All Classes and Interfaces
Class
Description
Class for managing various alerts to be displayed on the driver station.
Utility class providing cached, GC-friendly alliance queries.
Hardware abstraction interface for physical AprilTag tracking cameras.
Real hardware implementation of
AprilTagVisionIO using a Limelight camera.PhotonVision hardware IO implementation for AprilTag tracking.
Desktop simulation implementation of
AprilTagVisionIO using PhotonVision's simulation
framework.Automatically generated file containing build version information.
Advanced Shot-On-The-Move mathematical solver ingested from Team 254 (2024).
Data class for holding calculated Elite Shooter parameters.
Field-level constants for the 2026 REBUILT game.
Hardware abstraction interface for a velocity-controlled flywheel/roller mechanism.
Simulation implementation of the FlywheelIO interface.
Real hardware implementation of
FlywheelIO using a CTRE TalonFX motor controller.Frustum Visualizer for AdvantageScope 3D telemetry.
Hardware interface for the robot's central gyroscope (IMU).
Real hardware implementation of the gyro IO layer using a CTRE Pigeon2 IMU.
Simulated gyro IO layer that derives yaw from the maple-sim physics engine.
Hardware abstraction interface for robot LED feedback systems.
The discrete visual states an LED strip can render.
Hardware IO implementation for driving WS2812B Addressable LEDs via a PWM port.
LED IO layer using the CTRE CANdle (Connected via CAN bus).
Centralized manager for robot LED logic, translating robot states into visual feedback.
Simulates a 360-degree LiDAR or Time-of-Flight sensor array using dyn4j raycasting.
Hardware abstraction interface for a linear translating mechanism (like an elevator).
Simulation implementation of the LinearMechanismIO interface.
Hardware binding layer for singular Linear Mechanisms (Elevators, Extensors) utilizing CTRE
TalonFX (Kraken/Falcon) motors.
A tunable number that can be modified at runtime via NetworkTables for live PID tuning.
Utility class to automatically upload WPILog files to a GitHub repository's Releases.
Do NOT add any static variables to this class, or any initialization at all.
Command to bypass default PathPlanner routing and dynamically align the robot natively onto a
dynamically moving or stationary field target timestamped via Vision.
Utility Command factory for autonomous routines.
Subsystem representing the robot's fast climber mechanism.
High-level subsystem representing the shooter cowl rotating joint.
Sequential command group that performs a predefined sequence of automated hardware checks.
Central aggregator for all mission-critical error states and hardware timeouts.
High-level subsystem representing the intake deployment pivot.
Singleton 2D physics world managing all rigid-body interactions on the FRC field.
Subsystem responsible for monitoring the central Power Distribution Hub (PDH).
Generic flywheel subsystem used for the main shooter, floor intake, and feeder.
A validated, enum-based Finite State Machine supporting guarded transitions, entry/exit actions,
and transition callbacks.
Superstructure orchestrator using a validated finite state machine.
The set of valid superstructure states.
Centralized test setup utility that resets ALL MARSLib static singletons in one call.
Central aggregator for all visual and SLAM external odometry integrations.
Central mode configuration for robot execution context (Real hardware, Simulation, or Replay).
A Zero-GC, realtime Feedforward extractor that continuously monitors mechanism telemetry
(Voltage, Velocity, Acceleration) to compute empirical kV and kA values dynamically.
Subsystem handling driver and operator input, including intelligent rumble feedback for faults
and voltage sags.
High-frequency CAN bus polling thread for CTRE Phoenix 6 odometry signals.
Container for pre-allocated gyro yaw data.
Container for a batch of synchronized odometry samples from a single module.
Configuration record for the MARSPowerManager.
Hardware interface for power management reading.
Hardware implementation for reading physical Power Distribution Hub (PDH) data.
Simulated implementation of the power and battery IO interface.
Client-side driver for the QuestNav VIO (Visual-Inertial Odometry) SLAM system.
A utility class that uses Java dynamic proxies to automatically construct no-op instances of
hardware IO interfaces.
The VM is configured to automatically run this class, and to call the functions corresponding to
each mode, as described in the TimedRobot documentation.
Central Dependency Injection container for the robot.
Hardware abstraction interface for a rotary mechanism (like an arm or wrist).
Simulation implementation of the RotaryMechanismIO interface.
Hardware binding layer for singular Rotary Mechanisms utilizing CTRE TalonFX (Kraken/Falcon)
motors.
Overrides the driver's rotational (Theta) control to perfectly track a specific field coordinate
using Velocity-Added Kinematic Leading, while allowing them to freely strafe and sprint in X/Y.
Offline System Identification Tuner for MARSLib.
Command for dynamic, odometry-based robot alignment specifically for scoring on standard FRC grid
nodes.
Encapsulates the static configurations for PathPlanner's AutoBuilder.
Configuration record for the SwerveDrive subsystem.
Central constants for the MARSLib swerve drivetrain.
Diagnostic and automated alignment sequences for the Swerve Drive.
The core MARSLib SwerveDrive subsystem responsible for managing holonomic kinematics, dynamic
PathPlanner autonomous trajectories, and active power shedding.
Represents a singular Swerve Module (e.g.
Hardware abstraction interface for a single swerve module (drive + turn motors).
Simulation IO layer for a single swerve module.
Hardware IO implementation for a Swerve Module using CTRE TalonFX motors and a CANcoder.
Encapsulates high-frequency (250Hz) odometry tracking and vision fusion.
Takes a prior setpoint (ChassisSpeeds), a desired setpoint (from a driver, or from a path
follower), and outputs a new setpoint that respects all of the kinematic constraints on module
rotation speed and wheel velocity/acceleration.
A comprehensive, robust pre-match diagnostic routine decoupled from mechanism logic.
Indicates that a subsystem or component can perform an automated self-test.
A wrapper for CommandXboxController that dynamically logs string descriptors indicating what
macro is mapped to what button securely to AdvantageKit and NetworkTables.
Command to handle Teleop Swerve Driving.
Pure-function joystick-to-ChassisSpeeds math for the teleop drive pipeline.
Advanced 2D Slew Rate Limiter to prevent carpet slippage and Odometry drift.
Hardware abstraction interface for Visual Inertial Odometry (VIO) SLAM sensors.
Real hardware implementation of
VIOSlamIO using a Meta Quest headset running QuestNav.Real hardware implementation of
VIOSlamIO sourcing poses from a ROS2 coprocessor.Configuration record for the MARSVision subsystem.