get the ChassisSpeeds based of raw speeds desired in meters/second and heading in radians.
getRelativePosition() - Method in class swervelib.SwerveModule: Get the relative angle in degrees.
getRobotVelocity() - Method in class swervelib.SwerveDrive: Gets the current robot-relative velocity (x, y and omega) of the robot
getRoll() - Method in class swervelib.simulation.SwerveIMUSimulation: Roll is not simulated currently, always returns 0.
getRoll() - Method in class swervelib.SwerveDrive: Gets the current roll angle of the robot, as reported by the imu.
getRotation3d() - Method in class swervelib.imu.ADIS16448Swerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.ADIS16470Swerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.ADXRS450Swerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.AnalogGyroSwerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.CanandgyroSwerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.NavX3Swerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.NavXSwerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.Pigeon2Swerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.PigeonSwerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Fetch the Rotation3d from the IMU.
getRotation3d() - Method in class swervelib.imu.SwerveIMU: Fetch the Rotation3d from the IMU.
getScore(boolean) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Returns the score of the specified team.
getScore(DriverStation.Alliance) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Returns the score of the specified team.
getScoringMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Compiles a compacted scoring map.
getScoringMap() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Compiles a compacted scoring map.
getScoringPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Compiles a list of all scoring poses.
getScoringPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Compiles a list of all scoring poses.
getScoringTarget() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Gets a random scoring target based on pose weights.
getScoringWeights() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Gets the map of scoring weights.
getSetPointsOptimized() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Obtain the optimized SETPOINTS of the swerve.
getSimModule() - Method in class swervelib.SwerveModule: Obtains the SwerveModuleSimulation used in simulation.
getSimMotor() - Method in class swervelib.motors.SparkFlexSwerve: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.SparkMaxSwerve: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.SwerveMotor: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.TalonFXSSwerve: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.TalonFXSwerve: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.TalonSRXSwerve: Get the DCMotor of the motor class.
getSimMotor() - Method in class swervelib.motors.ThriftyNovaSwerve: Get the simulated DCMotor associated with this motor controller.
getSimulatedDriveTrainPose() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Gets the Actual Pose of the Drivetrain in the Simulation World.
getSimulationDriveTrainPose() - Method in class swervelib.SwerveDrive: Gets the actual pose of the drivetrain during simulation
getSimulationDt() - Static method in class swervelib.simulation.ironmaple.simulation.SimulatedArena
getSimulationSubTicksIn1Period() - Static method in class swervelib.simulation.ironmaple.simulation.SimulatedArena
getStackedAlgaePoses() - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack: Retrieves the positions of the Algae pieces in all stacks.
getStackedAlgaePoses(SimulatedArena) - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack
getStackedCoralPoses() - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack: Retrieves the positions of the Coral pieces in all stacks.
getStackedCoralPoses(SimulatedArena) - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack
getState() - Method in class swervelib.simulation.SwerveModuleSimulation: Get the SwerveModuleState of the simulated module.
getState() - Method in class swervelib.SwerveModule: Get the Swerve Module state.
getStates() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Returns the state map.
getStates() - Method in class swervelib.SwerveDrive: Gets the current module states (azimuth and velocity)
getStatorCurrent() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the stator current.
getSteerAbsoluteAngle() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Absolute Angle of the Steer Mechanism.
getSteerAbsoluteEncoderSpeed() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Absolute Rotational Velocity of the Steer Mechanism.
getSteerAbsoluteFacing() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Absolute Facing of the Steer Mechanism.
getSteerMotorAppliedVoltage() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Actual Output Voltage of the Steering Motor.
getSteerMotorConfigs() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation
getSteerMotorStatorCurrent() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Stator current the Steer Motor.
getSteerMotorSupplyCurrent() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Amount of Current Supplied to the Steer Motor.
getSteerRelativeEncoderPosition() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Relative Position of the Steer Encoder.
getSteerRelativeEncoderVelocity() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Obtains the Speed of the Steer Relative Encoder (Geared).
getSupplyCurrent() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the supply current.
getSwerveController() - Method in class swervelib.SwerveDrive: Helper function to get the SwerveDrive.swerveController for the SwerveDrive which can be used to generate ChassisSpeeds for the robot to orient it correctly given axis or angles, and apply SlewRateLimiter to given inputs.
getSwerveModule(SwerveModule[], boolean, boolean) - Static method in class swervelib.math.SwerveMath: Get the fruthest module from center based on the module locations.
getSwerveModulePoses(Pose2d) - Method in class swervelib.SwerveDrive: Get the swerve module poses and on the field relative to the robot.
getTarget() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Gets the opponent's current active target pose.
getTargetFromMap(Map<String, Pose2d>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Gets a random pose from a map.
getTargetSpeeds(double, double, double, double, double) - Method in class swervelib.SwerveController: Get the chassis speeds based on controller input of 1 joystick [-1,1] and an angle.
getTargetSpeeds(double, double, double, double, double, double) - Method in class swervelib.SwerveController: Get the chassis speeds based on controller input of 2 joysticks.
getTheoreticalPropellingForcePerModule(Mass, int, Current) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig: Obtains the theoretical maximum propelling force of ONE module.
getTotalCurrentDrawn() - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Obtains the total current drawn from the battery.
getTracklength() - Method in class swervelib.parser.SwerveDriveConfiguration: Get the tracklength of the swerve modules.
getTrackwidth() - Method in class swervelib.parser.SwerveDriveConfiguration: Get the trackwidth of the swerve modules.
getTranslation2d(ChassisSpeeds) - Static method in class swervelib.SwerveController: Helper function to get the Translation2d of the chassis speeds given the ChassisSpeeds.
getType() - Method in interface swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece: Gives the string type of the current game piece.
getType() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation
getType() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
getValue() - Method in class swervelib.parser.Cache: Get the most up to date cached value.
getVelocity() - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.CanAndMagSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.CANCoderSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Get the velocity in degrees/sec.
getVelocity() - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
getVelocity() - Method in class swervelib.encoders.TalonSRXEncoderSwerve
getVelocity() - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Get the absolute encoder velocity.
getVelocity() - Method in class swervelib.motors.SparkFlexSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.SparkMaxSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.SwerveMotor: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.TalonFXSSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.TalonFXSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.TalonSRXSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.motors.ThriftyNovaSwerve: Get the velocity of the integrated encoder.
getVelocity() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Obtains the final velocity of the mechanism.
getVelocity3dMPS() - Method in interface swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece: Gives the velocity of the game piece.
getVelocity3dMPS() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation
getVelocity3dMPS() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Calculates the Projectile's Velocity at a Given Time.
getVoltage() - Method in class swervelib.motors.SparkFlexSwerve: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.SparkMaxSwerve: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.SwerveMotor: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.TalonFXSSwerve: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.TalonFXSwerve: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.TalonSRXSwerve: Get the voltage output of the motor controller.
getVoltage() - Method in class swervelib.motors.ThriftyNovaSwerve: Get the voltage output of the motor controller.
getYaw() - Method in class swervelib.simulation.SwerveIMUSimulation: Get the estimated angle of the robot.
getYaw() - Method in class swervelib.SwerveDrive: Gets the current yaw angle of the robot, as reported by the imu.
getYawAngularVelocity() - Method in class swervelib.imu.ADIS16448Swerve
getYawAngularVelocity() - Method in class swervelib.imu.ADIS16470Swerve
getYawAngularVelocity() - Method in class swervelib.imu.ADXRS450Swerve
getYawAngularVelocity() - Method in class swervelib.imu.AnalogGyroSwerve
getYawAngularVelocity() - Method in class swervelib.imu.CanandgyroSwerve
getYawAngularVelocity() - Method in class swervelib.imu.NavX3Swerve
getYawAngularVelocity() - Method in class swervelib.imu.NavXSwerve
getYawAngularVelocity() - Method in class swervelib.imu.Pigeon2Swerve
getYawAngularVelocity() - Method in class swervelib.imu.PigeonSwerve
getYawAngularVelocity() - Method in class swervelib.imu.PigeonViaTalonSRXSwerve
getYawAngularVelocity() - Method in class swervelib.imu.SwerveIMU: Fetch the rotation rate from the IMU as MutAngularVelocity
Goal - Class in swervelib.simulation.ironmaple.simulation: A abstract class to handle scoring elements in simulation.
Goal(SimulatedArena, Distance, Distance, Distance, String, Translation3d, boolean, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.Goal: Creates a goal object with no scoring max.
Goal(SimulatedArena, Distance, Distance, Distance, String, Translation3d, boolean, int, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.Goal: Creates a goal object
GoalRadius - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
GRAVITY - Static variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: This value may seem unusual compared to the standard 9.8 m/s² for gravity.
GridPosition(int, int) - Constructor for record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition: Creates an instance of a GridPosition record class.
gyroSimulation - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation
gyroSimulation - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
GyroSimulation - Class in swervelib.simulation.ironmaple.simulation.drivesims: Simulation for a IMU module used as gyro.
GyroSimulation(double, double) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation: Creates a Gyro Simulation.
gyroSimulationFactory - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig

H

hasGoneOutOfField() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Checks if the Game Piece Has Flown Out of the Field's Boundaries.
hashCode() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns a hash code value for this object.
hashCode() - Method in record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition: Returns a hash code value for this object.
hasHitGround() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Checks if the Game Piece Has Touched the Ground.
hasHitTarget() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Checks if the Projectile Has Already Hit the Target At the Moment.
heading - Variable in class swervelib.parser.json.ControllerPropertiesJson: The PID used to control the robot heading.
headingCalculate(double, double) - Method in class swervelib.SwerveController: Calculate the angular velocity given the current and target heading angle in radians.
headingCorrection - Variable in class swervelib.SwerveDrive: Whether to correct heading when driving translationally.
headingPIDF - Variable in class swervelib.parser.SwerveControllerConfiguration: PIDF for the heading of the robot.
headingWhile(boolean) - Method in class swervelib.SwerveInputStream: Set the heading enable state.
headingWhile(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Output ChassisSpeeds based on heading while the supplier is True.
height - Variable in class swervelib.simulation.ironmaple.simulation.Goal
heights - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
HIGH - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Full swerve drive data is sent back in both human and machine readable forms.

