Index (MARSLib API - FRC Team 2614)

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

A

addCustomSimulation(SimulatedArena.Simulatable) - Method in class com.marslib.simulation.MARSPhysicsWorld
addFrameCurrentDrawAmps(double) - Method in class com.marslib.simulation.MARSPhysicsWorld
addMeasurement(double, double, double) - Method in class com.marslib.util.OnlineFeedforwardEstimator: Feeds the live telemetry into the sliding regression window.
addTransition(S, S) - Method in class com.marslib.util.MARSStateMachine: Registers a one-directional transition from from to to.
addValidBidirectional(S, S) - Method in class com.marslib.util.MARSStateMachine: Registers transitions in both directions between a and b.
addValidTransition(S, S) - Method in class com.marslib.util.MARSStateMachine: Alias for MARSStateMachine.addTransition(Enum, Enum).
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class com.marslib.swerve.SwerveDrive
addVisionMeasurement(Pose2d, double, Matrix<N3, N1>) - Method in class com.marslib.swerve.SwerveOdometry
addWildcardFrom(S) - Method in class com.marslib.util.MARSStateMachine: Makes fromState able to transition to every state in the enum.
addWildcardTo(S) - Method in class com.marslib.util.MARSStateMachine: Makes targetState reachable from every state in the enum.
Alert - Class in com.marslib.faults: Class for managing various alerts to be displayed on the driver station.
Alert(String, Alert.AlertType) - Constructor for class com.marslib.faults.Alert
Alert(String, String, Alert.AlertType) - Constructor for class com.marslib.faults.Alert
Alert.AlertType - Enum Class in com.marslib.faults
ALIGN_ROTATION_MAX_ACCEL_RAD_PER_SEC2 - Static variable in class frc.robot.constants.AutoConstants
ALIGN_ROTATION_MAX_VELOCITY_RAD_PER_SEC - Static variable in class frc.robot.constants.AutoConstants
ALIGN_ROTATION_TOLERANCE_RAD - Static variable in class frc.robot.constants.AutoConstants
ALIGN_THETA_IZONE_RAD - Static variable in class frc.robot.constants.AutoConstants
ALIGN_THETA_KP - Static variable in class frc.robot.constants.AutoConstants
ALIGN_TRANSLATION_IZONE_METERS - Static variable in class frc.robot.constants.AutoConstants
ALIGN_TRANSLATION_KP - Static variable in class frc.robot.constants.AutoConstants
ALIGN_TRANSLATION_MAX_ACCEL_MPS2 - Static variable in class frc.robot.constants.AutoConstants
ALIGN_TRANSLATION_MAX_VELOCITY_MPS - Static variable in class frc.robot.constants.AutoConstants
ALIGN_TRANSLATION_TOLERANCE_METERS - Static variable in class frc.robot.constants.AutoConstants
alignThetaIZoneRad() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the alignThetaIZoneRad record component.
alignThetaKp() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the alignThetaKp record component.
alignToPoint(SwerveDrive, Supplier<Pose2d>) - Static method in class com.marslib.swerve.SwerveAutoBuilder: Generates a command that automatically paths the robot to the specified target utilizing PathPlanner's physics-constrained solver to avoid field obstacles dynamically.
alignToPoint(Supplier<Pose2d>) - Method in class com.marslib.swerve.SwerveDrive
alignTranslationIZoneMeters() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the alignTranslationIZoneMeters record component.
alignTranslationKp() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the alignTranslationKp record component.
AllianceUtil - Class in com.marslib.util: Utility class providing cached, GC-friendly alliance queries.
ambiguities - Variable in class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
ANGULAR_STD_MULTIPLIER - Static variable in class frc.robot.constants.VisionConstants: Multiplier to convert linear StdDev to angular StdDev for the pose estimator.
ANGULAR_VELOCITY_STD_MULTIPLIER - Static variable in class frc.robot.constants.VisionConstants: Continuous scaling factor to dynamically inflate StdDev linearly based on chassis angular spin (deg/s).
angularStdMultiplier() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the angularStdMultiplier record component.
angularVelocityStdMultiplier() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the angularVelocityStdMultiplier record component.
appliedVolts - Variable in class com.marslib.mechanisms.FlywheelIO.FlywheelIOInputs
appliedVolts - Variable in class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
appliedVolts - Variable in class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs
AprilTagVisionIO - Interface in com.marslib.vision: Hardware abstraction interface for physical AprilTag tracking cameras.
AprilTagVisionIO.AprilTagVisionIOInputs - Class in com.marslib.vision
AprilTagVisionIOInputs() - Constructor for class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
AprilTagVisionIOLimelight - Class in com.marslib.vision: Real hardware implementation of AprilTagVisionIO using a Limelight camera.
AprilTagVisionIOLimelight(String) - Constructor for class com.marslib.vision.AprilTagVisionIOLimelight
AprilTagVisionIOPhoton - Class in com.marslib.vision: PhotonVision hardware IO implementation for AprilTag tracking.
AprilTagVisionIOPhoton(String, PhotonPoseEstimator) - Constructor for class com.marslib.vision.AprilTagVisionIOPhoton
AprilTagVisionIOSim - Class in com.marslib.vision: Desktop simulation implementation of AprilTagVisionIO using PhotonVision's simulation framework.
AprilTagVisionIOSim(String, Transform3d, Supplier<Pose3d>) - Constructor for class com.marslib.vision.AprilTagVisionIOSim
AUTO_ROTATION_KD - Static variable in class frc.robot.SwerveConstants: Derivative gain for autonomous rotation path following.
AUTO_ROTATION_KP - Static variable in class frc.robot.SwerveConstants: Proportional gain for autonomous rotation path following.
AUTO_TRANSLATION_KD - Static variable in class frc.robot.SwerveConstants: Derivative gain for autonomous translation path following.
AUTO_TRANSLATION_KP - Static variable in class frc.robot.SwerveConstants: Proportional gain for autonomous translation path following.
AutoConstants - Class in frc.robot.constants
AutoConstants() - Constructor for class frc.robot.constants.AutoConstants
autonomousInit() - Method in class frc.robot.Robot: This autonomous runs the selected autonomous command.
autonomousPeriodic() - Method in class frc.robot.Robot: This function is called periodically during autonomous.
autoRotationKd() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the autoRotationKd record component.
autoRotationKp() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the autoRotationKp record component.
autoTranslationKd() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the autoTranslationKd record component.
autoTranslationKp() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the autoTranslationKp record component.
averageDistancesMeters - Variable in class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
avgTagArea - Variable in class com.limelight.LimelightHelpers.PoseEstimate
avgTagDist - Variable in class com.limelight.LimelightHelpers.PoseEstimate

B

BEACHED - Enum constant in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState
bindOnFalse(Trigger, String, String, Command) - Method in class com.marslib.hmi.TelemetryGamepad: Binds a command to a Trigger's `.onFalse()` scheduling method while automatically publishing the mapped action name to NetworkTables/AdvantageKit.
bindOnTrue(Trigger, String, String, Command) - Method in class com.marslib.hmi.TelemetryGamepad: Binds a command to a Trigger's `.onTrue()` scheduling method while automatically publishing the mapped action name to NetworkTables/AdvantageKit.
bindWhileTrue(Trigger, String, String, Command) - Method in class com.marslib.hmi.TelemetryGamepad: Binds a command to a Trigger's `.whileTrue()` scheduling method while automatically publishing the mapped action name to NetworkTables/AdvantageKit.
BL_DRIVE_ID - Static variable in class frc.robot.constants.DriveConstants
BL_TURN_ID - Static variable in class frc.robot.constants.DriveConstants
BLUE_HUB_3D - Static variable in class frc.robot.constants.FieldConstants: Blue hub 3D target for shooter math (top opening, meters).
BLUE_HUB_POS - Static variable in class frc.robot.constants.FieldConstants: Blue alliance hub center position (meters).
BLUE_NEARDEPOT_CLIMB_POSE - Static variable in class frc.robot.constants.FieldConstants
BLUE_OUTPOST_CLIMB_POSE - Static variable in class frc.robot.constants.FieldConstants
BR_DRIVE_ID - Static variable in class frc.robot.constants.DriveConstants
BR_TURN_ID - Static variable in class frc.robot.constants.DriveConstants
BUILD_DATE - Static variable in class frc.robot.BuildConstants
BUILD_UNIX_TIME - Static variable in class frc.robot.BuildConstants
BuildConstants - Class in frc.robot: Automatically generated file containing build version information.
buildTuningDashboard() - Static method in class com.marslib.util.LoggedTunableNumber: Automates the visual construction of the native WPILib Tuning dashboard.
BUMPER_LENGTH_METERS - Static variable in class frc.robot.SwerveConstants: Outer dimensions of the robot with bumpers, used for bounding boxes and MoI approximation (m)
BUMPER_WIDTH_METERS - Static variable in class frc.robot.SwerveConstants
bumperLengthMeters() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the bumperLengthMeters record component.
bumperWidthMeters() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the bumperWidthMeters record component.

C

calculate(Translation2d) - Method in class com.marslib.swerve.TractionControlLimiter: Calculates the max achievable velocity vector without slipping tires.
calculateSheddingFactor() - Method in class com.marslib.power.MARSPowerManager: Helper function for mechanisms to compute dynamically shedded voltage scaling based on the internal PowerConfig thresholds.
calculateShotOnTheMove(Pose2d, ChassisSpeeds, Translation3d, double, double, double, double, EliteShooterMath.EliteShooterSetpoint) - Static method in class com.marslib.util.EliteShooterMath: Mathematically solves the exact shot state needed to hit a 3D target given current robot speeds and constraints.
calculateVoltageScaleFactor(double, double) - Method in class com.marslib.power.MARSPowerManager: Helper function for mechanisms to compute dynamically shedded voltage scaling when battery sag impacts structural stability.
CAMERA_0_NAME - Static variable in class frc.robot.constants.VisionConstants
CAMERA_1_NAME - Static variable in class frc.robot.constants.VisionConstants
cameraFrustum - Variable in class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
CAN_STARVATION_DELAY_MS - Static variable in class frc.robot.constants.SimulationConstants
CAN_STARVATION_PROBABILITY - Static variable in class frc.robot.constants.SimulationConstants
CANBUS - Static variable in class frc.robot.constants.ClimberConstants
CANBUS - Static variable in class frc.robot.constants.CowlConstants
CANBUS - Static variable in class frc.robot.constants.DriveConstants
CANBUS - Static variable in class frc.robot.constants.IntakeConstants
CANBUS - Static variable in class frc.robot.constants.LEDConstants
CANBUS - Static variable in class frc.robot.constants.ShooterConstants
canBusUtilization - Variable in class com.marslib.power.PowerIO.PowerIOInputs
CANDLE_ID - Static variable in class frc.robot.constants.LEDConstants
canStarvationDelayMs - Variable in class com.marslib.power.PowerIOSim
canStarvationProbability - Variable in class com.marslib.power.PowerIOSim
canStarvationProbability - Variable in class com.marslib.swerve.GyroIOSim
channelCurrentsAmps - Variable in class com.marslib.power.PowerIO.PowerIOInputs
chassisAngularFeedforward - Variable in class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
chassisSpeeds - Variable in class com.marslib.swerve.SwerveSetpointGenerator.SwerveSetpoint
cleanup() - Static method in class com.marslib.testing.MARSTestHarness
clear() - Static method in class com.marslib.faults.MARSFaultManager: Resets all fault state.
clear() - Static method in class com.marslib.util.LoggedTunableNumber: Clears all registered tunables.
clearNewCriticalFault() - Static method in class com.marslib.faults.MARSFaultManager: Clears the new critical fault flag.
ClimberConstants - Class in frc.robot.constants
ClimberConstants() - Constructor for class frc.robot.constants.ClimberConstants
close() - Method in class com.marslib.util.LoggedTunableNumber: Releases native NetworkTables handles.
com.limelight - package com.limelight
com.marslib.auto - package com.marslib.auto
com.marslib.diagnostics - package com.marslib.diagnostics
com.marslib.faults - package com.marslib.faults
com.marslib.hmi - package com.marslib.hmi
com.marslib.mechanisms - package com.marslib.mechanisms
com.marslib.power - package com.marslib.power
com.marslib.simulation - package com.marslib.simulation
com.marslib.swerve - package com.marslib.swerve
com.marslib.testing - package com.marslib.testing
com.marslib.util - package com.marslib.util
com.marslib.vision - package com.marslib.vision
computeFieldRelativeSpeeds(double, double, double, double, double, boolean, ChassisSpeeds) - Static method in class com.marslib.swerve.TeleopDriveMath: Computes field-relative ChassisSpeeds from raw joystick axes BEFORE slew rate limiting.
configure(SwerveDrive) - Static method in class com.marslib.swerve.SwerveAutoBuilder: Configures PathPlanner's AutoBuilder for autonomous path following.
configureBindings(OperatorInterface, SwerveDrive, SwerveConfig, MARSSuperstructure, MARSClimber, MARSCowl, MARSShooter, MARSShooter, MARSShooter) - Static method in class frc.robot.RobotBindings
configurePathPlanner() - Method in class com.marslib.swerve.SwerveDrive
connected - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
CowlConstants - Class in frc.robot.constants
CowlConstants() - Constructor for class frc.robot.constants.CowlConstants
createPowerConfig() - Static method in class com.marslib.testing.MARSTestHarness: Returns a standard PowerConfig for testing.
createProxy(Class<T>) - Static method in class com.marslib.util.ReplayIOFactory: Creates a dynamic proxy for the given interface type that does nothing.
createSwerveConfig() - Static method in class com.marslib.testing.MARSTestHarness: Returns a standard SwerveConfig for testing.
createVisionConfig() - Static method in class com.marslib.testing.MARSTestHarness: Returns a standard VisionConfig for testing.
CRITICAL - Enum constant in enum class com.marslib.faults.Alert.AlertType
CRITICAL_FAULT - Enum constant in enum class com.marslib.hmi.LEDIO.State: Critical fault flash pattern (e.g., flashing red).
CRITICAL_VOLTAGE - Static variable in class frc.robot.constants.PowerConstants
criticalVoltage() - Method in record class com.marslib.power.PowerConfig: Returns the value of the criticalVoltage record component.
criticalVoltage() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the criticalVoltage record component.
CURRENT_MODE - Static variable in class frc.robot.constants.ModeConstants: Automatically detected execution mode.
currentAmps - Variable in class com.marslib.mechanisms.FlywheelIO.FlywheelIOInputs
currentAmps - Variable in class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
currentAmps - Variable in class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs

D

DataPoint(double, double, double) - Constructor for class com.marslib.util.SimSysIdTuner.DataPoint
DEADBAND - Static variable in class com.marslib.swerve.TeleopDriveMath: Default joystick deadband threshold.
DEFAULT - Enum constant in enum class com.marslib.hmi.LEDIO.State: Default idle pattern (e.g., solid team color).
DIRTY - Static variable in class frc.robot.BuildConstants
disabledInit() - Method in class frc.robot.Robot: This function is called once when the robot is disabled.
disabledPeriodic() - Method in class frc.robot.Robot: This function is called periodically when disabled.
DRIVE_GEAR_RATIO - Static variable in class frc.robot.SwerveConstants: Drive motor gear ratio (motor rotations per output rotation).
DRIVE_STATOR_CURRENT_LIMIT - Static variable in class frc.robot.SwerveConstants: Nominal stator current limit for drive motors (amps).
driveAppliedVolts - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
DriveConstants - Class in frc.robot.constants
DriveConstants() - Constructor for class frc.robot.constants.DriveConstants
driveCurrentAmps - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
driveGearRatio() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the driveGearRatio record component.
drivePositions - Variable in class com.marslib.swerve.PhoenixOdometryThread.SyncData: Accumulated drive encoder positions (motor rotations) since the last drain.
drivePositionsRad - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
driveStatorCurrentLimit() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the driveStatorCurrentLimit record component.
driveVelocityRadPerSec - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs

E

EliteShooterMath - Class in com.marslib.util: Advanced Shot-On-The-Move mathematical solver ingested from Team 254 (2024).
EliteShooterMath() - Constructor for class com.marslib.util.EliteShooterMath
EliteShooterMath.EliteShooterSetpoint - Class in com.marslib.util: Data class for holding calculated Elite Shooter parameters.
EliteShooterSetpoint() - Constructor for class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
ENABLE_CAN_STARVATION - Static variable in class frc.robot.constants.SimulationConstants
ENABLE_GYRO_NOISE - Static variable in class frc.robot.constants.SimulationConstants
ENABLE_VISION_OCCLUSION - Static variable in class frc.robot.constants.SimulationConstants
enableCanStarvation - Variable in class com.marslib.power.PowerIOSim
enableCanStarvation - Variable in class com.marslib.swerve.GyroIOSim
enableOcclusion - Variable in class com.marslib.vision.AprilTagVisionIOSim
end(boolean) - Method in class com.marslib.auto.MARSAlignmentCommand
end(boolean) - Method in class com.marslib.auto.SmartAssistAlign
end(boolean) - Method in class frc.robot.commands.ShootOnTheMoveCommand
equals(Object) - Method in record class com.marslib.power.PowerConfig: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.marslib.swerve.SwerveConfig: Indicates whether some other object is "equal to" this one.
equals(Object) - Method in record class com.marslib.vision.VisionConfig: Indicates whether some other object is "equal to" this one.
estimatedPoses - Variable in class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
estimatedPoses - Variable in class com.marslib.vision.VIOSlamIO.VIOSlamIOInputs
execute() - Method in class com.marslib.auto.MARSAlignmentCommand
execute() - Method in class com.marslib.auto.SmartAssistAlign
execute() - Method in class com.marslib.swerve.TeleopDriveCommand
execute() - Method in class frc.robot.commands.ShootOnTheMoveCommand