I

i - Variable in class swervelib.parser.PIDFConfig: Integral Gain for PID.
i2cLockupWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: An Alert for if there is an I2C lockup issue on the roboRIO.
id - Variable in class swervelib.parser.json.DeviceJson: The CAN ID or pin ID of the device.
ifShouldFlip(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: If robot is red, returns pose as is.
imu - Variable in class swervelib.parser.json.SwerveDriveJson: Robot IMU used to determine heading of the robot.
imu - Variable in class swervelib.parser.SwerveDriveConfiguration: Swerve IMU
imuReadingCache - Variable in class swervelib.SwerveDrive: IMU reading cache for robot readings.
info - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
INFO - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Medium telemetry data, swerve directory
initialBluePoses - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
initialHeight - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
initialLaunchingVelocityMPS - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
initialPose - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
initialPosition - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
initialRedPoses - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
initialVerticalSpeedMPS - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
instance - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
intake(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Runs the intake, stops running the intake when the command ends.
IntakeSimulation - Class in swervelib.simulation.ironmaple.simulation: Simulates an Intake Mechanism on the Robot.
IntakeSimulation(String, AbstractDriveTrainSimulation, Convex, int) - Constructor for class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Creates an Intake Simulation with a Specific Shape.
IntakeSimulation.GamePieceContactListener - Class in swervelib.simulation.ironmaple.simulation: The ContactListener for the Intake Simulation.
IntakeSimulation.IntakeSide - Enum Class in swervelib.simulation.ironmaple.simulation
intakeUntilCollected(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Runs intake(String) until the game piece count in the intake goes up.
InTheFrameIntake(String, AbstractDriveTrainSimulation, Distance, IntakeSimulation.IntakeSide, int) - Static method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Creates an Intake Simulation that Tightly Attaches to One Side of the Chassis.
invalidateCache() - Method in class swervelib.SwerveDrive: Invalidate all Cache object used by the SwerveDrive
invalidateCache() - Method in class swervelib.SwerveModule: Invalidate the Cache objects used by SwerveModule.
inverted - Variable in class swervelib.encoders.ThriftyNovaEncoderSwerve: Inversion state of the attached encoder.
inverted - Variable in class swervelib.parser.json.ModuleJson: Defines which motors are inverted.
invertedIMU - Variable in class swervelib.parser.json.SwerveDriveJson: Invert the IMU of the robot.
isActive(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Returns wether the specified team currently has an active HUB
isAlliance(DriverStation.Alliance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Returns whether the opponent is on the given alliance.
isAmped(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo: Returns wether the specified team currently has an amped speaker
isAngleEmpty() - Method in class swervelib.parser.json.modules.ConversionFactorsJson: Check if the conversion factors are set for the angle motor.
isAutoEnable - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
isBlue - Variable in class swervelib.simulation.ironmaple.simulation.Goal
isColliding() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
isDriveEmpty() - Method in class swervelib.parser.json.modules.ConversionFactorsJson: Check if the conversion factors are set for the drive motor.
isDriveMotor - Variable in class swervelib.motors.SwerveMotor: Whether the swerve motor is a drive motor.
isFull() - Method in class swervelib.simulation.ironmaple.simulation.Goal: Returns wether or not this goal is full.
isGrounded() - Method in interface swervelib.simulation.ironmaple.simulation.gamepieces.GamePiece: Gives wether or not the piece is "grounded".
isGrounded() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation
isGrounded() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
isInEfficiencyMode - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
isMoving(LinearVelocity) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Checks if the SmartOpponent is moving within the given tolerance.
isNearTarget(Pose2d, Time, Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Checks if the given pose is near any opponent target pose.
isNewPathAvailable() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar: Get if a new path has been calculated since the last time a path was retrieved
isRunning() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Returns wether or not this intake is currently running
isSidePresentedAsRed() - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
isSidePresentedAsRed() - Static method in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
isSimulation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: State of simulation of the Robot, used to optimize retrieval.
isStale() - Method in class swervelib.parser.Cache: Return whether the cache is stale.
isState(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Checks if the current state is equal to the given state.
isStateTrigger(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Checks if the current state is equal to the given state.
iz - Variable in class swervelib.parser.PIDFConfig: Integral zone of the PID.

J

joystick - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
joystickDeadband - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig

K

kHallSensor - Enum constant in enum class swervelib.motors.SparkMaxBrushedMotorSwerve.Type: Hall sensor attached to dataport
kinematics - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation
kinematics - Variable in class swervelib.SwerveDrive: Swerve Kinematics object.
KitBot - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim
KitBot(String, DriverStation.Alliance) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.KitBot: A SmartOpponent for FRC Reefscape.
kNoSensor - Enum constant in enum class swervelib.motors.SparkMaxBrushedMotorSwerve.Type: NO sensor
kQuadrature - Enum constant in enum class swervelib.motors.SparkMaxBrushedMotorSwerve.Type: Quad encoder attached to alt

L

lastAngleScalar - Variable in class swervelib.SwerveController: Last angle as a scalar [-1,1] the robot was set to.
lastBlueObstaclePoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastBluePosePoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastBlueTargetPoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastMeasuredTimestamp - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
lastObstaclePoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastPosePoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastRedObstaclePoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastRedPosePoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastRedTargetPoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
lastTargetPoll - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
launch() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Starts the Game Piece Projectile Simulation.
launchedTimer - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile
left - Variable in class swervelib.parser.json.modules.LocationJson: Location of the swerve module in inches from the center of the robot vertically.
LEFT - Enum constant in enum class swervelib.simulation.ironmaple.simulation.IntakeSimulation.IntakeSide
LEFT_STATION - Enum constant in enum class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly.CoralStationsSide
LegacyFieldMirroringUtils2024 - Class in swervelib.simulation.ironmaple.utils
LegacyFieldMirroringUtils2024() - Constructor for class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
level - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
limitVelocity(Translation2d, ChassisSpeeds, Pose2d, double, double, List<Matter>, SwerveDriveConfiguration) - Static method in class swervelib.math.SwerveMath: Limits a commanded velocity to prevent exceeding the maximum acceleration given by SwerveMath.calcMaxAccel(edu.wpi.first.math.geometry.Rotation2d, java.util.List<swervelib.math.Matter>, double, swervelib.parser.SwerveDriveConfiguration).
linearDamping() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the linearDamping record component.
linearInterpretation(double, double, double, double, double) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath
linearInterpretationWithBounding(double, double, double, double, double) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath
loadMOI - Variable in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
loadWeightedPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
location - Variable in class swervelib.parser.json.ModuleJson: The location of the swerve module from the center of the robot in inches.
LocationJson - Class in swervelib.parser.json.modules: Location JSON parsed class.
LocationJson() - Constructor for class swervelib.parser.json.modules.LocationJson
lockPose() - Method in class swervelib.SwerveDrive: Point all modules toward the robot center, thus making the robot very difficult to move.
logAngularMotorActivity(SwerveModule, SysIdRoutineLog, Supplier<Double>) - Static method in class swervelib.SwerveDriveTest: Logs info about the angle motor to the SysIdRoutineLog
logAngularMotorDutyCycle(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest: Logs info about the angle motor to the SysIdRoutineLog.
logAngularMotorVoltage(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest: Logs info about the angle motor to the SysIdRoutineLog
logDriveMotorActivity(SwerveModule, SysIdRoutineLog, Supplier<Double>) - Static method in class swervelib.SwerveDriveTest: Logs power, position and velocuty info form the drive motor to the SysIdRoutineLog
logDriveMotorDutyCycle(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest: Logs output, position and velocuty info form the drive motor to the SysIdRoutineLog
Although SysIdRoutine expects to be logging Voltage, this function logs in Duty-Cycle (percent output) because it results in correctly adjusted values in the analysis for use in this library.
logDriveMotorVoltage(SwerveModule, SysIdRoutineLog) - Static method in class swervelib.SwerveDriveTest: Logs voltage, position and velocuty info form the drive motor to the SysIdRoutineLog
LOW - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Low telemetry data, only post the robot position on the field.

M

MACHINE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Only send the machine readable data related to swerve drive.
manager - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
manager - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
manipulatorSim - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
ManipulatorSim - Class in swervelib.simulation.ironmaple.simulation.opponentsim
ManipulatorSim() - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Creates a new manipulator simulation.
mapleADStar - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
MapleADStar - Class in swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding: Implementation of AD* running locally in a background thread
MapleADStar() - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar: Create a new pathfinder that runs AD* locally in a background thread
MapleADStar.GridPosition - Record Class in swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding: Represents a node in the pathfinding grid
MapleCommonMath - Class in swervelib.simulation.ironmaple.utils.mathutils
MapleCommonMath() - Constructor for class swervelib.simulation.ironmaple.utils.mathutils.MapleCommonMath
MapleMotorSim - Class in swervelib.simulation.ironmaple.simulation.motorsims: DCMotorSim with a bit of extra spice.
MapleMotorSim(SimMotorConfigs) - Constructor for class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Constructs a Brushless Motor Simulation Instance.
mapleSimModule - Variable in class swervelib.simulation.SwerveModuleSimulation: MapleSim module.
mass - Variable in class swervelib.math.Matter: Mass in kg of object.
mass - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
Mass - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
massMoment() - Method in class swervelib.math.Matter: Get the center mass of the object.
matchClock - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
matchClockPublisher - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
Matter - Class in swervelib.math: Object with significant mass that needs to be taken into account.
Matter(Translation3d, double) - Constructor for class swervelib.math.Matter: Construct an object representing some significant matter on the robot.
max - Variable in class swervelib.parser.deserializer.PIDFRange: Maximum value.
max - Variable in class swervelib.simulation.ironmaple.simulation.Goal
maxAcceleration(Mass, int, Current) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig: Obtains the theatrical linear acceleration that the robot can achieve.
maxAngularAcceleration - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
maxAngularAcceleration() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
maxAngularAcceleration(Current) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Obtains the maximum achievable angular acceleration of the chassis.
MaxAngularAcceleration - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
maxAngularVelocity - Variable in class swervelib.parser.SwerveControllerConfiguration: Maximum chassis angular velocity in rad/s
maxAngularVelocity - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
maxAngularVelocity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The maximum achievable angular velocity of the robot.
maxAngularVelocity() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
maxAngularVelocity() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Obtains the maximum achievable angular velocity of the chassis.
MaxAngularVelocity - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
maxDriveVelocity - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
MaxDriveVelocity - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
maximumGroundSpeed() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig: Obtains the theoretical speed that the module can achieve.
maximumRetries - Variable in class swervelib.encoders.SwerveAbsoluteEncoder: The maximum amount of times the swerve encoder will attempt to configure itself if failures occur.
maximumRetries - Variable in class swervelib.motors.SwerveMotor: The maximum amount of times the swerve motor will attempt to configure a motor if failures occur.
maxLinearAcceleration - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
maxLinearAcceleration() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
maxLinearAcceleration(Current) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Obtains the maximum achievable linear acceleration of the chassis.
MaxLinearAcceleration - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
maxLinearVelocity - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
maxLinearVelocity() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
maxLinearVelocity() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Obtains the maximum achievable linear velocity of the chassis.
MaxLinearVelocity - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
maxSpeed - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The maximum achievable speed of the modules, used to adjust the size of the vectors.
maxZ - Variable in class swervelib.simulation.ironmaple.simulation.Goal
measuredChassisSpeeds - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The maximum achievable angular velocity of the robot.
measuredChassisSpeedsObj - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The maximum achievable angular velocity of the robot.
measuredStates - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: An array of rotation and velocity values describing the measured state of each swerve module
measuredStatesObj - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: Measured swerve module states object.
mechanismAngularPosition - Variable in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorState
mechanismAngularVelocity - Variable in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorState
min - Variable in class swervelib.parser.deserializer.PIDFRange: Minimum value.
MINIMUM_BOUNCING_VELOCITY - Static variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation
minZ - Variable in class swervelib.simulation.ironmaple.simulation.Goal
MK4i - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.Presets
module - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
ModuleConfig - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
moduleCount - Variable in class swervelib.parser.SwerveDriveConfiguration: Number of modules on the robot.
moduleCount - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The number of swerve modules
ModuleJson - Class in swervelib.parser.json: SwerveModule JSON parsed class.
ModuleJson() - Constructor for class swervelib.parser.json.ModuleJson
moduleJsons - Static variable in class swervelib.parser.SwerveParser: Array holding the module jsons given in SwerveDriveJson.
moduleLocation - Variable in class swervelib.parser.SwerveModuleConfiguration: Swerve module location relative to the robot.
moduleLocationsMeters - Variable in class swervelib.parser.SwerveDriveConfiguration: Swerve Module locations.
moduleNumber - Variable in class swervelib.SwerveModule: Module number for kinematics, usually 0 to 3.
modules - Variable in class swervelib.parser.json.SwerveDriveJson: Module JSONs in order clockwise order starting from front left.
modules - Variable in class swervelib.parser.SwerveDriveConfiguration: Swerve Modules.
moduleSim - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
moduleTranslations - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
moduleTranslations - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation
moi - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
MOI - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
motor - Variable in class swervelib.encoders.ThriftyNovaEncoderSwerve: The absolute encoder is directly interfaced through the Thrifty Nova motor.
motor - Variable in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
MotorConfigDouble - Class in swervelib.parser.json: Used to store doubles for motor configuration.
MotorConfigDouble() - Constructor for class swervelib.parser.json.MotorConfigDouble: Default constructor.
MotorConfigDouble(double, double) - Constructor for class swervelib.parser.json.MotorConfigDouble: Default constructor.
MotorConfigInt - Class in swervelib.parser.json: Used to store ints for motor configuration.
MotorConfigInt() - Constructor for class swervelib.parser.json.MotorConfigInt: Default constructor.
MotorConfigInt(int, int) - Constructor for class swervelib.parser.json.MotorConfigInt: Default constructor with values.

N

name - Variable in class swervelib.parser.SwerveModuleConfiguration: Name for the swerve module for telemetry.
name - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
NavX3Swerve - Class in swervelib.imu: Communicates with the NavX(Navx) as the IMU.
NavX3Swerve(Integer) - Constructor for class swervelib.imu.NavX3Swerve: Constructor for the NavX(Navx) swerve.
NavXSwerve - Class in swervelib.imu: Communicates with the NavX(AHRS) as the IMU.
NavXSwerve(AHRS.NavXComType) - Constructor for class swervelib.imu.NavXSwerve: Constructor for the NavX(AHRS) swerve.
NavXSwerve(String) - Constructor for class swervelib.imu.NavXSwerve: Constructor for the NavX(AHRS) swerve.
nearPose(Pose2d, Distance, Angle) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Checks if the SmartOpponent is near the given pose within a given tolerance.
nextClockSwapTime - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
nominalVoltage() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
NONE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: No telemetry data is sent back.
normalizeAngle(double) - Static method in class swervelib.math.SwerveMath: Normalize an angle to be within 0 to 360.
NoteOnFly - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024
NoteOnFly(Translation2d, Translation2d, ChassisSpeeds, Rotation2d, Distance, LinearVelocity, Angle) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.NoteOnFly
notMovingFor(Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Checks if the SmartOpponent has not been moving for given time.
notMovingThreshold - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
notMovingTimer - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent

O

obtainGamePieceFromIntake() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Removes 1 game piece from the intake.
of(SwerveDrive, DoubleSupplier, DoubleSupplier) - Static method in class swervelib.SwerveInputStream: Create basic SwerveInputStream without any rotation components.
offset - Variable in class swervelib.encoders.ThriftyNovaEncoderSwerve: Offset of the absolute encoder.
ofGenericGyro() - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: Creates the Simulation for a Generic, Low-Accuracy IMU.
ofMark4(DCMotor, DCMotor, double, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a SDS Mark4 Swerve Module for simulation
ofMark4i(DCMotor, DCMotor, double, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a SDS Mark4-i Swerve Module for simulation
ofMark4n(DCMotor, DCMotor, double, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a SDS Mark4-n Swerve Module for simulation
ofMAXSwerve(DCMotor, DCMotor, double, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: Creates a REV MAXSwerve swerve module for simulation
ofNav2X() - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: Creates the Simulation for a navX2-MXP IMU.
ofPigeon2() - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: Creates the Simulation for a CTRE Pigeon 2 IMU.
ofSwerveX(DCMotor, DCMotor, double, int, double) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a WCP SwerveX Swerve Module for simulation
ofSwerveX2(DCMotor, DCMotor, double, int, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a WCP SwerveX2 Swerve Module for simulation
ofSwerveX2S(DCMotor, DCMotor, double, int, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a WCP SwerveX2S Swerve Module for simulation
ofSwerveXFlipped(DCMotor, DCMotor, double, int, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a WCP SwerveX Flipped Swerve Module for simulation
ofSwerveXS(DCMotor, DCMotor, double, int, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: creates a WCP SwerveXS Swerve Module for simulation
ofThriftySwerve(DCMotor, DCMotor, double, int) - Static method in class swervelib.simulation.ironmaple.simulation.drivesims.COTS: Creates a TTB Thrifty Swerve swerve module for simulation
onIntake(String) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation
onIntake(String) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack
opponentManager - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
OpponentManager - Class in swervelib.simulation.ironmaple.simulation.opponentsim
OpponentManager() - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: MapleSim Opponent currently relies on Pathplanner with a modified pathfinder.
OpponentManager(boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: MapleSim Opponent currently relies on Pathplanner with a modified pathfinder.
opponentObstacles - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
opponentPoses - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
opponents - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
opponentTargets - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
optimalVoltage - Variable in class swervelib.parser.json.PhysicalPropertiesJson: The voltage to use for the smart motor voltage compensation, default is 12.
optimalVoltage - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: The voltage to use for the smart motor voltage compensation.
optimizeAndRunModuleState(SwerveModuleState) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation: Runs the control loops for swerve states on a simulated module.
origin - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch
outpostDump(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Dumps game pieces from the specified outpost.
outpostThrow(boolean, Rotation2d, Angle, LinearVelocity) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Throws a game piece from the outpost at the specified angle and speed.
outpostThrowForGoal(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Attempts too throw a game piece at the specified goal.
output - Variable in class swervelib.parser.PIDFConfig: The PIDF output range.
overrideInstance(SimulatedArena) - Static method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Overrides the Default Simulation World
overrideSimulationTimings(Time, int) - Static method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Overrides the Timing Configurations of the Simulations.
OverTheBumperIntake(String, AbstractDriveTrainSimulation, Distance, Distance, IntakeSimulation.IntakeSide, int) - Static method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Creates an Intake Simulation that Extends Out of the Chassis Frame.

P

p - Variable in class swervelib.parser.PIDFConfig: Proportional Gain for PID.
pathfind(Pair<String, Pose2d>, LinearVelocity) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Pathfinds to a target pose.
pathfindOffset - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
pathplannerConfig - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
pathplannerConfig - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
pathplannerModuleConfig - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
periodic() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Periodic Method for Simplified Swerve Sim.
persist(ContactCollisionData, Contact, Contact) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
phaseClockPublisher - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
PHOENIX5 - Enum constant in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR: CTRE Phoenix 5 and 6
PHOENIX6 - Enum constant in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR
physicalCharacteristics - Variable in class swervelib.parser.SwerveDriveConfiguration: Physical characteristics of the swerve drive from physicalproperties.json.
physicalCharacteristics - Variable in class swervelib.parser.SwerveModuleConfiguration: Physical characteristics of the swerve module.
physicalPropertiesJson - Static variable in class swervelib.parser.SwerveParser: Parsed modules/physicalproperties.json
PhysicalPropertiesJson - Class in swervelib.parser.json: SwerveModulePhysicalCharacteristics parsed data.
PhysicalPropertiesJson() - Constructor for class swervelib.parser.json.PhysicalPropertiesJson
physicsWorld - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
pid - Variable in class swervelib.motors.SparkFlexSwerve: Closed-loop PID controller.
pid - Variable in class swervelib.motors.SparkMaxBrushedMotorSwerve: Closed-loop PID controller.
pid - Variable in class swervelib.motors.SparkMaxSwerve: Closed-loop PID controller.
pid - Variable in class swervelib.motors.ThriftyNovaSwerve: Closed-loop PID controller.
PIDFConfig - Class in swervelib.parser: Hold the PIDF and Integral Zone values for a PID.
PIDFConfig() - Constructor for class swervelib.parser.PIDFConfig: Used when parsing PIDF values from JSON.
PIDFConfig(double, double) - Constructor for class swervelib.parser.PIDFConfig: PIDF Config constructor to contain the values.
PIDFConfig(double, double, double) - Constructor for class swervelib.parser.PIDFConfig: PIDF Config constructor to contain the values.
PIDFConfig(double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig: PIDF Config constructor to contain the values.
PIDFConfig(double, double, double, double, double) - Constructor for class swervelib.parser.PIDFConfig: PIDF Config constructor to contain the values.
pidfPropertiesJson - Static variable in class swervelib.parser.SwerveParser: Parsed modules/pidfproperties.json
PIDFPropertiesJson - Class in swervelib.parser.json: SwerveModule PID with Feedforward for the drive motor and angle motor.
PIDFPropertiesJson() - Constructor for class swervelib.parser.json.PIDFPropertiesJson
PIDFRange - Class in swervelib.parser.deserializer: Class to hold the minimum and maximum input or output of the PIDF.
PIDFRange() - Constructor for class swervelib.parser.deserializer.PIDFRange
pieceAngle - Variable in class swervelib.simulation.ironmaple.simulation.Goal
pieceAngleTolerance - Variable in class swervelib.simulation.ironmaple.simulation.Goal
Pigeon2Swerve - Class in swervelib.imu: SwerveIMU interface for the Pigeon2
Pigeon2Swerve(int) - Constructor for class swervelib.imu.Pigeon2Swerve: Generate the SwerveIMU for Pigeon2.
Pigeon2Swerve(int, String) - Constructor for class swervelib.imu.Pigeon2Swerve: Generate the SwerveIMU for Pigeon2.
PigeonSwerve - Class in swervelib.imu: SwerveIMU interface for the WPI_PigeonIMU.
PigeonSwerve(int) - Constructor for class swervelib.imu.PigeonSwerve: Generate the SwerveIMU for WPI_PigeonIMU.
PigeonViaTalonSRXSwerve - Class in swervelib.imu: SwerveIMU interface for the WPI_PigeonIMU.
PigeonViaTalonSRXSwerve(int) - Constructor for class swervelib.imu.PigeonViaTalonSRXSwerve: Generate the SwerveIMU for WPI_PigeonIMU attached to a TalonSRX.
placeGamePiecesOnField() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
placeGamePiecesOnField() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen.ArenaEvergreen: Evergreen does not have game pieces, this method does nothing.
placeGamePiecesOnField() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
placeGamePiecesOnField() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
placeGamePiecesOnField() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Places Game Pieces on the Field for Autonomous Mode.
placeInAppropriate0To360Scope(double, double) - Static method in class swervelib.math.SwerveMath: Put an angle within the 360 deg scope of a reference.
pollRate - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
POSE - Enum constant in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Info level + field info
PoseLog(Pose2d) - Static method in class swervelib.math.SwerveMath: Logical inverse of the Pose exponential from 254.
posePublisher - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
poseToObstacle(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Formats a pose2d as a bounding box for obstacles using the boundingBoxBuffer.
position - Variable in class swervelib.math.Matter: Position in meters from robot center in 3d space.
position - Variable in class swervelib.simulation.ironmaple.simulation.Goal
postSolve(ContactCollisionData, SolvedContact) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
postTrajectory(Trajectory) - Method in class swervelib.SwerveDrive: Post the trajectory to the field
powerAngleMotorsDutyCycle(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest: Power the angle motors for the swerve drive to a set percentage.
powerAngleMotorsVoltage(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest: Power the angle motors for the swerve drive to a set voltage.
powerDriveMotorsDutyCycle(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest: Power the drive motors for the swerve drive to a set duty cycle percentage.
powerDriveMotorsVoltage(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest: Power the drive motors for the swerve drive to a set voltage.
preSolve(ContactCollisionData, Contact) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation.GamePieceContactListener
project(SwerveModuleState, Rotation2d) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.SwerveStateProjection: Projects the swerve module speed onto the direction of the current swerve facing.
publishBreakdown() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Publishes the match breakdown data to network tables
pushOffsetsToEncoders() - Method in class swervelib.SwerveDrive: Deprecated.
pushOffsetsToEncoders() - Method in class swervelib.SwerveModule: Deprecated.

Q

queeningPose - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
queeningPoses - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
queueSynchronizeEncoders() - Method in class swervelib.SwerveModule: Queue synchronization of the integrated angle encoder with the absolute encoder.