F

FAST_GEAR_RATIO - Static variable in class frc.robot.constants.ClimberConstants
FAST_MOTOR_ID - Static variable in class frc.robot.constants.ClimberConstants
FEEDER_GEAR_RATIO - Static variable in class frc.robot.constants.ShooterConstants
FEEDER_MOTOR_ID - Static variable in class frc.robot.constants.ShooterConstants
FIELD_LENGTH_METERS - Static variable in class frc.robot.constants.FieldConstants: Standard FRC field length (meters).
FIELD_MARGIN_METERS - Static variable in class frc.robot.constants.VisionConstants: Allowable field coordinate boundary margin in meters for pose rejection.
FIELD_WIDTH_METERS - Static variable in class frc.robot.constants.FieldConstants: Standard FRC field width (meters).
FieldConstants - Class in frc.robot.constants: Field-level constants for the 2026 REBUILT game.
fieldLengthMeters() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the fieldLengthMeters record component.
fieldMarginMeters() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the fieldMarginMeters record component.
fieldWidthMeters() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the fieldWidthMeters record component.
finalClimbLineupCommand() - Method in class com.marslib.swerve.SwerveDiagnostics: Open-loop dead-reckoning sequence designed to precisely lock the robot onto the climb chain using predefined translational bump limits.
finalClimbLineupCommand() - Method in class com.marslib.swerve.SwerveDrive
findDriveMaxS(double, double, double, double, double, double, double, int) - Method in class com.marslib.swerve.SwerveSetpointGenerator: Computes the maximum linear acceleration scalar \( s_{max} \) for the driving vector wheel slip threshold.
findSteeringMaxS(double, double, double, double, double, double, double, int) - Method in class com.marslib.swerve.SwerveSetpointGenerator: Computes the maximum positional scalar \( s_{max} \) for the steering rotation of a Swerve Module.
FL_DRIVE_ID - Static variable in class frc.robot.constants.DriveConstants
FL_TURN_ID - Static variable in class frc.robot.constants.DriveConstants
FLIP_FOLLOWER_ID - Static variable in class frc.robot.constants.ClimberConstants
FLIP_GEAR_RATIO - Static variable in class frc.robot.constants.ClimberConstants
FLIP_LEADER_ID - Static variable in class frc.robot.constants.ClimberConstants
FLOOR_MOTOR_ID - Static variable in class frc.robot.constants.IntakeConstants
FlywheelIO - Interface in com.marslib.mechanisms: Hardware abstraction interface for a velocity-controlled flywheel/roller mechanism.
FlywheelIO.FlywheelIOInputs - Class in com.marslib.mechanisms
FlywheelIOInputs() - Constructor for class com.marslib.mechanisms.FlywheelIO.FlywheelIOInputs
FlywheelIOSim - Class in com.marslib.mechanisms: Simulation implementation of the FlywheelIO interface.
FlywheelIOSim(DCMotor, double, double) - Constructor for class com.marslib.mechanisms.FlywheelIOSim: Constructs a physical simulation instance for a 1D flywheel mechanism.
FlywheelIOTalonFX - Class in com.marslib.mechanisms: Real hardware implementation of FlywheelIO using a CTRE TalonFX motor controller.
FlywheelIOTalonFX(int, int[], boolean[], String, boolean) - Constructor for class com.marslib.mechanisms.FlywheelIOTalonFX: Constructs a master-follower Flywheel configuration (e.g., dual-motor shooter).
FlywheelIOTalonFX(int, String, boolean) - Constructor for class com.marslib.mechanisms.FlywheelIOTalonFX: Constructs a single Flywheel mechanism using a direct CTRE TalonFX.
forceState(MARSSuperstructure.SuperstructureState) - Method in class frc.robot.subsystems.MARSSuperstructure: Forces the superstructure into the specified state by routing through STOWED first.
FR_DRIVE_ID - Static variable in class frc.robot.constants.DriveConstants
FR_TURN_ID - Static variable in class frc.robot.constants.DriveConstants
frc.robot - package frc.robot
frc.robot.commands - package frc.robot.commands
frc.robot.constants - package frc.robot.constants
frc.robot.subsystems - package frc.robot.subsystems
FrustumVisualizer - Class in com.marslib.vision: Frustum Visualizer for AdvantageScope 3D telemetry.
FrustumVisualizer(double, double, double) - Constructor for class com.marslib.vision.FrustumVisualizer: Generate an array of 5 3D poses representing a visual cone/frustum.

G

GAME_PIECE_MASS_KG - Static variable in class frc.robot.constants.FieldConstants: Mass of a single Rebuilt Fuel ball (kg).
GAME_PIECE_RADIUS_METERS - Static variable in class frc.robot.constants.FieldConstants: Radius of a single Rebuilt Fuel ball (meters).
GAME_PIECE_REST_HEIGHT_METERS - Static variable in class frc.robot.constants.FieldConstants: Height above the field surface at which game pieces rest in 3D visualization (meters).
GEAR_RATIO - Static variable in class frc.robot.constants.CowlConstants
generateMermaidGraph() - Method in class com.marslib.util.MARSStateMachine: Generates a Mermaid.js State Diagram representing all valid transitions and states.
generateSetpoint(SwerveSetpointGenerator.KinematicLimits, SwerveSetpointGenerator.SwerveSetpoint, ChassisSpeeds, double) - Method in class com.marslib.swerve.SwerveSetpointGenerator
get() - Method in class com.marslib.faults.Alert: Returns whether this alert is currently active.
get() - Method in class com.marslib.util.LoggedTunableNumber
getArena() - Method in class com.marslib.simulation.MARSPhysicsWorld: Return the underlying maple-sim Arena2026Rebuilt instance.
getAutonomousCommand() - Method in class frc.robot.RobotContainer
getBestTargetTranslation() - Method in class com.marslib.vision.MARSVision: Retrieves the latest, rigorously vetted vision-based target translation.
getBindingsMap() - Method in class com.marslib.hmi.TelemetryGamepad
getBodyCount() - Method in class com.marslib.simulation.MARSPhysicsWorld
getBotPoseEstimate_wpiBlue(String) - Static method in class com.limelight.LimelightHelpers
getBotPoseEstimate_wpiBlue_MegaTag2(String) - Static method in class com.limelight.LimelightHelpers
getCachedDelta(int) - Method in class com.marslib.swerve.SwerveModule: Accesses the pre-allocated cache representing positional samples without creating arrays.
getChassisSpeeds() - Method in class com.marslib.swerve.SwerveDrive
getClosestClimbingPosition(Pose2d) - Static method in class frc.robot.constants.FieldConstants: Returns the closest climbing position to the robot based on current alliance.
getConfig() - Method in class com.marslib.swerve.SwerveDrive
getController() - Method in class frc.robot.subsystems.OperatorInterface
getCurrentState() - Method in class frc.robot.subsystems.MARSSuperstructure: Returns the current superstructure state.
getDeltaCount() - Method in class com.marslib.swerve.SwerveModule: Returns the count of valid samples populated in the buffer during the last periodic cycle.
getDesiredState() - Method in class com.marslib.swerve.SwerveModule: Gets the previously cached desired state of the module for traction comparison.
getDriveAppliedVoltage() - Method in class com.marslib.swerve.SwerveModule: Returns the actual applied voltage read from the motor controller or sim model.
getDriveCurrentAmps() - Method in class com.marslib.swerve.SwerveModule: Gets the actual stator current flowing through the drive motor.
getDumpCommand() - Static method in class com.marslib.util.LoggedTunableNumber: Generates a structural Command that pulls the live value of all registered tunables and dumps them as a formatted JSON document on the RoboRIO deployment storage.
getDyn4jWorld() - Method in class com.marslib.simulation.MARSPhysicsWorld
getEstimatedKA() - Method in class com.marslib.util.OnlineFeedforwardEstimator: Retrieves the latest fully-regressed Acceleration Feedforward constant.
getEstimatedKV() - Method in class com.marslib.util.OnlineFeedforwardEstimator: Retrieves the latest fully-regressed Velocity Feedforward constant.
getGyroInputs() - Method in class com.marslib.swerve.SwerveDrive
getGyroYawData() - Method in class com.marslib.swerve.PhoenixOdometryThread: Drains all buffered high-frequency gyro yaw samples since the last call.
getInstance() - Static method in class com.marslib.simulation.MARSPhysicsWorld
getInstance() - Static method in class com.marslib.swerve.PhoenixOdometryThread: Returns the singleton instance, creating and starting the thread on first access.
getLatencySeconds() - Method in class gg.questnav.QuestNav: Returns the estimated latency of the most recent pose measurement.
getLatestPosition() - Method in class com.marslib.swerve.SwerveModule: Returns the most recent physical location recorded by the drive motors.
getLatestState() - Method in class com.marslib.swerve.SwerveModule: Translates drive wheel RPS and turn module radians into WPILib Velocity metrics.
getOdometryTimestamps() - Method in class com.marslib.swerve.SwerveModule: Returns the hardware timestamps of the high-frequency positional records.
getPose() - Method in class com.marslib.swerve.SwerveDrive
getPose() - Method in class com.marslib.swerve.SwerveOdometry
getPose3d() - Method in class com.marslib.swerve.SwerveDrive
getPose3d() - Method in class gg.questnav.QuestNav: Returns the latest 6-DOF pose estimate from the Quest headset.
getPose3d(GyroIOInputsAutoLogged) - Method in class com.marslib.swerve.SwerveOdometry
getPositionMeters() - Method in class frc.robot.subsystems.MARSClimber: Returns the current measured climber height.
getPositionRads() - Method in class frc.robot.subsystems.MARSCowl: Returns the current measured cowl angle.
getPositionRads() - Method in class frc.robot.subsystems.MARSIntakePivot
getPreviousState() - Method in class com.marslib.util.MARSStateMachine: Returns the state that was active before the most recent transition.
getSimDriveVoltage() - Method in class com.marslib.swerve.SwerveModule: Used strictly for extracting injected sim forces.
getSimDriveVoltage() - Method in class com.marslib.swerve.SwerveModuleIOSim
getSimPose3d() - Method in class com.marslib.swerve.SwerveDrive
getSimTurnVoltage() - Method in class com.marslib.swerve.SwerveModuleIOSim
getSimulatedVoltage() - Method in class com.marslib.simulation.MARSPhysicsWorld
getState() - Method in class com.marslib.util.MARSStateMachine: Returns the current active state.
getStateMachine() - Method in class frc.robot.subsystems.MARSSuperstructure: Returns the underlying state machine for testing and diagnostics.
getSwerveDrive() - Method in class frc.robot.RobotContainer
getSyncData(int) - Method in class com.marslib.swerve.PhoenixOdometryThread: Drains all buffered odometry samples for a specific module since the last call.
getSystemCheckCommand() - Method in interface com.marslib.diagnostics.SystemTestable: Generates an autonomous, state-machine style verification routine for this subsystem.
getSystemCheckCommand() - Method in class com.marslib.swerve.SwerveDiagnostics: Verification sequence to ensure Modules are mechanically linked and not browning out.
getSystemCheckCommand() - Method in class com.marslib.swerve.SwerveDrive
getSystemCheckCommand() - Method in class frc.robot.subsystems.MARSClimber
getSystemCheckCommand() - Method in class frc.robot.subsystems.MARSCowl
getSystemCheckCommand() - Method in class frc.robot.subsystems.MARSIntakePivot
getSystemCheckCommand() - Method in class frc.robot.subsystems.MARSShooter
getTicksInCurrentState() - Method in class com.marslib.util.MARSStateMachine: Returns the number of ticks since the last transition.
getTotalTransitionCount() - Method in class com.marslib.util.MARSStateMachine: Returns the total number of accepted (non-self) transitions since construction.
getUsbOffloadCommand() - Static method in class com.marslib.util.LogUploader: Generates a structural Command to physically copy any FRC internal match logs directly onto the tethered USB stick, subsequently purging the RIO to guarantee high storage overhead.
getVelocityRadPerSec() - Method in class frc.robot.subsystems.MARSShooter: Gets the current velocity of the shooter flywheel.
getVision() - Method in class frc.robot.RobotContainer
getVoltage() - Method in class com.marslib.power.MARSPowerManager: Evaluates the absolute bus voltage dynamically.
getWorld() - Method in class com.marslib.simulation.MARSPhysicsWorld
gg.questnav - package gg.questnav
GIT_BRANCH - Static variable in class frc.robot.BuildConstants
GIT_DATE - Static variable in class frc.robot.BuildConstants
GIT_REVISION - Static variable in class frc.robot.BuildConstants
GIT_SHA - Static variable in class frc.robot.BuildConstants
GRAVITY_M_PER_S2 - Static variable in class frc.robot.SwerveConstants: Standard gravitational acceleration (m/s²).
GYRO_DRIFT_DEG_PER_SEC - Static variable in class frc.robot.constants.SimulationConstants
GYRO_NOISE_SCALAR - Static variable in class frc.robot.constants.SimulationConstants
GyroIO - Interface in com.marslib.swerve: Hardware interface for the robot's central gyroscope (IMU).
GyroIO.GyroIOInputs - Class in com.marslib.swerve
GyroIOInputs() - Constructor for class com.marslib.swerve.GyroIO.GyroIOInputs
GyroIOPigeon2 - Class in com.marslib.swerve: Real hardware implementation of the gyro IO layer using a CTRE Pigeon2 IMU.
GyroIOPigeon2(int, String, SwerveConfig) - Constructor for class com.marslib.swerve.GyroIOPigeon2: Constructs a Pigeon2 gyro IO layer.
GyroIOSim - Class in com.marslib.swerve: Simulated gyro IO layer that derives yaw from the maple-sim physics engine.
GyroIOSim() - Constructor for class com.marslib.swerve.GyroIOSim
GyroYawData() - Constructor for class com.marslib.swerve.PhoenixOdometryThread.GyroYawData

H

hasActiveCriticalFaults() - Static method in class com.marslib.faults.MARSFaultManager: Evaluates if any fault states exist in the stack currently.
hasChanged(int) - Method in class com.marslib.util.LoggedTunableNumber: Returns true if the value has changed since the last time this specific consumer checked.
hasHardwareConnected - Variable in class com.marslib.mechanisms.FlywheelIO.FlywheelIOInputs
hasHardwareConnected - Variable in class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
hasHardwareConnected - Variable in class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs
hasHardwareConnected - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
hashCode() - Method in record class com.marslib.power.PowerConfig: Returns a hash code value for this object.
hashCode() - Method in record class com.marslib.swerve.SwerveConfig: Returns a hash code value for this object.
hashCode() - Method in record class com.marslib.vision.VisionConfig: Returns a hash code value for this object.
hasNewCriticalFault() - Static method in class com.marslib.faults.MARSFaultManager: Returns whether a new critical fault has occurred recently.
HEADING_KP - Static variable in class frc.robot.constants.DriveConstants
headingKp() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the headingKp record component.
home() - Method in class frc.robot.subsystems.MARSCowl: Homes the cowl using a standard default threshold (-2.0V, 15.0A).
home() - Method in class frc.robot.subsystems.MARSIntakePivot
homeWithCurrent(double, double) - Method in class frc.robot.subsystems.MARSCowl: Homes the cowl by driving at a constant voltage and checking the stator current.
homeWithCurrent(double, double) - Method in class frc.robot.subsystems.MARSIntakePivot
hoodFeedforward - Variable in class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
hoodRadians - Variable in class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
HUB_SIZE_METERS - Static variable in class frc.robot.constants.FieldConstants: Approximate side length of the hub structures (meters).

I

INFO - Enum constant in enum class com.marslib.faults.Alert.AlertType
initDefault(double) - Method in class com.marslib.util.LoggedTunableNumber
initialize() - Method in class com.marslib.auto.MARSAlignmentCommand
initialize() - Method in class com.marslib.swerve.TeleopDriveCommand
initSendable(SendableBuilder) - Method in class com.marslib.util.LoggedTunableNumber
injectModuleSimulation(SwerveModuleSimulation) - Method in class com.marslib.swerve.SwerveModule: Injects the maple-sim module simulation reference into the underlying IO layer if it is a SwerveModuleIOSim.
INTAKE_COLLECTION_RADIUS_METERS - Static variable in class frc.robot.constants.FieldConstants: Intake collection radius (meters) for swallowing pieces in simulation.
INTAKE_DOWN - Enum constant in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState
INTAKE_PIVOT_ANGLE - Static variable in class frc.robot.constants.SuperstructureConstants
INTAKE_RUNNING - Enum constant in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState
IntakeConstants - Class in frc.robot.constants
IntakeConstants() - Constructor for class frc.robot.constants.IntakeConstants
INVERTED - Static variable in class frc.robot.constants.CowlConstants
isAtTolerance() - Method in class frc.robot.subsystems.MARSCowl
isAtTolerance() - Method in class frc.robot.subsystems.MARSIntakePivot
isAtTolerance() - Method in class frc.robot.subsystems.MARSShooter: Returns whether the flywheel velocity is within 20 rad/s of the target.
isBlue() - Static method in class com.marslib.util.AllianceUtil: Returns true if the robot is on the Blue alliance.
isBotPose - Variable in class com.limelight.LimelightHelpers.PoseEstimate
isBrownedOut - Variable in class com.marslib.power.PowerIO.PowerIOInputs
isConnected() - Method in class gg.questnav.QuestNav: Returns whether the QuestNav headset is currently connected and publishing data.
isCritical() - Method in class com.marslib.power.MARSPowerManager: Returns true if the system voltage is currently below the critical threshold.
isFinished() - Method in class com.marslib.auto.MARSAlignmentCommand
isFinished() - Method in class com.marslib.auto.SmartAssistAlign
isRed() - Static method in class com.marslib.util.AllianceUtil: Returns true if the robot is on the Red alliance.
isTransitionLegal(S) - Method in class com.marslib.util.MARSStateMachine: Checks whether a transition from the current state to nextState would be accepted, without actually performing it.
isValid - Variable in class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
isWarning() - Method in class com.marslib.power.MARSPowerManager: Returns true if the system voltage is currently below the warning threshold.

K

KinematicLimits() - Constructor for class com.marslib.swerve.SwerveSetpointGenerator.KinematicLimits