R

rampRate - Variable in class swervelib.parser.json.PhysicalPropertiesJson: The minimum number of seconds to take for the motor to go from 0 to full throttle.
randomInRange(double) - Static method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Generates a random number within a range centered on 0 with a variance set by the parameter.
readingError - Variable in class swervelib.encoders.SwerveAbsoluteEncoder: Last angle reading was faulty.
REBUILT_FUEL_INFO - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnField
RebuiltFieldObstaclesMap(boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt.RebuiltFieldObstaclesMap
RebuiltFuelOnField - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026: Represents an Fuel in the 2026 rebuilt game.
RebuiltFuelOnField(Translation2d) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnField
RebuiltFuelOnFly - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026: Represents an FUEL launched into the air.
RebuiltFuelOnFly(Translation2d, Translation2d, ChassisSpeeds, Rotation2d, Distance, LinearVelocity, Angle) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltFuelOnFly
RebuiltHub - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026: Simulates a HUBs on the field.
RebuiltHub(Arena2026Rebuilt, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub: Creates an HUB of the specified color.
RebuiltOutpost - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026: Simulates a OUTPOSTs on the field.
RebuiltOutpost(Arena2026Rebuilt, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost: Creates an outpost of the specified color.
redActivePublisher - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
redAmp - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
redAmpClock - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
redAmpCount - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
redAmpPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoAmp
redBarge - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
redBargePose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeBargeSimulation
redDepotBottomRightCorner - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
redDumpPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
redHub - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
redHubPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
redLaunchPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
redOpponentObstacles - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
redOpponentPoses - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
redOpponentTargets - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
redOutpost - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
redOutpostPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
redProcessor - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
redProcessorLaunchPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation
redProcessorPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation
redPublishers - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
redReefSimulation - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape
redRenderPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
redScore - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
redScoringBreakdown - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
redShootPoses - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltHub
redSpeaker - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
redSpeakerPose - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoSpeaker
redTable - Variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
REEFSCAPE_ALGAE_INFO - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnField
REEFSCAPE_CORAL_INFO - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnField
REEFSCAPE_STACK_INFO - Static variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack
ReefscapeAlgaeOnField - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Represents an ALGAE in the 2025 Reefscape game.
ReefscapeAlgaeOnField(Translation2d) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnField
ReefscapeAlgaeOnFly - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Represents an ALGAE launched into the air.
ReefscapeAlgaeOnFly(Translation2d, Translation2d, ChassisSpeeds, Rotation2d, Distance, LinearVelocity, Angle) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeAlgaeOnFly
ReefscapeBargeSimulation - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Simulates a BARGEs on the field.
ReefscapeBargeSimulation(Arena2025Reefscape, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeBargeSimulation: Creates an barge of the specified color.
ReefscapeCoralAlgaeStack - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: A CORAL-ALGAE stack on the field.
ReefscapeCoralAlgaeStack(Translation2d) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack
ReefscapeCoralAlgaeStack(Translation2d, SimulatedArena) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralAlgaeStack
ReefscapeCoralOnField - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Represents a CORAL in the 2025 Reefscape game.
ReefscapeCoralOnField(Pose2d) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnField
ReefscapeCoralOnFly - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025
ReefscapeCoralOnFly(Translation2d, Translation2d, ChassisSpeeds, Rotation2d, Distance, LinearVelocity, Angle) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly
ReefscapeCoralOnFly.CoralStationsSide - Enum Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025
ReefscapeFieldObstacleMap() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.Arena2025Reefscape.ReefscapeFieldObstacleMap
ReefscapeOpponentManager - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim
ReefscapeOpponentManager() - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.ReefscapeOpponentManager
ReefscapeProcessorSimulation - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Simulates a PROCESSORs on the field.
ReefscapeProcessorSimulation(Arena2025Reefscape, boolean) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeProcessorSimulation: Creates an processor of the specified color.
ReefscapeReefBranch - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Simulates a Reefscape branch on the field.
ReefscapeReefBranch(Arena2025Reefscape, boolean, int, int) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefBranch: Creates a singular reef branch at the specified location
ReefscapeReefSimulation - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025: Simulates a REEFs on the field.
ReflectionsManager - Class in swervelib.parser.deserializer: Create classes only if the vendor dep exists.
ReflectionsManager() - Constructor for class swervelib.parser.deserializer.ReflectionsManager
ReflectionsManager.VENDOR - Enum Class in swervelib.parser.deserializer: Vendors that supply their own vendordep to communicate with their products.
register() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation
register(SimulatedArena) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation
registerOpponent(SmartOpponent) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Adds an opponent robot to the list of robots to grab things from.
removeBehavior(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Removes a behavior from the config.
removeCollectingPose(String, String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Removes a collecting pose from the config.
removeCollectingPoseType(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Removes all collecting poses of a certain type from the config.
removeGamePiece(GamePieceOnFieldSimulation) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Removes a GamePieceOnFieldSimulation from the Simulation.
removeObtainedGamePieces(SimulatedArena) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Clears the game pieces that have been obtained by the intake.
removePiece(GamePiece) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena
removeProjectile(GamePieceProjectile) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Removes a GamePieceProjectile from the Simulation.
removeScoringPose(String, String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Removes a scoring pose from the config.
removeScoringPoseType(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Removes all scoring poses of a certain type from the config.
removeState(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Removes a state from the config.
replaceBehaviourCommand(String, Command, boolean) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Replaces a behavior's command.
replaceCollectingPose(String, String, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Replaces a collecting pose.
replaceRobotPosition(Translation2d) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures the position of the robot (not the shooter) at the time of launching the game piece.
replaceScoringPose(String, String, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Replaces a scoring pose.
replaceStateCommand(String, Supplier<Command>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Replaces a state's command.
replaceSwerveModuleFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveDrive: Setup the swerve module feedforward.
replaceValueInMatchBreakDown(boolean, String, Double) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: replaces or adds a value to the match scoring breakdown published to network tables
replaceValueInMatchBreakDown(boolean, String, Integer) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: replaces or adds a value to the match scoring breakdown published to network tables
requestObstacles - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar
requestVoltage(Voltage) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController
requiredChassisOptions - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
requiredModuleOptions - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
reset() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost: Resets the outposts internal fuel counter too 24.
resetDriveEncoders() - Method in class swervelib.SwerveDrive: Reset the drive encoders on the robot, useful when manually resetting the robot without a reboot, like in autonomous.
resetFieldForAuto() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Resets the Field for Autonomous Mode.
resetFieldPublisher - Static variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
resetFieldSubscriber - Static variable in class swervelib.simulation.ironmaple.simulation.SimulatedArena
resetOdometry(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Resets the odometry to a specified position.
resetOdometry(Pose2d) - Method in class swervelib.SwerveDrive: Resets odometry to the given pose.
restartInterrupt - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
restoreInternalOffset() - Method in class swervelib.SwerveDrive: Deprecated.
restoreInternalOffset() - Method in class swervelib.SwerveModule: Restore internal offset in YAGSL and either sets absolute encoder offset to 0 or restores old value.
REV - Enum constant in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR: REVLib
RIGHT - Enum constant in enum class swervelib.simulation.ironmaple.simulation.IntakeSimulation.IntakeSide
RIGHT_STATION - Enum constant in enum class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly.CoralStationsSide
robotMass - Variable in class swervelib.parser.json.PhysicalPropertiesJson: Robot mass in lb (pounds)
robotMass - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
robotMassKg - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: Robot mass in Kilograms.
robotRelative(boolean) - Method in class swervelib.SwerveInputStream: Set the stream to output robot relative ChassisSpeeds
robotRelative(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Set the stream to output robot relative ChassisSpeeds
robotRotation - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The robot's current rotation based on odometry or gyro readings
robotRotationObj - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The robot's current rotation based on odometry or gyro readings
rotationUnit - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The units of the module rotations and robot rotation
runAngleMotorCharacterization(double) - Method in class swervelib.simulation.SwerveModuleSimulation: Runs a drive motor characterization on the sim module.
runAngleMotorsCharacterizationOnSimModules(SwerveDrive, double) - Static method in class swervelib.SwerveDriveTest: Set the sim modules to center to 0 and power them to drive in a voltage.
runChassisSpeeds(ChassisSpeeds, Translation2d, boolean, boolean) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Runs chassis speeds on the simulated swerve drive.
runDriveMotorCharacterization(Rotation2d, double) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
runDriveMotorCharacterization(Rotation2d, double) - Method in class swervelib.simulation.SwerveModuleSimulation: Runs a drive motor characterization on the sim module.
runDriveMotorsCharacterizationOnSimModules(SwerveDrive, double, boolean) - Static method in class swervelib.SwerveDriveTest: Set the sim modules to center to 0 and power them to drive in a voltage.
runModuleState(SwerveModuleState) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
runState(String, boolean) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Runs a state as a command.
runSteerMotorCharacterization(double) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
runSwerveStates(SwerveModuleState[]) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Runs a raw module states on the chassis.
runThread() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar

S

scaleRotation(double) - Method in class swervelib.SwerveInputStream: Scale the rotation axis input for SwerveInputStream to reduce the range in which they operate.
scaleTranslation(double) - Method in class swervelib.SwerveInputStream: Scale the translation axis for SwerveInputStream by a constant scalar value.
scaleTranslation(Translation2d, double) - Static method in class swervelib.math.SwerveMath: Scale the Translation2d Polar coordinate magnitude.
score(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: Adds a projectile to the simulation.
scoreState() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: The score state to run.
scoreState() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.KitBot: The score state to run.
scoreState() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.SuperKitBot: The score state to run.
scoreWithIntake(String, String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.ManipulatorSim: A command that only calls score(String) when there is greater than zero(>0) GamePiece in the intake.
scoringMap - Static variable in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager
selectedBehaviorPublisher - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
SelfControlledModuleSimulation(SwerveModuleSimulation) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
SelfControlledSwerveDriveSimulation - Class in swervelib.simulation.ironmaple.simulation.drivesims: An easier way to simulate swerve drive.
SelfControlledSwerveDriveSimulation(SwerveDriveSimulation) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Default Constructor.
SelfControlledSwerveDriveSimulation(SwerveDriveSimulation, Matrix<N3, N1>, Matrix<N3, N1>) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Constructs an instance with given odometry standard deviations.
SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation - Class in swervelib.simulation.ironmaple.simulation.drivesims
serialCommsIssueWarning - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: NavX serial comm issue.
set(double) - Method in class swervelib.motors.SparkFlexSwerve: Set the percentage output.
set(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the percentage output.
set(double) - Method in class swervelib.motors.SparkMaxSwerve: Set the percentage output.
set(double) - Method in class swervelib.motors.SwerveMotor: Set the percentage output.
set(double) - Method in class swervelib.motors.TalonFXSSwerve: Set the percentage output.
set(double) - Method in class swervelib.motors.TalonFXSwerve: Set the percentage output.
set(double) - Method in class swervelib.motors.TalonSRXSwerve: Set the percentage output.
set(double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the percentage output.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkFlexSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SparkMaxSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.SwerveMotor: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonFXSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.TalonSRXSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoder(SwerveAbsoluteEncoder) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the absolute encoder to be a compatible absolute encoder.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.AnalogAbsoluteEncoderSwerve: Cannot Set the offset of an Analog Absolute Encoder.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CanAndMagSwerve: Cannot set the offset of the CANandMag.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.CANCoderSwerve: Sets the Absolute Encoder Offset within the CANcoder's Memory.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.DIODutyCycleEncoderSwerve
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Sets the Absolute Encoder Offset inside of the SparkFlex's Memory.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Sets the Absolute Encoder offset at the Encoder Level.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Sets the Absolute Encoder Offset inside of the SparkMax's Memory.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.SwerveAbsoluteEncoder: Sets the Absolute Encoder offset at the Encoder Level.
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.TalonFXSEncoderAnalogSwerve
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.TalonSRXEncoderSwerve
setAbsoluteEncoderOffset(double) - Method in class swervelib.encoders.ThriftyNovaEncoderSwerve: Set the absolute encoder offset.
setAngle(double) - Method in class swervelib.simulation.SwerveIMUSimulation: Set the heading of the robot.
setAngle(double) - Method in class swervelib.SwerveModule: Set the angle for the module.
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveDrive: Set the conversion factor for the angle/azimuth motor controller.
setAngleMotorConversionFactor(double) - Method in class swervelib.SwerveModule: Set the conversion factor for the angle/azimuth motor controller.
setAngleMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule: Set the voltage compensation for the swerve module motor.
setAnglePIDF(PIDFConfig) - Method in class swervelib.SwerveModule: Set the angle/azimuth/steering motor PID
setAngleSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive) - Static method in class swervelib.SwerveDriveTest: Sets up the SysId runner and logger for the angle motors
setAngularVelocityCompensation(boolean, boolean, double) - Method in class swervelib.SwerveDrive: Enables angular velocity skew correction in teleop and/or autonomous and sets the angular velocity coefficient for both modes
setAntiJitter(boolean) - Method in class swervelib.SwerveModule: Set the antiJitter functionality, if true the modules will NOT auto center.
setAutoCenteringModules(boolean) - Method in class swervelib.SwerveDrive: Enable auto-centering module wheels.
setChassisDiscretization(boolean, boolean, double) - Method in class swervelib.SwerveDrive: Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop and/or auto
setChassisDiscretization(boolean, double) - Method in class swervelib.SwerveDrive: Sets the Chassis discretization seconds as well as enableing/disabling the Chassis velocity correction in teleop
setChassisSpeeds(ChassisSpeeds) - Method in class swervelib.SwerveDrive: Set chassis speeds with closed-loop velocity control.
setConversionFactor(double) - Method in class swervelib.encoders.SparkFlexEncoderSwerve: Set the conversion factor of the SparkFlexEncoderSwerve.
setConversionFactor(double) - Method in class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Set the conversion factor of the SparkMaxAnalogEncoderSwerve.
setConversionFactor(double) - Method in class swervelib.encoders.SparkMaxEncoderSwerve: Set the conversion factor of the SparkMaxEncoderSwerve.
setCosineCompensator(boolean) - Method in class swervelib.SwerveDrive: Enable or disable the SwerveModuleConfiguration.useCosineCompensator for all SwerveModule's in the swerve drive.
setCurrentLimit(int) - Method in class swervelib.motors.SparkFlexSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.SparkMaxSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.SwerveMotor: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.TalonFXSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.TalonSRXSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCurrentLimit(int) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with voltage compensation.
setCustomIntakeCondition(Predicate<GamePieceOnFieldSimulation>) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Sets a Custom Intake Condition.
setDesiredState(SwerveModuleState, boolean, boolean) - Method in class swervelib.SwerveModule: Set the desired state of the swerve module.
setDesiredState(SwerveModuleState, boolean, double) - Method in class swervelib.SwerveModule: Set the desired state of the swerve module.
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveDrive: Set the conversion factor for the drive motor controller.
setDriveMotorConversionFactor(double) - Method in class swervelib.SwerveModule: Set the conversion factor for the drive motor controller.
setDriveMotorVoltageCompensation(double) - Method in class swervelib.SwerveModule: Set the voltage compensation for the swerve module motor.
setDrivePIDF(PIDFConfig) - Method in class swervelib.SwerveModule: Set the drive PIDF values.
setDriveSysIdRoutine(SysIdRoutine.Config, SubsystemBase, SwerveDrive, double, boolean) - Static method in class swervelib.SwerveDriveTest: Sets up the SysId runner and logger for the drive motors
setDynamicObstacles(List<Pair<Translation2d, Translation2d>>, Translation2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar: Set the dynamic obstacles that should be avoided while pathfinding.
setEfficiencyMode(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Determines wether the arena is in efficiency mode
setEncoderAutoSynchronize(boolean) - Method in class swervelib.SwerveModule: Enable auto synchronization for encoders during a match.
setEncoderAutoSynchronize(boolean, double) - Method in class swervelib.SwerveModule: Enable auto synchronization for encoders during a match.
setFeedforward(SimpleMotorFeedforward) - Method in class swervelib.SwerveModule: Set the feedforward attributes to the given parameters.
setGamePiecesCount(int) - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Sets the amount of game pieces in the intake.
setGoalPosition(Translation2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar: Set the goal position to pathfind to
setGyro(Rotation3d) - Method in class swervelib.SwerveDrive: Set the expected gyroscope angle using a Rotation3d object.
setGyroOffset(Rotation3d) - Method in class swervelib.SwerveDrive: Set the gyro scope offset to a desired known rotation.
setHeadingCorrection(boolean) - Method in class swervelib.SwerveDrive: Set the heading correction capabilities of YAGSL.
setHeadingCorrection(boolean, double) - Method in class swervelib.SwerveDrive: Set the heading correction capabilities of YAGSL.
setInverted(boolean) - Method in class swervelib.imu.ADIS16448Swerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.ADIS16470Swerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.ADXRS450Swerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.AnalogGyroSwerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.CanandgyroSwerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.NavX3Swerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.NavXSwerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.Pigeon2Swerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.PigeonSwerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Set the gyro to invert its default direction
setInverted(boolean) - Method in class swervelib.imu.SwerveIMU: Set the gyro to invert its default direction.
setInverted(boolean) - Method in class swervelib.motors.SparkFlexSwerve: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.SparkMaxSwerve: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.SwerveMotor: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.TalonFXSSwerve: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.TalonFXSwerve: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.TalonSRXSwerve: Set the motor to be inverted.
setInverted(boolean) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the motor to be inverted.
setLoopRampRate(double) - Method in class swervelib.motors.SparkFlexSwerve: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.SparkMaxSwerve: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.SwerveMotor: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSSwerve: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.TalonFXSwerve: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.TalonSRXSwerve: Set the maximum rate the open/closed loop output can change by.
setLoopRampRate(double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the maximum rate the open/closed loop output can change by.
setMaximumAllowableSpeeds(double, double) - Method in class swervelib.SwerveDrive: Set the maximum allowable speeds for desaturation.
setMaximumAttainableSpeeds(double, double) - Method in class swervelib.SwerveDrive: Set the maximum attainable speeds for desaturation.
setMaximumChassisAngularVelocity(double) - Method in class swervelib.SwerveController: Set a new maximum angular velocity that is different from the auto-generated one.
setModuleEncoderAutoSynchronize(boolean, double) - Method in class swervelib.SwerveDrive: Enable auto synchronization for encoders during a match.
setModuleStateOptimization(boolean) - Method in class swervelib.SwerveDrive: Set module optimization to be utilized or not.
setModuleStateOptimization(boolean) - Method in class swervelib.SwerveModule: Set utilization of SwerveModuleState.optimize(Rotation2d) which should be disabled for some debugging.
setModuleStates(SwerveModuleState[], boolean) - Method in class swervelib.SwerveDrive: Set the module states (azimuth and velocity) directly.
setModulesToRotaryPosition(SwerveDrive) - Static method in class swervelib.SwerveDriveTest: Set the modules to their rotary position to allow running sysid and spinning the robot
setMotorBrake(boolean) - Method in class swervelib.motors.SparkFlexSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SparkMaxSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.SwerveMotor: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.TalonFXSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.TalonSRXSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the idle mode.
setMotorBrake(boolean) - Method in class swervelib.SwerveModule: Set the brake mode.
setMotorIdleMode(boolean) - Method in class swervelib.SwerveDrive: Sets the drive motors to brake/coast mode.
setNeededAngle(Rotation3d) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Sets the angle to be used when checking game piece rotation.
setNeededAngle(Rotation3d, Angle) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Sets the angle to be used when checking game piece rotation.
setOdometryPeriod(double) - Method in class swervelib.SwerveDrive: Set the odometry update period in seconds.
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16448Swerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.ADIS16470Swerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.ADXRS450Swerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.AnalogGyroSwerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.CanandgyroSwerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.NavX3Swerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.NavXSwerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.Pigeon2Swerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.PigeonSwerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.PigeonViaTalonSRXSwerve: Set the gyro offset.
setOffset(Rotation3d) - Method in class swervelib.imu.SwerveIMU: Set the gyro offset.
setPosition(double) - Method in class swervelib.motors.SparkFlexSwerve: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.SparkMaxSwerve: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.SwerveMotor: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.TalonFXSSwerve: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.TalonFXSwerve: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.TalonSRXSwerve: Set the integrated encoder position.
setPosition(double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the integrated encoder position.
setReference(double, double) - Method in class swervelib.motors.SparkFlexSwerve: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.SparkMaxSwerve: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.SwerveMotor: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.TalonFXSSwerve: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.TalonFXSwerve: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.TalonSRXSwerve: Set the closed loop PID controller reference point.
setReference(double, double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SparkFlexSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SparkMaxSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.SwerveMotor: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.TalonFXSSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.TalonFXSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.TalonSRXSwerve: Set the closed loop PID controller reference point.
setReference(double, double, double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the closed loop PID controller reference point.
setRobotSpeeds(ChassisSpeeds) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Sets the Robot's Speeds to the Given Chassis Speeds.
setRotation(Rotation2d) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation: Calibrates the Gyro to a Given Rotation.
setSelectedBehavior(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Updates the selected behavior SendableChooser<Command>, as if it was changed from the dashboard.
setSelectedFeedbackDevice(FeedbackDevice) - Method in class swervelib.motors.TalonSRXSwerve: Set the selected feedback device for the TalonSRX.
setShouldRunClock(boolean) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt: Used to determine wether the arena should time which goal is active.
setSimulationWorldPose(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Sets the Robot's Current Pose in the Simulation World.
setSimulationWorldPose(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation: Teleport the robot to a specified location on the simulated field.
setStartPosition(Translation2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar: Set the start position to pathfind from
setState(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: Sets the current state of the robot.
setState(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the current state of the robot.
settings - Variable in class swervelib.encoders.CanAndMagSwerve: The Canandmag settings object to use.
setupValueForMatchBreakdown(String) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Defaults a value to 0 and creates it in the match breakdown.
setVelocity(ChassisSpeeds) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation: Sets the world velocity of this game piece.
setVisionMeasurementStdDevs(Matrix<N3, N1>) - Method in class swervelib.SwerveDrive: Sets the pose estimator's trust of global measurements.
setVoltage(double) - Method in class swervelib.motors.SparkFlexSwerve: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.SparkMaxSwerve: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.SwerveMotor: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.TalonFXSSwerve: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.TalonFXSwerve: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.TalonSRXSwerve: Set the voltage of the motor.
setVoltage(double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the voltage of the motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SparkFlexSwerve: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SparkMaxSwerve: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.SwerveMotor: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSSwerve: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.TalonFXSwerve: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.TalonSRXSwerve: Set the voltage compensation for the swerve module motor.
setVoltageCompensation(double) - Method in class swervelib.motors.ThriftyNovaSwerve: Set the voltage compensation for the swerve module motor.
shape() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the shape record component.
shouldClock - Variable in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
shutDown() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Shuts down the current SimulatedArena and stops all simulation so that simulatable objects may be added to a new arena
simMotor - Variable in class swervelib.motors.SwerveMotor: Sim motor to use, defaulted in SwerveMotor.getSimMotor(), but can be overridden here.
SimMotorConfigs - Class in swervelib.simulation.ironmaple.simulation.motorsims: Stores the configurations of the motor.
SimMotorConfigs(DCMotor, double, MomentOfInertia, Voltage) - Constructor for class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Constructs a simulated motor configuration.
SimMotorState - Class in swervelib.simulation.ironmaple.simulation.motorsims: Represents the state of a simulated motor at a given point in time.
SimMotorState(Angle, AngularVelocity) - Constructor for class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorState: Constructs a new sim motor state with initial angle and velocity