L

latency - Variable in class com.limelight.LimelightHelpers.PoseEstimate
LATERAL_SLIP_RELAXATION - Static variable in class frc.robot.SwerveConstants: Lateral slip relaxation length (m/s).
launchSpeedMetersPerSec - Variable in class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
LEDConstants - Class in frc.robot.constants
LEDConstants() - Constructor for class frc.robot.constants.LEDConstants
LEDIO - Interface in com.marslib.hmi: Hardware abstraction interface for robot LED feedback systems.
LEDIO.State - Enum Class in com.marslib.hmi: The discrete visual states an LED strip can render.
LEDIOAddressable - Class in com.marslib.hmi: Hardware IO implementation for driving WS2812B Addressable LEDs via a PWM port.
LEDIOAddressable(int, int) - Constructor for class com.marslib.hmi.LEDIOAddressable
LEDIOCANdle - Class in com.marslib.hmi: LED IO layer using the CTRE CANdle (Connected via CAN bus).
LEDIOCANdle(int, String, int) - Constructor for class com.marslib.hmi.LEDIOCANdle: Constructs a CANdle LED IO layer.
LEDManager - Class in com.marslib.hmi: Centralized manager for robot LED logic, translating robot states into visual feedback.
LEDManager(LEDIO, MARSPowerManager) - Constructor for class com.marslib.hmi.LEDManager
LENGTH - Static variable in class frc.robot.constants.LEDConstants
LF_MOTOR_ID - Static variable in class frc.robot.constants.ShooterConstants
LidarIOSim - Class in com.marslib.simulation: Simulates a 360-degree LiDAR or Time-of-Flight sensor array using dyn4j raycasting.
LidarIOSim() - Constructor for class com.marslib.simulation.LidarIOSim
LimelightHelpers - Class in com.limelight
LimelightHelpers() - Constructor for class com.limelight.LimelightHelpers
LimelightHelpers.PoseEstimate - Class in com.limelight
LINEAR_VELOCITY_STD_MULTIPLIER - Static variable in class frc.robot.constants.VisionConstants: Continuous scaling factor to dynamically inflate StdDev linearly based on robot ground speed (m/s).
LinearMechanismIO - Interface in com.marslib.mechanisms: Hardware abstraction interface for a linear translating mechanism (like an elevator).
LinearMechanismIO.LinearMechanismIOInputs - Class in com.marslib.mechanisms
LinearMechanismIOInputs() - Constructor for class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
LinearMechanismIOSim - Class in com.marslib.mechanisms: Simulation implementation of the LinearMechanismIO interface.
LinearMechanismIOSim(String, double, double, double) - Constructor for class com.marslib.mechanisms.LinearMechanismIOSim: Constructs a physical simulation instance for a 1D linear elevator mechanism.
LinearMechanismIOTalonFX - Class in com.marslib.mechanisms: Hardware binding layer for singular Linear Mechanisms (Elevators, Extensors) utilizing CTRE TalonFX (Kraken/Falcon) motors.
LinearMechanismIOTalonFX(int, int[], boolean[], String, double, double, boolean) - Constructor for class com.marslib.mechanisms.LinearMechanismIOTalonFX
LinearMechanismIOTalonFX(int, String, double, double, boolean) - Constructor for class com.marslib.mechanisms.LinearMechanismIOTalonFX: Initializes the TalonFX hardware and pre-configures Linear MotionMagic parameters.
linearVelocityStdMultiplier() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the linearVelocityStdMultiplier record component.
LM_MOTOR_ID - Static variable in class frc.robot.constants.ShooterConstants
LOAD_SHEDDING - Enum constant in enum class com.marslib.hmi.LEDIO.State: Warning pattern indicating active power load shedding.
LoggedTunableNumber - Class in com.marslib.util: A tunable number that can be modified at runtime via NetworkTables for live PID tuning.
LoggedTunableNumber(String) - Constructor for class com.marslib.util.LoggedTunableNumber
LoggedTunableNumber(String, double) - Constructor for class com.marslib.util.LoggedTunableNumber
LogUploader - Class in com.marslib.util: Utility class to automatically upload WPILog files to a GitHub repository's Releases.
LOOP_PERIOD_SECS - Static variable in class frc.robot.constants.ModeConstants: The primary robot loop period in seconds (50Hz = 0.02s).
loopPeriodSecs() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the loopPeriodSecs record component.
loopPeriodSecs() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the loopPeriodSecs record component.

M

main(String[]) - Static method in class com.marslib.util.SimSysIdTuner: Offline testing entrypoint.
main(String...) - Static method in class frc.robot.Main: Main initialization function.
Main - Class in frc.robot: Do NOT add any static variables to this class, or any initialization at all.
MAPLE_SIM_EFFICIENCY_MODE - Static variable in class frc.robot.constants.FieldConstants: Controls whether the maple-sim arena runs in efficiency mode.
MARSAlignmentCommand - Class in com.marslib.auto: Command to bypass default PathPlanner routing and dynamically align the robot natively onto a dynamically moving or stationary field target timestamped via Vision.
MARSAlignmentCommand(SwerveDrive, Supplier<Pose2d>, double, double, double, double, double, double, double, double) - Constructor for class com.marslib.auto.MARSAlignmentCommand: Constructs an alignment command with parameterized constants.
MARSAuto - Class in com.marslib.auto: Utility Command factory for autonomous routines.
MARSAuto() - Constructor for class com.marslib.auto.MARSAuto
MARSClimber - Class in frc.robot.subsystems: Subsystem representing the robot's fast climber mechanism.
MARSClimber(LinearMechanismIO, MARSPowerManager) - Constructor for class frc.robot.subsystems.MARSClimber
MARSCowl - Class in frc.robot.subsystems: High-level subsystem representing the shooter cowl rotating joint.
MARSCowl(RotaryMechanismIO, MARSPowerManager) - Constructor for class frc.robot.subsystems.MARSCowl
MARSDiagnosticCheck - Class in frc.robot.commands: Sequential command group that performs a predefined sequence of automated hardware checks.
MARSDiagnosticCheck(SwerveDrive, MARSClimber, MARSCowl) - Constructor for class frc.robot.commands.MARSDiagnosticCheck: Constructs a full diagnostic sweep command.
MARSFaultManager - Class in com.marslib.faults: Central aggregator for all mission-critical error states and hardware timeouts.
MARSFaultManager() - Constructor for class com.marslib.faults.MARSFaultManager
MARSIntakePivot - Class in frc.robot.subsystems: High-level subsystem representing the intake deployment pivot.
MARSIntakePivot(RotaryMechanismIO, MARSPowerManager) - Constructor for class frc.robot.subsystems.MARSIntakePivot
MARSPhysicsWorld - Class in com.marslib.simulation: Singleton 2D physics world managing all rigid-body interactions on the FRC field.
MARSPowerManager - Class in com.marslib.power: Subsystem responsible for monitoring the central Power Distribution Hub (PDH).
MARSPowerManager(PowerIO, PowerConfig) - Constructor for class com.marslib.power.MARSPowerManager: Initializes the Power Manager.
MARSShooter - Class in frc.robot.subsystems: Generic flywheel subsystem used for the main shooter, floor intake, and feeder.
MARSShooter(String, FlywheelIO, MARSPowerManager) - Constructor for class frc.robot.subsystems.MARSShooter: Constructs the shooter subsystem.
MARSStateMachine<S extends Enum<S>> - Class in com.marslib.util: A validated, enum-based Finite State Machine supporting guarded transitions, entry/exit actions, and transition callbacks.
MARSStateMachine(String, Class<S>, S) - Constructor for class com.marslib.util.MARSStateMachine: Constructs a new state machine.
MARSSuperstructure - Class in frc.robot.subsystems: Superstructure orchestrator using a validated finite state machine.
MARSSuperstructure(MARSCowl, MARSIntakePivot, MARSShooter, MARSShooter, MARSShooter, Supplier<Pose2d>, Supplier<Optional<Translation2d>>, Supplier<Double>) - Constructor for class frc.robot.subsystems.MARSSuperstructure: Constructs the superstructure orchestrator.
MARSSuperstructure.SuperstructureState - Enum Class in frc.robot.subsystems: The set of valid superstructure states.
MARSTestHarness - Class in com.marslib.testing: Centralized test setup utility that resets ALL MARSLib static singletons in one call.
MARSVision - Class in com.marslib.vision: Central aggregator for all visual and SLAM external odometry integrations.
MARSVision(SwerveDrive, List<AprilTagVisionIO>, List<VIOSlamIO>, VisionConfig) - Constructor for class com.marslib.vision.MARSVision: Constructs the absolute Vision mapping structure.
MAVEN_GROUP - Static variable in class frc.robot.BuildConstants
MAVEN_NAME - Static variable in class frc.robot.BuildConstants
MAX_ACCELERATION_MPS2 - Static variable in class frc.robot.constants.AutoConstants
MAX_AMBIGUITY - Static variable in class frc.robot.constants.VisionConstants: Maximum acceptable ambiguity ratio for single-tag observations.
MAX_ANGULAR_ACCEL_DEG_PER_SEC2 - Static variable in class frc.robot.constants.VisionConstants: Maximum acceptable angular acceleration (deg/sec^2) across any axis to reject frames impacted by extreme physical shock or bumping (vibrational blur).
MAX_ANGULAR_ACCELERATION_RAD_PER_SEC2 - Static variable in class frc.robot.constants.AutoConstants
MAX_ANGULAR_SPEED_RAD_PER_SEC - Static variable in class frc.robot.SwerveConstants: Maximum achievable angular robot speed (rad/s).
MAX_ANGULAR_VELOCITY_RAD_PER_SEC - Static variable in class frc.robot.constants.AutoConstants
MAX_LINEAR_SPEED_MPS - Static variable in class frc.robot.SwerveConstants: Maximum achievable linear robot speed (m/s).
MAX_SAMPLES - Static variable in class com.marslib.swerve.PhoenixOdometryThread: Maximum number of odometry samples buffered between drains (250Hz / 50Hz = 5 typical).
MAX_TILT_DEG - Static variable in class frc.robot.constants.VisionConstants: Maximum acceptable pitch or roll angle (deg) to reject vision when beached on an obstacle.
MAX_VELOCITY_MPS - Static variable in class frc.robot.constants.AutoConstants
MAX_Z_HEIGHT - Static variable in class frc.robot.constants.VisionConstants: Maximum acceptable Z-height offset (meters) to reject 'flying robot' hallucinations.
maxAmbiguity() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the maxAmbiguity record component.
maxAngularAccelDegPerSec2() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the maxAngularAccelDegPerSec2 record component.
maxAngularSpeedRadPerSec() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the maxAngularSpeedRadPerSec record component.
maxDriveAcceleration - Variable in class com.marslib.swerve.SwerveSetpointGenerator.KinematicLimits
maxDriveVelocity - Variable in class com.marslib.swerve.SwerveSetpointGenerator.KinematicLimits
maxLinearSpeedMps() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the maxLinearSpeedMps record component.
maxSteeringVelocity - Variable in class com.marslib.swerve.SwerveSetpointGenerator.KinematicLimits
maxTiltDeg() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the maxTiltDeg record component.
maxZHeight() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the maxZHeight record component.
MIN_CURRENT_AMPS - Static variable in class frc.robot.constants.CowlConstants
MIN_LOAD_SHED_CURRENT - Static variable in class frc.robot.SwerveConstants: Minimum current limit during load shedding (amps).
ModeConstants - Class in frc.robot.constants: Central mode configuration for robot execution context (Real hardware, Simulation, or Replay).
ModeConstants.Mode - Enum Class in frc.robot.constants
MODULE_LOCATIONS - Static variable in class frc.robot.SwerveConstants: Positions of each swerve module relative to robot center (FL, FR, BL, BR).
moduleLocations() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the moduleLocations record component.
moduleStates - Variable in class com.marslib.swerve.SwerveSetpointGenerator.SwerveSetpoint
MOTOR_ID - Static variable in class frc.robot.constants.CowlConstants
MULTI_TAG_STD_MULTIPLIER - Static variable in class frc.robot.constants.VisionConstants: Multiplier applied to linear StdDev when multiple tags are simultaneously visible.
multiTagStdMultiplier() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the multiTagStdMultiplier record component.