SimpleSetup - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.Presets
SimpleSetup - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.Presets
SimpleSquareChassis - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.Presets
SimulatedArena - Class in swervelib.simulation.ironmaple.simulation: Abstract Simulation World
SimulatedArena(SimulatedArena.FieldMap) - Constructor for class swervelib.simulation.ironmaple.simulation.SimulatedArena: Constructs a new simulation arena with the specified field map of obstacles.
SimulatedArena.FieldMap - Class in swervelib.simulation.ironmaple.simulation: Represents an Abstract Field Map
SimulatedArena.Simulatable - Interface in swervelib.simulation.ironmaple.simulation: Represents a custom simulation to be updated during each simulation sub-tick.
SimulatedBattery - Class in swervelib.simulation.ironmaple.simulation.motorsims: Simulates the main battery of the robot.
SimulatedBattery() - Constructor for class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery
SimulatedMotorController - Interface in swervelib.simulation.ironmaple.simulation.motorsims
SimulatedMotorController.GenericMotorController - Class in swervelib.simulation.ironmaple.simulation.motorsims
simulationPeriodic() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
simulationPeriodic() - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Update the simulation world.
simulationSubTick() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.AbstractDriveTrainSimulation: Abstract Simulation Sub-Tick Method.
simulationSubTick() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Updates the Swerve Drive Simulation.
simulationSubTick() - Static method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedBattery: Updates the battery simulation.
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.Goal: Handles the update triggers for the goal object.
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.Arena2024Crescendo
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024.CrescendoHumanPlayerSimulation
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.Arena2026Rebuilt
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeReefSimulation
simulationSubTick(int) - Method in interface swervelib.simulation.ironmaple.simulation.SimulatedArena.Simulatable: Called in SimulatedArena.Simulatable.simulationSubTick(int).
simulationSubTick(int) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Processes a Single Simulation Sub-Tick.
sizeFrontBack - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The distance between the front and back modules.
sizeLeftRight - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The distance between the left and right modules.
SLS_PRINTED_WHEELS - Enum constant in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Team 88's TPU90A Grippy Tire
smartDashboardPath - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
SmartOpponent - Class in swervelib.simulation.ironmaple.simulation.opponentsim
SmartOpponent(SmartOpponentConfig) - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: The SmartOpponent base abstracted class.
SmartOpponentConfig - Class in swervelib.simulation.ironmaple.simulation.opponentsim: The config is required to make a SmartOpponent.
SmartOpponentConfig() - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Default Constructor for SmartOpponentConfig.
SmartOpponentConfig(String, DriverStation.Alliance, Pose2d, Pose2d, SmartOpponentConfig.ChassisConfig) - Constructor for class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Constructor for SmartOpponentConfig with all required options set.
SmartOpponentConfig.ChassisConfig - Class in swervelib.simulation.ironmaple.simulation.opponentsim: The SmartOpponent's Chassis Config, this is an inner config that is only chassis configuration.
SmartOpponentConfig.ChassisConfig.ChassisOptions - Enum Class in swervelib.simulation.ironmaple.simulation.opponentsim: Chassis Options that MUST be set for the SmartOpponentConfig to be valid.
SmartOpponentConfig.ChassisConfig.Presets - Enum Class in swervelib.simulation.ironmaple.simulation.opponentsim: A few chassis presets to simplify configs that don't need to be specific.
SmartOpponentConfig.ModuleConfig - Class in swervelib.simulation.ironmaple.simulation.opponentsim: The SmartOpponent's Module Config, this is an inner config that is only the module configuration.
SmartOpponentConfig.ModuleConfig.ModuleOptions - Enum Class in swervelib.simulation.ironmaple.simulation.opponentsim: Module Options that MUST be set for the SmartOpponentConfig to be valid.
SmartOpponentConfig.ModuleConfig.Presets - Enum Class in swervelib.simulation.ironmaple.simulation.opponentsim: A few module presets to simplify configs that don't need to be specific.
SparkFlexEncoderSwerve - Class in swervelib.encoders: SparkFlex absolute encoder, attached through the data port.
SparkFlexEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkFlexEncoderSwerve: Create the SparkFlexEncoderSwerve object as a duty cycle from the SparkFlex motor.
SparkFlexSwerve - Class in swervelib.motors: An implementation of SparkFlex as a SwerveMotor.
SparkFlexSwerve(int, boolean, DCMotor) - Constructor for class swervelib.motors.SparkFlexSwerve: Initialize the SwerveMotor as a SparkFlex connected to a Brushless Motor.
SparkFlexSwerve(SparkFlex, boolean, DCMotor) - Constructor for class swervelib.motors.SparkFlexSwerve: Initialize the swerve motor.
SparkMaxAnalogEncoderSwerve - Class in swervelib.encoders: SparkMax absolute encoder, attached through the data port analog pin.
SparkMaxAnalogEncoderSwerve(SwerveMotor, double) - Constructor for class swervelib.encoders.SparkMaxAnalogEncoderSwerve: Create the SparkMaxAnalogEncoderSwerve object as a analog sensor from the SparkMax motor data port analog pin.
SparkMaxBrushedMotorSwerve - Class in swervelib.motors: Brushed motor control with SparkMax.
SparkMaxBrushedMotorSwerve(int, boolean, SparkMaxBrushedMotorSwerve.Type, int, boolean, DCMotor) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve: Initialize the SwerveMotor as a SparkMax connected to a Brushless Motor.
SparkMaxBrushedMotorSwerve(SparkMax, boolean, SparkMaxBrushedMotorSwerve.Type, int, boolean, DCMotor) - Constructor for class swervelib.motors.SparkMaxBrushedMotorSwerve: Initialize the swerve motor.
SparkMaxBrushedMotorSwerve.Type - Enum Class in swervelib.motors: Type for encoder for SparkMax
SparkMaxEncoderSwerve - Class in swervelib.encoders: SparkMax absolute encoder, attached through the data port.
SparkMaxEncoderSwerve(SwerveMotor, int) - Constructor for class swervelib.encoders.SparkMaxEncoderSwerve: Create the SparkMaxEncoderSwerve object as a duty cycle from the SparkMax motor.
SparkMaxSwerve - Class in swervelib.motors: An implementation of SparkMax as a SwerveMotor.
SparkMaxSwerve(int, boolean, DCMotor) - Constructor for class swervelib.motors.SparkMaxSwerve: Initialize the SwerveMotor as a SparkMax connected to a Brushless Motor.
SparkMaxSwerve(SparkMax, boolean, DCMotor) - Constructor for class swervelib.motors.SparkMaxSwerve: Initialize the swerve motor.
SPEAKER_POSE_BLUE - Static variable in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
SPEAKER_POSITION_SUPPLIER - Static variable in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
stallCurrent() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
stallTorque() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
standbyState() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: The standby state to run.
startCtrlCycle() - Static method in class swervelib.telemetry.SwerveDriveTelemetry: Start the ctrl timer to measure cycle time, independent of periodic loops.
startingState(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent: The starting state to run.
startIntake() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Turns the Intake On.
startOdomCycle() - Static method in class swervelib.telemetry.SwerveDriveTelemetry: Start the odom cycle timer to calculate how long each odom took.
statePublisher - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.encoders.CANCoderSwerve: Wait time for status frames to show up.
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.CanandgyroSwerve: Wait time for status frames to show up.
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.imu.Pigeon2Swerve: Wait time for status frames to show up.
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.motors.TalonFXSSwerve: Wait time for status frames to show up.
STATUS_TIMEOUT_SECONDS - Static variable in class swervelib.motors.TalonFXSwerve: Wait time for status frames to show up.
STEER_GEAR_RATIO - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
steerAngularInertia - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
SteerAngularInertia - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
steerFrictionVoltage - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
SteerFrictionVoltage - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
steerGearRatio - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
steerMotor - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
SteerMotor - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
steerMotorConfigs - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
SteerRatio - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
steerRotationalInertia - Variable in class swervelib.parser.json.PhysicalPropertiesJson: Steer rotational inertia in KilogramMetersSquare.
steerRotationalInertia - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: Steer rotational inertia in (KilogramSquareMeters) kg/m_sq.
step(Torque, Torque, MomentOfInertia, Time) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorState: Simulates a step in the motor's motion based on the applied forces.
stopIntake() - Method in class swervelib.simulation.ironmaple.simulation.IntakeSimulation: Turns the Intake Off.
stopOdometryThread() - Method in class swervelib.SwerveDrive: Stop the odometry thread in favor of manually updating odometry.
STUDICA - Enum constant in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR: StudicaLib
STUDICA2 - Enum constant in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR
SuperKitBot - Class in swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim
SuperKitBot(String, DriverStation.Alliance) - Constructor for class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.SuperKitBot: A SmartOpponent for FRC Reefscape.
SwerveAbsoluteEncoder - Class in swervelib.encoders: Swerve abstraction class to define a standard interface with absolute encoders for swerve modules..
SwerveAbsoluteEncoder() - Constructor for class swervelib.encoders.SwerveAbsoluteEncoder
swerveController - Variable in class swervelib.SwerveDrive: Swerve controller for controlling heading of the robot.
SwerveController - Class in swervelib: Controller class used to convert raw inputs into robot speeds.
SwerveController(SwerveControllerConfiguration) - Constructor for class swervelib.SwerveController: Construct the SwerveController object which is used for determining the speeds of the robot based on controller input.
SwerveControllerConfiguration - Class in swervelib.parser: Swerve Controller configuration class which is used to configure SwerveController.
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration: Construct the swerve controller configuration.
SwerveControllerConfiguration(SwerveDriveConfiguration, PIDFConfig, double, double) - Constructor for class swervelib.parser.SwerveControllerConfiguration: Construct the swerve controller configuration.
SwerveDrive - Class in swervelib: Swerve Drive class representing and controlling the swerve drive.
SwerveDrive(SwerveDriveConfiguration, SwerveControllerConfiguration, double, Pose2d) - Constructor for class swervelib.SwerveDrive: Creates a new swerve drivebase subsystem.
swerveDriveConfiguration - Variable in class swervelib.SwerveDrive: Swerve drive configuration.
SwerveDriveConfiguration - Class in swervelib.parser: Swerve drive configurations used during SwerveDrive construction.
SwerveDriveConfiguration(SwerveModuleConfiguration[], SwerveIMU, boolean, SwerveModulePhysicalCharacteristics) - Constructor for class swervelib.parser.SwerveDriveConfiguration: Create swerve drive configuration.
swerveDriveJson - Static variable in class swervelib.parser.SwerveParser: Parsed swervedrive.json
SwerveDriveJson - Class in swervelib.parser.json: SwerveDrive JSON parsed class.
SwerveDriveJson() - Constructor for class swervelib.parser.json.SwerveDriveJson
swerveDrivePoseEstimator - Variable in class swervelib.SwerveDrive: Swerve odometry.
SwerveDriveSimulation - Class in swervelib.simulation.ironmaple.simulation.drivesims: Simulates a Swerve Drivetrain.
SwerveDriveSimulation(DriveTrainSimulationConfig, Pose2d) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.SwerveDriveSimulation: Creates a Swerve Drive Simulation.
SwerveDriveTelemetry - Class in swervelib.telemetry: Telemetry to describe the SwerveDrive following frc-web-components.
SwerveDriveTelemetry() - Constructor for class swervelib.telemetry.SwerveDriveTelemetry
SwerveDriveTelemetry.TelemetryVerbosity - Enum Class in swervelib.telemetry: Verbosity of telemetry data sent back.
SwerveDriveTest - Class in swervelib: Class to perform tests on the swerve drive.
SwerveDriveTest() - Constructor for class swervelib.SwerveDriveTest
SwerveIMU - Class in swervelib.imu: Swerve IMU abstraction to define a standard interface with a swerve drive.
SwerveIMU() - Constructor for class swervelib.imu.SwerveIMU
SwerveIMUSimulation - Class in swervelib.simulation: Simulation for SwerveDrive IMU.
SwerveIMUSimulation(GyroSimulation) - Constructor for class swervelib.simulation.SwerveIMUSimulation: Create the swerve drive IMU simulation.
SwerveInputStream - Class in swervelib: Helper class to easily transform Controller inputs into workable Chassis speeds.
SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class swervelib.SwerveInputStream: Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.
SwerveInputStream(SwerveDrive, DoubleSupplier, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class swervelib.SwerveInputStream: Create a SwerveInputStream for an easy way to generate ChassisSpeeds from a driver controller.
swervelib - package swervelib: Yet-Another Generic Swerve Library (YAGSL) main package AKA swervelib.
swervelib.encoders - package swervelib.encoders: Absolute encoders for the swerve drive, all implement SwerveAbsoluteEncoder.
swervelib.imu - package swervelib.imu: IMUs used for controlling the robot heading.
swervelib.math - package swervelib.math: Mathematics for swerve drives.
swervelib.motors - package swervelib.motors: Swerve motor controller wrappers which implement SwerveMotor.
swervelib.parser - package swervelib.parser: JSON Parser for YAGSL configurations.
swervelib.parser.deserializer - package swervelib.parser.deserializer: Deserialize specific variables for outside the parser.
swervelib.parser.json - package swervelib.parser.json: JSON Mapped classes for parsing configuration files.
swervelib.parser.json.modules - package swervelib.parser.json.modules: JSON Mapped Configuration types for modules.
swervelib.simulation - package swervelib.simulation: Classes used to simulate the swerve drive.
swervelib.simulation.ironmaple.simulation - package swervelib.simulation.ironmaple.simulation
swervelib.simulation.ironmaple.simulation.drivesims - package swervelib.simulation.ironmaple.simulation.drivesims
swervelib.simulation.ironmaple.simulation.drivesims.configs - package swervelib.simulation.ironmaple.simulation.drivesims.configs
swervelib.simulation.ironmaple.simulation.gamepieces - package swervelib.simulation.ironmaple.simulation.gamepieces
swervelib.simulation.ironmaple.simulation.motorsims - package swervelib.simulation.ironmaple.simulation.motorsims
swervelib.simulation.ironmaple.simulation.opponentsim - package swervelib.simulation.ironmaple.simulation.opponentsim
swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding - package swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding
swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024 - package swervelib.simulation.ironmaple.simulation.seasonspecific.crescendo2024
swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen - package swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen
swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026 - package swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026
swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025 - package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025
swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim - package swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim
swervelib.simulation.ironmaple.utils - package swervelib.simulation.ironmaple.utils
swervelib.simulation.ironmaple.utils.mathutils - package swervelib.simulation.ironmaple.utils.mathutils
swervelib.telemetry - package swervelib.telemetry: Telemetry package for sending data to NT4 or SmartDashboard.
SwerveMath - Class in swervelib.math: Mathematical functions which pertain to swerve drive.
SwerveMath() - Constructor for class swervelib.math.SwerveMath
SwerveModule - Class in swervelib: The Swerve Module class which represents and controls Swerve Modules for the swerve drive.
SwerveModule(int, SwerveModuleConfiguration) - Constructor for class swervelib.SwerveModule: Construct the swerve module and initialize the swerve module motors and absolute encoder.
SwerveModuleConfiguration - Class in swervelib.parser: Swerve Module configuration class which is used to configure SwerveModule.
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, ConversionFactorsJson, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, boolean, boolean, boolean, String, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration: Construct a configuration object for swerve modules.
SwerveModuleConfiguration(SwerveMotor, SwerveMotor, ConversionFactorsJson, SwerveAbsoluteEncoder, double, double, double, PIDFConfig, PIDFConfig, SwerveModulePhysicalCharacteristics, String, boolean) - Constructor for class swervelib.parser.SwerveModuleConfiguration: Construct a configuration object for swerve modules.
SwerveModulePhysicalCharacteristics - Class in swervelib.parser: Configuration class which stores physical characteristics shared between every swerve module.
SwerveModulePhysicalCharacteristics(ConversionFactorsJson, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics: Construct the swerve module physical characteristics.
SwerveModulePhysicalCharacteristics(ConversionFactorsJson, double, double, int, int, double, double, double, double, double, double) - Constructor for class swervelib.parser.SwerveModulePhysicalCharacteristics: Construct the swerve module physical characteristics.
SwerveModuleSimulation - Class in swervelib.simulation.ironmaple.simulation.drivesims: Simulation for a Single Swerve Module.
SwerveModuleSimulation - Class in swervelib.simulation: Class that wraps around SwerveModuleSimulation
SwerveModuleSimulation() - Constructor for class swervelib.simulation.SwerveModuleSimulation
SwerveModuleSimulation(SwerveModuleSimulationConfig) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Constructs a Swerve Module Simulation.
SwerveModuleSimulationConfig - Class in swervelib.simulation.ironmaple.simulation.drivesims.configs
SwerveModuleSimulationConfig(DCMotor, DCMotor, double, double, Voltage, Voltage, Distance, MomentOfInertia, double) - Constructor for class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig: Constructs a Configuration for Swerve Module Simulation.
swerveModuleSimulationFactories - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig
SwerveMotor - Class in swervelib.motors: Swerve motor abstraction which defines a standard interface for motors within a swerve module.
SwerveMotor() - Constructor for class swervelib.motors.SwerveMotor
SwerveParser - Class in swervelib.parser: Helper class used to parse the JSON directory with specified configuration options.
SwerveParser(File) - Constructor for class swervelib.parser.SwerveParser: Construct a swerve parser.
SwerveStateProjection - Class in swervelib.simulation.ironmaple.utils.mathutils
SwerveStateProjection() - Constructor for class swervelib.simulation.ironmaple.utils.mathutils.SwerveStateProjection
synchronizeModuleEncoders() - Method in class swervelib.SwerveDrive: Synchronize angle motor integrated encoders with data from absolute encoders.