N

NOMINAL_BATTERY_VOLTAGE - Static variable in class frc.robot.SwerveConstants: Nominal battery voltage used for drive feedforward normalization (V).
NOMINAL_VOLTAGE - Static variable in class frc.robot.constants.PowerConstants
nominalVoltage() - Method in record class com.marslib.power.PowerConfig: Returns the value of the nominalVoltage record component.
nominalVoltage() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the nominalVoltage record component.

O

occlusionDropProbability - Variable in class com.marslib.vision.AprilTagVisionIOSim
ODOMETRY_HZ - Static variable in class frc.robot.constants.DriveConstants
odometryHz() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the odometryHz record component.
odometryTimestamps - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
odometryYawPositions - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
OnlineFeedforwardEstimator - Class in com.marslib.util: A Zero-GC, realtime Feedforward extractor that continuously monitors mechanism telemetry (Voltage, Velocity, Acceleration) to compute empirical kV and kA values dynamically.
OnlineFeedforwardEstimator(String, int, double) - Constructor for class com.marslib.util.OnlineFeedforwardEstimator: Constructs the Online Estimator.
OperatorConstants - Class in frc.robot.constants
OperatorConstants() - Constructor for class frc.robot.constants.OperatorConstants
OperatorInterface - Class in frc.robot.subsystems: Subsystem handling driver and operator input, including intelligent rumble feedback for faults and voltage sags.
OperatorInterface(int, MARSPowerManager) - Constructor for class frc.robot.subsystems.OperatorInterface
OVERRIDE_REPLAY - Static variable in class frc.robot.constants.ModeConstants: Set to true to force REPLAY mode regardless of runtime environment.

P

pathfindObstacleAvoidance(SwerveDrive, Pose2d) - Static method in class com.marslib.auto.MARSAuto: Utilizes PathPlanner's A* Pathfinding to navigate avoiding obstacles.
pathfindThenRunChoreoTrajectory(SwerveDrive, String) - Static method in class com.marslib.auto.MARSAuto: Executes a pre-planned Choreo trajectory but dynamically pathfinds to the start position first if the robot is off-target.
periodic() - Method in class com.marslib.hmi.LEDManager
periodic() - Method in class com.marslib.power.MARSPowerManager: Processes IO loops periodically.
periodic() - Method in class com.marslib.swerve.SwerveDrive
periodic() - Method in class com.marslib.swerve.SwerveModule
periodic() - Method in class com.marslib.vision.MARSVision: The active periodic layer.
periodic() - Method in class frc.robot.subsystems.MARSClimber
periodic() - Method in class frc.robot.subsystems.MARSCowl
periodic() - Method in class frc.robot.subsystems.MARSIntakePivot
periodic() - Method in class frc.robot.subsystems.MARSShooter
periodic() - Method in class frc.robot.subsystems.MARSSuperstructure
periodic() - Method in class frc.robot.subsystems.OperatorInterface
PhoenixOdometryThread - Class in com.marslib.swerve: High-frequency CAN bus polling thread for CTRE Phoenix 6 odometry signals.
PhoenixOdometryThread() - Constructor for class com.marslib.swerve.PhoenixOdometryThread
PhoenixOdometryThread.GyroYawData - Class in com.marslib.swerve: Container for pre-allocated gyro yaw data.
PhoenixOdometryThread.SyncData - Class in com.marslib.swerve: Container for a batch of synchronized odometry samples from a single module.
PIGEON2_ID - Static variable in class frc.robot.constants.DriveConstants
pitchPositionRad - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
pitchVelocityRadPerSec - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
PIVOT_GEAR_RATIO - Static variable in class frc.robot.constants.IntakeConstants
PIVOT_MOTOR_ID - Static variable in class frc.robot.constants.IntakeConstants
pose - Variable in class com.limelight.LimelightHelpers.PoseEstimate
PoseEstimate() - Constructor for class com.limelight.LimelightHelpers.PoseEstimate
positionMeters - Variable in class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
positionRad - Variable in class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs
PowerConfig - Record Class in com.marslib.power: Configuration record for the MARSPowerManager.
PowerConfig(double, double, double) - Constructor for record class com.marslib.power.PowerConfig: Creates an instance of a PowerConfig record class.
PowerConstants - Class in frc.robot.constants
PowerConstants() - Constructor for class frc.robot.constants.PowerConstants
PowerIO - Interface in com.marslib.power: Hardware interface for power management reading.
PowerIO.PowerIOInputs - Class in com.marslib.power
PowerIOInputs() - Constructor for class com.marslib.power.PowerIO.PowerIOInputs
PowerIOReal - Class in com.marslib.power: Hardware implementation for reading physical Power Distribution Hub (PDH) data.
PowerIOReal() - Constructor for class com.marslib.power.PowerIOReal
PowerIOSim - Class in com.marslib.power: Simulated implementation of the power and battery IO interface.
PowerIOSim(PowerConfig) - Constructor for class com.marslib.power.PowerIOSim
PROJECTILE_SPEED_MPS - Static variable in class frc.robot.constants.ShooterConstants
PULSE_DURATION_LOOPS - Static variable in class frc.robot.constants.OperatorConstants
PULSE_INTERVAL_LOOPS - Static variable in class frc.robot.constants.OperatorConstants

Q

QuestNav - Class in gg.questnav: Client-side driver for the QuestNav VIO (Visual-Inertial Odometry) SLAM system.
QuestNav() - Constructor for class gg.questnav.QuestNav: Constructs a QuestNav client reading from the default "questnav" NetworkTable.

R

rawArea - Variable in class com.limelight.LimelightHelpers.PoseEstimate
rawFiducials - Variable in class com.limelight.LimelightHelpers.PoseEstimate
rawPitch - Variable in class com.limelight.LimelightHelpers.PoseEstimate
rawYaw - Variable in class com.limelight.LimelightHelpers.PoseEstimate
REAL - Enum constant in enum class frc.robot.constants.ModeConstants.Mode
RED_HUB_3D - Static variable in class frc.robot.constants.FieldConstants: Red hub 3D target for shooter math (top opening, meters).
RED_HUB_POS - Static variable in class frc.robot.constants.FieldConstants: Red alliance hub center position (meters).
RED_NEARDEPOT_CLIMB_POSE - Static variable in class frc.robot.constants.FieldConstants
RED_NEAROUTPOST_CLIMB_POSE - Static variable in class frc.robot.constants.FieldConstants
registerGyro(BaseStatusSignal, double) - Method in class com.marslib.swerve.PhoenixOdometryThread: Registers the gyro yaw signal for high-frequency sampling alongside module signals.
registerMechanismBody(String, Body) - Method in class com.marslib.simulation.MARSPhysicsWorld
registerModule(BaseStatusSignal, BaseStatusSignal, double) - Method in class com.marslib.swerve.PhoenixOdometryThread: Registers a swerve module's drive and turn position signals for high-frequency sampling.
REPLAY - Enum constant in enum class frc.robot.constants.ModeConstants.Mode
ReplayIOFactory - Class in com.marslib.util: A utility class that uses Java dynamic proxies to automatically construct no-op instances of hardware IO interfaces.
reportHardwareDisconnect(String) - Static method in class com.marslib.faults.MARSFaultManager: Standard helper triggering an automatic CAN API structural error block.
requestTransition(S) - Method in class com.marslib.util.MARSStateMachine: Attempts to transition from the current state to nextState.
reset() - Static method in class com.marslib.testing.MARSTestHarness
resetAll() - Static method in class com.marslib.faults.Alert: Clears all alert groups.
resetInstance() - Static method in class com.marslib.simulation.MARSPhysicsWorld
resetInstance() - Static method in class com.marslib.swerve.PhoenixOdometryThread: Stops the current instance and clears the singleton reference.
resetPose(Pose2d) - Method in class com.marslib.swerve.SwerveDrive
resetPose(Pose2d, GyroIOInputsAutoLogged, SwerveModule...) - Method in class com.marslib.swerve.SwerveOdometry
resetSimulation() - Static method in class com.marslib.vision.AprilTagVisionIOSim: Resets the shared VisionSystemSim singleton.
RF_MOTOR_ID - Static variable in class frc.robot.constants.ShooterConstants
RM_MOTOR_ID - Static variable in class frc.robot.constants.ShooterConstants
Robot - Class in frc.robot: The VM is configured to automatically run this class, and to call the functions corresponding to each mode, as described in the TimedRobot documentation.
Robot() - Constructor for class frc.robot.Robot
ROBOT_MASS_KG - Static variable in class frc.robot.SwerveConstants: Mass of the robot inclusive of battery and bumpers (kg).
ROBOT_MOI_KG_M2 - Static variable in class frc.robot.SwerveConstants: Approximate moment of inertia of the robot based on a solid block model (kg*m^2)
robotAimYawRadians - Variable in class com.marslib.util.EliteShooterMath.EliteShooterSetpoint
RobotBindings - Class in frc.robot
RobotContainer - Class in frc.robot: Central Dependency Injection container for the robot.
RobotContainer() - Constructor for class frc.robot.RobotContainer
RobotContainer(boolean) - Constructor for class frc.robot.RobotContainer
robotInit() - Method in class frc.robot.Robot
robotMassKg() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the robotMassKg record component.
robotMoiKgM2() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the robotMoiKgM2 record component.
robotPeriodic() - Method in class frc.robot.Robot: This function is called periodically during all modes.
ROLLER_MOTOR_ID - Static variable in class frc.robot.constants.IntakeConstants
rollPositionRad - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
rollVelocityRadPerSec - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
RotaryMechanismIO - Interface in com.marslib.mechanisms: Hardware abstraction interface for a rotary mechanism (like an arm or wrist).
RotaryMechanismIO.RotaryMechanismIOInputs - Class in com.marslib.mechanisms
RotaryMechanismIOInputs() - Constructor for class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs
RotaryMechanismIOSim - Class in com.marslib.mechanisms: Simulation implementation of the RotaryMechanismIO interface.
RotaryMechanismIOSim(String, double, double, double) - Constructor for class com.marslib.mechanisms.RotaryMechanismIOSim: Constructs a physical simulation instance for a 1D rotary arm mechanism.
RotaryMechanismIOTalonFX - Class in com.marslib.mechanisms: Hardware binding layer for singular Rotary Mechanisms utilizing CTRE TalonFX (Kraken/Falcon) motors.
RotaryMechanismIOTalonFX(int, String, double, boolean) - Constructor for class com.marslib.mechanisms.RotaryMechanismIOTalonFX: Initializes the TalonFX hardware and pre-configures MotionMagic.
run() - Method in class com.marslib.swerve.PhoenixOdometryThread
runChoreoTrajectory(String) - Static method in class com.marslib.auto.MARSAuto: Executes a pre-planned, time-optimal Choreo trajectory via PathPlannerLib.
runVelocity(ChassisSpeeds) - Method in class com.marslib.swerve.SwerveDrive