T

TalonFXSEncoderAnalogSwerve - Class in swervelib.encoders: Swerve Absolute Encoder for CTRE TalonFXS.
TalonFXSEncoderAnalogSwerve(SwerveMotor) - Constructor for class swervelib.encoders.TalonFXSEncoderAnalogSwerve
TalonFXSSwerve - Class in swervelib.motors: TalonFXS Swerve Motor.
TalonFXSSwerve(int, boolean, DCMotor) - Constructor for class swervelib.motors.TalonFXSSwerve: Construct the TalonFXS swerve motor given the ID.
TalonFXSSwerve(int, String, boolean, DCMotor) - Constructor for class swervelib.motors.TalonFXSSwerve: Construct the TalonFXS swerve motor given the ID and CANBus.
TalonFXSSwerve(TalonFXS, boolean, DCMotor) - Constructor for class swervelib.motors.TalonFXSSwerve: Constructor for TalonFXS swerve motor.
TalonFXSwerve - Class in swervelib.motors: TalonFX Swerve Motor.
TalonFXSwerve(int, boolean, DCMotor) - Constructor for class swervelib.motors.TalonFXSwerve: Construct the TalonFX swerve motor given the ID.
TalonFXSwerve(int, String, boolean, DCMotor) - Constructor for class swervelib.motors.TalonFXSwerve: Construct the TalonFX swerve motor given the ID and CANBus.
TalonFXSwerve(TalonFX, boolean, DCMotor) - Constructor for class swervelib.motors.TalonFXSwerve: Constructor for TalonFX swerve motor.
TalonSRXEncoderSwerve - Class in swervelib.encoders: Talon SRX attached absolute encoder.
TalonSRXEncoderSwerve(SwerveMotor, FeedbackDevice) - Constructor for class swervelib.encoders.TalonSRXEncoderSwerve: Creates a TalonSRXEncoderSwerve.
TalonSRXSwerve - Class in swervelib.motors: WPI_TalonSRX Swerve Motor.
TalonSRXSwerve(int, boolean, DCMotor) - Constructor for class swervelib.motors.TalonSRXSwerve: Construct the TalonSRX swerve motor given the ID.
TalonSRXSwerve(WPI_TalonSRX, boolean, DCMotor) - Constructor for class swervelib.motors.TalonSRXSwerve: Constructor for TalonSRX swerve motor.
target - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponent
telemetryPath - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig
thetaController - Variable in class swervelib.SwerveController: PID Controller for the robot heading.
THRIFTYBOT - Enum constant in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR: ThriftyLib
ThriftyNovaEncoderSwerve - Class in swervelib.encoders: Thrifty Nova absolute encoder, attached through the data port.
ThriftyNovaEncoderSwerve(SwerveMotor, String) - Constructor for class swervelib.encoders.ThriftyNovaEncoderSwerve: Create the ThriftyNovaEncoderSwerve object as an absolute encoder from the ThriftyNovaSwerve motor.
ThriftyNovaSwerve - Class in swervelib.motors: An implementation of ThriftyNova as a SwerveMotor.
ThriftyNovaSwerve(int, boolean, DCMotor) - Constructor for class swervelib.motors.ThriftyNovaSwerve: Initialize the SwerveMotor as a ThriftyNova connected to a Brushless Motor.
ThriftyNovaSwerve(ThriftyNova, boolean, DCMotor) - Constructor for class swervelib.motors.ThriftyNovaSwerve: Initialize the swerve motor.
throwForGoal() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost: Attempts too throw a game piece at the specified goal.
throwFuel(Rotation2d, Angle, LinearVelocity) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.rebuilt2026.RebuiltOutpost: Throws a game piece from the outpost at the specified angle and speed.
toCurrentAlliancePose(Pose2d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
toCurrentAlliancePose(Pose2d) - Static method in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
toCurrentAllianceRotation(Rotation2d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
toCurrentAllianceRotation(Rotation2d) - Static method in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
toCurrentAllianceTranslation(Translation2d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
toCurrentAllianceTranslation(Translation2d) - Static method in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
toCurrentAllianceTranslation(Translation3d) - Static method in class swervelib.simulation.ironmaple.utils.FieldMirroringUtils
toCurrentAllianceTranslation(Translation3d) - Static method in class swervelib.simulation.ironmaple.utils.LegacyFieldMirroringUtils2024
toDyn4jLinearVelocity(ChassisSpeeds) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toDyn4jRotation(Rotation2d) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toDyn4jTransform(Pose2d) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toDyn4jVector2(Translation2d) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toServeModuleStates(ChassisSpeeds, boolean) - Method in class swervelib.SwerveDrive: Convert a ChassisSpeeds to SwerveModuleState for use elsewhere.
toString() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns a string representation of this record class.
toString() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs
toString() - Method in record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition: Returns a string representation of this record class.
toWpilibChassisSpeeds(Vector2, double) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toWpilibPose2d(Transform) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toWpilibRotation2d(Rotation) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
toWpilibTranslation2d(Vector2) - Static method in class swervelib.simulation.ironmaple.utils.mathutils.GeometryConvertor
trackLength - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
TrackLength - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
trackLengthX() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Calculates the track length in the X direction.
trackLengthX() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
trackWidth - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
TrackWidth - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions
trackWidthY() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Calculates the track width in the Y direction.
trackWidthY() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
translationHeadingOffset(boolean) - Method in class swervelib.SwerveInputStream: Heading offset enable
translationHeadingOffset(Rotation2d) - Method in class swervelib.SwerveInputStream: Set the heading offset angle.
translationHeadingOffset(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Heading offset enabled boolean supplier.
translationOnlyWhile(boolean) - Method in class swervelib.SwerveInputStream: Enable locking of rotation and only translating, overrides everything.
translationOnlyWhile(BooleanSupplier) - Method in class swervelib.SwerveInputStream: Enable locking of rotation and only translating, overrides everything.
type - Variable in class swervelib.parser.json.DeviceJson: The device type, e.g.
type - Variable in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation: The Type of the Game Piece.
type() - Method in record class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation.GamePieceInfo: Returns the value of the type record component.

U

update() - Method in class swervelib.parser.Cache: Update the cache value and timestamp.
update(Time) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim: Updates the simulation.
updateBehaviorChooser() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Updates and gets the refreshed behavior SendableChooser<Command>.
updateCacheValidityPeriods(long, long, long) - Method in class swervelib.SwerveDrive: Update the cache validity period for the robot.
updateConfig(SparkFlexConfig) - Method in class swervelib.motors.SparkFlexSwerve: Update the config for the SparkFlex
updateConfig(SparkMaxConfig) - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Update the config for the SparkMax
updateConfig(SparkMaxConfig) - Method in class swervelib.motors.SparkMaxSwerve: Update the config for the SparkMax
updateControlSignal(Angle, AngularVelocity, Angle, AngularVelocity) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController
updateControlSignal(Angle, AngularVelocity, Angle, AngularVelocity) - Method in interface swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController
updateData() - Static method in class swervelib.telemetry.SwerveDriveTelemetry: Upload data to smartdashboard
updateGamePieceProjectiles(SimulatedArena, Set<GamePieceProjectile>) - Static method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Check every GamePieceProjectile instance for available actions.
updateOdometry() - Method in class swervelib.SwerveDrive: Update odometry should be run every loop.
updateOdometry(SwerveDriveKinematics, SwerveModuleState[], Pose2d[], Field2d) - Method in class swervelib.simulation.SwerveIMUSimulation: Update the odometry of the simulated SwerveDrive and post the SwerveModule states to the Field2d.
updatePathplannerConfig() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Creates a new RobotConfig from the current ChassisConfig.
updatePathplannerModuleConfig() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Creates a new ModuleConfig from a ModuleConfig.
updateSettings - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: Update the telemetry settings that infrequently change.
updateSimulationSubTick(double) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.GyroSimulation: Updates the Gyro Simulation for Each Sub-Tick.
updateSimulationSubTickGetModuleForce(Vector2, Rotation2d, double) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Updates the Simulation for This Module.
updateStateAndPosition(SwerveModuleState) - Method in class swervelib.simulation.SwerveModuleSimulation: Update the position and state of the module.
updateSupplier(Supplier<T>) - Method in class swervelib.parser.Cache: Update the supplier to a new source.
updateSwerveTelemetrySettings() - Static method in class swervelib.telemetry.SwerveDriveTelemetry: Update only the settings that infrequently or never change.
updateTelemetry() - Method in class swervelib.SwerveModule: Update data sent to SmartDashboard.
updateValidityPeriod(long) - Method in class swervelib.parser.Cache: Update the validity period for the cached value, also updates the value.
useCosineCompensator - Variable in class swervelib.parser.json.ModuleJson: Should do cosine compensation when not pointing correct direction;.
useCosineCompensator - Variable in class swervelib.parser.SwerveModuleConfiguration: Should do cosine compensation when not pointing correct direction;.
useDriveMotorController(T) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Sets the motor controller for the drive motor.
useExternalFeedbackSensor() - Method in class swervelib.SwerveDrive: Set the motor controller closed loop feedback device to the defined external absolute encoder, with the given offset from the supplied configuration, overwriting any native offset.
useExternalFeedbackSensor() - Method in class swervelib.SwerveModule: Use external sensors for the feedback of the angle/azimuth/steer controller.
useGenericControllerForSteer() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation
useGenericMotorControllerForDrive() - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation
useInternalFeedbackSensor() - Method in class swervelib.SwerveDrive: Set the motor controller closed loop feedback device to the internal encoder instead of the absolute encoder.
useInternalFeedbackSensor() - Method in class swervelib.SwerveModule: Use external sensors for the feedback of the angle/azimuth/steer controller.
useMotorController(T) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim
useSimpleDCMotorController() - Method in class swervelib.simulation.ironmaple.simulation.motorsims.MapleMotorSim
useSteerMotorController(T) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SwerveModuleSimulation: Requests the Steering Motor to Run at a Specified Output.
usingExternalFeedbackSensor() - Method in class swervelib.motors.SparkFlexSwerve: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.SparkMaxBrushedMotorSwerve: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.SparkMaxSwerve: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.SwerveMotor: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.TalonFXSSwerve: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.TalonFXSwerve: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.TalonSRXSwerve: Queries whether the absolute encoder is directly attached to the motor controller.
usingExternalFeedbackSensor() - Method in class swervelib.motors.ThriftyNovaSwerve: Queries whether the absolute encoder is directly attached to the motor controller.

V

validateConfigs() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Checks if the config is valid.
validConfig() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Checks if the config is valid.
validConfig() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Checks if the config is valid.
valueOf(String) - Static method in enum class swervelib.motors.SparkMaxBrushedMotorSwerve.Type: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.IntakeSimulation.IntakeSide: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.Presets: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.Presets: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly.CoralStationsSide: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Returns the enum constant of this class with the specified name.
values() - Static method in enum class swervelib.motors.SparkMaxBrushedMotorSwerve.Type: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.parser.deserializer.ReflectionsManager.VENDOR: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.IntakeSimulation.IntakeSide: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.ChassisOptions: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig.Presets: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.Presets: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.ReefscapeCoralOnFly.CoralStationsSide: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity: Returns an array containing the constants of this enum class, in the order they are declared.
velocityPIDF - Variable in class swervelib.parser.SwerveModuleConfiguration: PIDF configuration options for the drive motor closed-loop PID controller.
verbosity - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The current telemetry verbosity level.
VEX_GRIP_V2 - Enum constant in enum class swervelib.simulation.ironmaple.simulation.drivesims.COTS.WHEELS: Vex Grip V2 Wheel.

W

WHEEL_RADIUS - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
wheelCOF - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
WheelCOF - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.json.PhysicalPropertiesJson: The grip tape coefficient of friction on carpet.
wheelGripCoefficientOfFriction - Variable in class swervelib.parser.SwerveModulePhysicalCharacteristics: Wheel grip tape coefficient of friction on carpet, as described by the vendor.
wheelLocations - Static variable in class swervelib.telemetry.SwerveDriveTelemetry: The Locations of the swerve drive wheels.
wheelRadius - Variable in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig
WheelRadius - Enum constant in enum class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig.ModuleOptions
WHEELS_COEFFICIENT_OF_FRICTION - Variable in class swervelib.simulation.ironmaple.simulation.drivesims.configs.SwerveModuleSimulationConfig
willHitTarget() - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Checks if the projectile will hit the target AT SOME MOMENT during its flight
withAlliance(DriverStation.Alliance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the robot alliance.
withAutoEnable() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Enables automatically updating behavior with the RobotBase
withAutoEnable(boolean) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Setting for automatically updating behavior with the RobotBase
withBehavior(String, Command) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a non-default behavior to the config.
withBehavior(String, Command, boolean) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a behavior to the config.
withBumperHeight(Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the bumper height of the robot.
withBumperSize(Distance, Distance) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets the bumper size.
withBumperWidth(Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the bumper width of the robot.
withChassisConfig(SmartOpponentConfig.ChassisConfig) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the chassis config.
withCollectingMap(Map<String, Map<String, Pose2d>>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds all poses from an existing pose map.
withCollectingPose(String, String, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a collecting pose to the config.
withCollectPoseWeights(String, double) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a scoring weight to a target pose.
withCollectPoseWeights(Map<String, Double>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a scoring weight to a target pose.
withControllerHeadingAxis(DoubleSupplier, DoubleSupplier) - Method in class swervelib.SwerveInputStream: Add heading axis for Heading based control.
withControllerRotationAxis(DoubleSupplier) - Method in class swervelib.SwerveInputStream: Add a rotation axis for Angular Velocity control
withCurrentLimit(Current) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController
withCurrentLimits(Current, Current) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
withCurrentLimits(Current, Current) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
withCustomModuleTranslations(Translation2d[]) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets custom module translations.
withDefaultInitialPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Add 6 basic starting positions, 3 on each side.
withDefaultQueeningPoses() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Adds 6 default queening poses to the list.
withDefaults() - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.OpponentManager: Calls withDefaultQueeningPoses() and withDefaultInitialPoses().
withDriveCurrentLimit(Current) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the drive Current limit.
withDriveFrictionVoltage(Voltage) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the friction voltage for the drive motor.
withDriveGearRatio(double) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the gear ratios for the drive motor.
withDriveMotor(DCMotor) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the drive DCMotor.
withDriveToPoseAngleTolerance(Angle) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig
withDriveToPoseTolerance(Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the tolerance for the drive to pose command.
withGyro(Supplier<GyroSimulation>) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets the gyro simulation factory.
withGyroSimulation(Supplier<GyroSimulation>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the gyro simulation for the robot.
withHardLimits(Angle, Angle) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimMotorConfigs: Configures the hard limits for the motor.
withHitTargetCallBack(Runnable) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures a callback to be executed when the game piece hits the target.
withinHypotDeadband(double, double) - Method in class swervelib.SwerveController: Calculate the hypot deadband and check if the joystick is within it.
withJoystick(Object) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the joystick to use.
withJoystickDeadband(double) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the joystick deadband.
withManager(OpponentManager) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a OpponentManager to register with.
withMass(Mass) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the mass of the robot.
withMaxAngularAcceleration(AngularAcceleration) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the max angular acceleration of the robot.
withMaxAngularVelocity(AngularVelocity) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the max angular velocity of the robot.
withMaxDriveVelocity(LinearVelocity) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the max drive velocity.
withMaxLinearAcceleration(LinearAcceleration) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the max linear acceleration of the robot.
withMaxLinearVelocity(LinearVelocity) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the max linear velocity of the robot.
withModule(SmartOpponentConfig.ModuleConfig) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the module config.
withMOI(MomentOfInertia) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the moment of inertia of the robot.
withName(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the robot name.
withOpponentManager(OpponentManager) - Method in class swervelib.simulation.ironmaple.simulation.SimulatedArena: Adds an OpponentManager to the SimulatedArena.
withPathfindOffset(Transform2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the Pathfinding offset.
withPollRate(Time) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: This sets a dynamic poll rate for various obstacle and pose getters.
withProjectileTrajectoryDisplayCallBack(Consumer<List<Pose3d>>) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures a Callback to Display the Trajectory of the Projectile When Launched.
withProjectileTrajectoryDisplayCallBack(Consumer<List<Pose3d>>, Consumer<List<Pose3d>>) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures a Callback to Display the Trajectory of the Projectile When Launched.
withQueeningPose(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the queening pose.
withRobotMass(Mass) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets the robot mass.
withScoringMap(Map<String, Map<String, Pose2d>>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds all poses from an existing pose map.
withScoringPose(String, String, Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a scoring pose to the config.
withScoringPoseWeights(String, double) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a scoring weight to a target pose.
withScoringPoseWeights(Map<String, Double>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a scoring weight to a target pose.
withSoftwareLimits(Angle, Angle) - Method in class swervelib.simulation.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController
withSquareChassis(Distance, Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Simplified Chassis Configuration for a square robot.
withStartingPose(Pose2d) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the initial pose.
withState(String, Supplier<Command>) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Adds a state to the config.
withSteerAngularInertia(MomentOfInertia) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the steer angular inertia.
withSteerFrictionVoltage(Voltage) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the friction voltage for the steer motor.
withSteerGearRatio(double) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the gear ratio for the steer motor.
withSteerMotor(DCMotor) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the steer DCMotor.
withSteerPID(PIDController) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation.SelfControlledModuleSimulation
withSteerPID(PIDController) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.SelfControlledSwerveDriveSimulation
withSwerveModule(Supplier<SwerveModuleSimulation>) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets the swerve module simulation factory.
withSwerveModules(Supplier<SwerveModuleSimulation>...) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets the swerve module simulation factory.
withTargetPosition(Supplier<Translation3d>) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Sets a Target for the Game Projectile.
withTargetTolerance(Translation3d) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Sets the Target Tolerance for the Game Projectile.
withTelemetryPath(String) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig: Sets the telemetry path.
withTouchGroundHeight(double) - Method in class swervelib.simulation.ironmaple.simulation.gamepieces.GamePieceProjectile: Configures the Height at Which the Projectile Is Considered to Be Touching Ground.
withTrackLength(Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the track height of the robot.
withTrackLengthTrackWidth(Distance, Distance) - Method in class swervelib.simulation.ironmaple.simulation.drivesims.configs.DriveTrainSimulationConfig: Sets the track length and width.
withTrackWidth(Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ChassisConfig: Sets the track width of the robot.
withWalls() - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.evergreen.ArenaEvergreen.EvergreenFieldObstacleMap: Used for adding walls when desired.
withWheelCOF(double) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the wheel Coefficient of Friction.
withWheelRadius(Distance) - Method in class swervelib.simulation.ironmaple.simulation.opponentsim.SmartOpponentConfig.ModuleConfig: Sets the wheel radius.
withXboxController(CommandXboxController) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.KitBot
withXboxController(CommandXboxController) - Method in class swervelib.simulation.ironmaple.simulation.seasonspecific.reefscape2025.opponentsim.SuperKitBot: SuperKitBot Specific joystick method.
works() - Method in class swervelib.parser.json.modules.ConversionFactorsJson: Check if the conversion factor can be found.

X

x() - Method in record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition: Returns the value of the x record component.
xLimiter - Variable in class swervelib.SwerveController: SlewRateLimiter for movement in the X direction in meters/second.
xyBox - Variable in class swervelib.simulation.ironmaple.simulation.Goal

Y

y() - Method in record class swervelib.simulation.ironmaple.simulation.opponentsim.pathfinding.MapleADStar.GridPosition: Returns the value of the y record component.
yLimiter - Variable in class swervelib.SwerveController: SlewRateLimiter for movement in the Y direction in meters/second.

Z

zeroGyro() - Method in class swervelib.SwerveDrive: Resets the gyro angle to zero and resets odometry to the same position, but facing toward 0 (red alliance station).

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