S

SCORE - Enum constant in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState
SCORE_FALLBACK_COWL_ANGLE - Static variable in class frc.robot.constants.SuperstructureConstants
set(boolean) - Method in class com.marslib.faults.Alert: Activates or deactivates this alert.
setAbsoluteState(MARSSuperstructure.SuperstructureState) - Method in class frc.robot.subsystems.MARSSuperstructure: Creates a command that requests a transition to the given superstructure state.
setBrakeMode(boolean) - Method in interface com.marslib.mechanisms.FlywheelIO
setBrakeMode(boolean) - Method in class com.marslib.mechanisms.FlywheelIOTalonFX
setBrakeMode(boolean) - Method in interface com.marslib.mechanisms.LinearMechanismIO
setBrakeMode(boolean) - Method in class com.marslib.mechanisms.LinearMechanismIOTalonFX
setBrakeMode(boolean) - Method in interface com.marslib.mechanisms.RotaryMechanismIO
setBrakeMode(boolean) - Method in class com.marslib.mechanisms.RotaryMechanismIOTalonFX
setClosedLoopPosition(double, double) - Method in interface com.marslib.mechanisms.LinearMechanismIO: Runs a low latency closed-loop profile on motor with external feedforward.
setClosedLoopPosition(double, double) - Method in class com.marslib.mechanisms.LinearMechanismIOSim
setClosedLoopPosition(double, double) - Method in class com.marslib.mechanisms.LinearMechanismIOTalonFX: Pushes a target state using Phoenix 6 Motion Magic.
setClosedLoopPosition(double, double) - Method in interface com.marslib.mechanisms.RotaryMechanismIO: Runs a low latency closed-loop profile on motor with external feedforward.
setClosedLoopPosition(double, double) - Method in class com.marslib.mechanisms.RotaryMechanismIOSim
setClosedLoopPosition(double, double) - Method in class com.marslib.mechanisms.RotaryMechanismIOTalonFX: Pushes a target state using Phoenix 6 Motion Magic.
setClosedLoopVelocity(double) - Method in class frc.robot.subsystems.MARSShooter: Runs the flywheel at a target velocity using the motor's internal closed-loop controller and dynamically injects the calculated feedforward voltage.
setClosedLoopVelocity(double, double) - Method in interface com.marslib.mechanisms.FlywheelIO: Runs a low latency closed-loop velocity profile on motor with external feedforward.
setClosedLoopVelocity(double, double) - Method in class com.marslib.mechanisms.FlywheelIOSim
setClosedLoopVelocity(double, double) - Method in class com.marslib.mechanisms.FlywheelIOTalonFX
setCriticalFaultFlash() - Method in interface com.marslib.hmi.LEDIO: Sets the LED strip to a critical fault flash pattern (e.g., flashing red).
setCriticalFaultFlash() - Method in class com.marslib.hmi.LEDIOAddressable: Sets the LEDs to a critical fault warning color (e.g., flashing red).
setCriticalFaultFlash() - Method in class com.marslib.hmi.LEDIOCANdle
setCurrentLimit(double) - Method in interface com.marslib.mechanisms.FlywheelIO
setCurrentLimit(double) - Method in class com.marslib.mechanisms.FlywheelIOTalonFX
setCurrentLimit(double) - Method in interface com.marslib.mechanisms.LinearMechanismIO
setCurrentLimit(double) - Method in class com.marslib.mechanisms.LinearMechanismIOTalonFX
setCurrentLimit(double) - Method in interface com.marslib.mechanisms.RotaryMechanismIO
setCurrentLimit(double) - Method in class com.marslib.mechanisms.RotaryMechanismIOTalonFX
setDefaultColors() - Method in interface com.marslib.hmi.LEDIO: Sets the LED strip to its default idle color pattern (e.g., solid team color).
setDefaultColors() - Method in class com.marslib.hmi.LEDIOAddressable: Sets the LEDs to their default color state (e.g., solid blue).
setDefaultColors() - Method in class com.marslib.hmi.LEDIOCANdle
setDesiredState(SwerveModuleState) - Method in class com.marslib.swerve.SwerveModule: Optimizes and applies a desired module state (drive speed + turn angle) with closed-loop turn control and simple voltage feedforward for driving.
setDriveBrakeMode(boolean) - Method in interface com.marslib.swerve.SwerveModuleIO: Sets the neutral mode of the drive motor.
setDriveBrakeMode(boolean) - Method in class com.marslib.swerve.SwerveModuleIOTalonFX
setDriveVoltage(double) - Method in class com.marslib.swerve.SwerveModule: Routes target voltage demands safely down into the IO execution layer.
setDriveVoltage(double) - Method in interface com.marslib.swerve.SwerveModuleIO: Run the drive motor at the specified voltage.
setDriveVoltage(double) - Method in class com.marslib.swerve.SwerveModuleIOSim
setDriveVoltage(double) - Method in class com.marslib.swerve.SwerveModuleIOTalonFX
setEncoderPosition(double) - Method in interface com.marslib.mechanisms.RotaryMechanismIO: Resets the internal encoder to a given position.
setEncoderPosition(double) - Method in class com.marslib.mechanisms.RotaryMechanismIOTalonFX
setEntryAction(S, Runnable) - Method in class com.marslib.util.MARSStateMachine: Registers a callback to run when entering the specified state.
setExitAction(S, Runnable) - Method in class com.marslib.util.MARSStateMachine: Registers a callback to run when exiting the specified state.
setGyroSimulation(GyroSimulation) - Method in class com.marslib.swerve.GyroIOSim
setLoadSheddingColors() - Method in interface com.marslib.hmi.LEDIO: Sets the LED strip to a warning pattern indicating active power load shedding.
setLoadSheddingColors() - Method in class com.marslib.hmi.LEDIOAddressable: Sets the LEDs to a load shedding warning color (e.g., solid orange).
setLoadSheddingColors() - Method in class com.marslib.hmi.LEDIOCANdle
setLogDirs(Path...) - Static method in class com.marslib.util.LogUploader: Overrides the directories scanned for logs.
setModuleSimulation(SwerveModuleSimulation) - Method in class com.marslib.swerve.SwerveModuleIOSim
setModuleStates(SwerveModuleState...) - Method in class com.marslib.swerve.SwerveDrive
setOnTransition(BiConsumer<S, S>) - Method in class com.marslib.util.MARSStateMachine: Registers a callback that fires on every accepted transition, receiving the source and destination states.
setPatToken(String) - Static method in class com.marslib.util.LogUploader: Overrides the PAT token for testing.
setRobotOrientation(double, double, double, double, double, double) - Method in interface com.marslib.vision.AprilTagVisionIO: Updates the camera configuration with the robot's current gyroscope orientation
setRobotOrientation(double, double, double, double, double, double) - Method in class com.marslib.vision.AprilTagVisionIOLimelight
SetRobotOrientation(String, double, double, double, double, double, double) - Static method in class com.limelight.LimelightHelpers: Pushes the robot's orientation directly to the Limelight over NetworkTables.
setRumble(double) - Method in class frc.robot.subsystems.OperatorInterface
setSwerveDriveSimulation(SwerveDriveSimulation) - Method in class com.marslib.swerve.GyroIOSim
setTargetPosition(double) - Method in class frc.robot.subsystems.MARSClimber: Commands the climber to a target height using Motion Magic with dynamic feedforward.
setTargetPosition(double) - Method in class frc.robot.subsystems.MARSCowl: Commands the cowl to a target angular position using Motion Magic with dynamic feedforward.
setTargetPosition(double) - Method in class frc.robot.subsystems.MARSIntakePivot: Commands the intake pivot to a target angular position using Motion Magic with dynamic feedforward.
setText(String) - Method in class com.marslib.faults.Alert: Updates the displayed text of this alert.
setTurnBrakeMode(boolean) - Method in interface com.marslib.swerve.SwerveModuleIO: Sets the neutral mode of the turn motor.
setTurnBrakeMode(boolean) - Method in class com.marslib.swerve.SwerveModuleIOTalonFX
setTurnVoltage(double) - Method in class com.marslib.swerve.SwerveModule: Routes steer voltage demands safely down into the IO execution layer.
setTurnVoltage(double) - Method in interface com.marslib.swerve.SwerveModuleIO: Run the turn motor at the specified voltage.
setTurnVoltage(double) - Method in class com.marslib.swerve.SwerveModuleIOSim
setTurnVoltage(double) - Method in class com.marslib.swerve.SwerveModuleIOTalonFX
setVoltage(double) - Method in interface com.marslib.mechanisms.FlywheelIO
setVoltage(double) - Method in class com.marslib.mechanisms.FlywheelIOSim
setVoltage(double) - Method in class com.marslib.mechanisms.FlywheelIOTalonFX
setVoltage(double) - Method in interface com.marslib.mechanisms.LinearMechanismIO
setVoltage(double) - Method in class com.marslib.mechanisms.LinearMechanismIOSim
setVoltage(double) - Method in class com.marslib.mechanisms.LinearMechanismIOTalonFX
setVoltage(double) - Method in interface com.marslib.mechanisms.RotaryMechanismIO
setVoltage(double) - Method in class com.marslib.mechanisms.RotaryMechanismIOSim
setVoltage(double) - Method in class com.marslib.mechanisms.RotaryMechanismIOTalonFX
setVoltage(double) - Method in class frc.robot.subsystems.MARSClimber
setVoltage(double) - Method in class frc.robot.subsystems.MARSShooter: Directly sets the shooter motor voltage.
SHOOTER_EXIT_HEIGHT_METERS - Static variable in class frc.robot.constants.SuperstructureConstants
SHOOTER_WHEEL_RADIUS_METERS - Static variable in class frc.robot.constants.ShooterConstants: Radius of the shooter flywheel in meters.
ShooterConstants - Class in frc.robot.constants
ShooterConstants() - Constructor for class frc.robot.constants.ShooterConstants
ShootOnTheMoveCommand - Class in frc.robot.commands: 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.
ShootOnTheMoveCommand(SwerveDrive, MARSCowl, MARSShooter, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.ShootOnTheMoveCommand
SIM - Enum constant in enum class frc.robot.constants.ModeConstants.Mode
SimSysIdTuner - Class in com.marslib.util: Offline System Identification Tuner for MARSLib.
SimSysIdTuner() - Constructor for class com.marslib.util.SimSysIdTuner
SimSysIdTuner.DataPoint - Class in com.marslib.util
SimulationConstants - Class in frc.robot.constants
SimulationConstants() - Constructor for class frc.robot.constants.SimulationConstants
simulationInit() - Method in class frc.robot.Robot: This function is called once when the robot is first started up.
simulationPeriodic() - Method in class frc.robot.Robot: This function is called periodically whilst in simulation.
SLAM_ANGULAR_STD_DEV - Static variable in class frc.robot.constants.VisionConstants: Static standard deviation for VIO SLAM angular measurements (radians).
SLAM_STD_DEV - Static variable in class frc.robot.constants.VisionConstants: Static standard deviation for VIO SLAM measurements (meters and radians).
slamAngularStdDev() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the slamAngularStdDev record component.
slamStdDev() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the slamStdDev record component.
SLIP_TRANSITION_VELOCITY_MPS - Static variable in class frc.robot.SwerveConstants: Slip velocity threshold (m/s) at which static friction transitions to kinetic.
SmartAssistAlign - Class in com.marslib.auto: Command for dynamic, odometry-based robot alignment specifically for scoring on standard FRC grid nodes.
SmartAssistAlign(SwerveDrive, DoubleSupplier, Pose2d) - Constructor for class com.marslib.auto.SmartAssistAlign: Overrides the driver's lateral (Y) and rotational (Theta) control to perfectly track a specific field coordinate, while allowing them to maintain forward/backward (X) speed.
solveForSimConstants(String, String, String, double, double, double) - Static method in class com.marslib.util.SimSysIdTuner: Executes regression over a given WPILog file.
spinUpCommand() - Method in class frc.robot.subsystems.MARSShooter: Returns a command that continuously spins the flywheel at the default scoring velocity.
STOWED - Enum constant in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState
SuperstructureConstants - Class in frc.robot.constants
SuperstructureConstants() - Constructor for class frc.robot.constants.SuperstructureConstants
SwerveAutoBuilder - Class in com.marslib.swerve: Encapsulates the static configurations for PathPlanner's AutoBuilder.
SwerveConfig - Record Class in com.marslib.swerve: Configuration record for the SwerveDrive subsystem.
SwerveConfig(Translation2d[], double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double, double) - Constructor for record class com.marslib.swerve.SwerveConfig: Creates an instance of a SwerveConfig record class.
SwerveConstants - Class in frc.robot: Central constants for the MARSLib swerve drivetrain.
SwerveDiagnostics - Class in com.marslib.swerve: Diagnostic and automated alignment sequences for the Swerve Drive.
SwerveDiagnostics(SwerveDrive, SwerveModule...) - Constructor for class com.marslib.swerve.SwerveDiagnostics
SwerveDrive - Class in com.marslib.swerve: The core MARSLib SwerveDrive subsystem responsible for managing holonomic kinematics, dynamic PathPlanner autonomous trajectories, and active power shedding.
SwerveDrive(SwerveModule[], GyroIO, MARSPowerManager, SwerveConfig) - Constructor for class com.marslib.swerve.SwerveDrive
SwerveModule - Class in com.marslib.swerve: Represents a singular Swerve Module (e.g.
SwerveModule(int, SwerveModuleIO, SwerveConfig) - Constructor for class com.marslib.swerve.SwerveModule: Constructs a generic Swerve Module boundary structure.
SwerveModuleIO - Interface in com.marslib.swerve: Hardware abstraction interface for a single swerve module (drive + turn motors).
SwerveModuleIO.SwerveModuleIOInputs - Class in com.marslib.swerve
SwerveModuleIOInputs() - Constructor for class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
SwerveModuleIOSim - Class in com.marslib.swerve: Simulation IO layer for a single swerve module.
SwerveModuleIOSim(int) - Constructor for class com.marslib.swerve.SwerveModuleIOSim
SwerveModuleIOTalonFX - Class in com.marslib.swerve: Hardware IO implementation for a Swerve Module using CTRE TalonFX motors and a CANcoder.
SwerveModuleIOTalonFX(int, int, String, SwerveConfig) - Constructor for class com.marslib.swerve.SwerveModuleIOTalonFX
SwerveOdometry - Class in com.marslib.swerve: Encapsulates high-frequency (250Hz) odometry tracking and vision fusion.
SwerveOdometry(SwerveDriveKinematics, SwerveConfig, SwerveModulePosition...) - Constructor for class com.marslib.swerve.SwerveOdometry
SwerveSetpoint(ChassisSpeeds, SwerveModuleState...) - Constructor for class com.marslib.swerve.SwerveSetpointGenerator.SwerveSetpoint
SwerveSetpointGenerator - Class in com.marslib.swerve: 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.
SwerveSetpointGenerator(SwerveDriveKinematics) - Constructor for class com.marslib.swerve.SwerveSetpointGenerator
SwerveSetpointGenerator.KinematicLimits - Class in com.marslib.swerve
SwerveSetpointGenerator.SwerveSetpoint - Class in com.marslib.swerve
SyncData() - Constructor for class com.marslib.swerve.PhoenixOdometryThread.SyncData
sysIdDynamic(SysIdRoutine.Direction) - Method in class com.marslib.swerve.SwerveDiagnostics
sysIdDynamic(SysIdRoutine.Direction) - Method in class com.marslib.swerve.SwerveDrive
sysIdDynamic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSClimber
sysIdDynamic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSCowl: Generates a SysId Dynamic characterization command.
sysIdDynamic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSIntakePivot
sysIdDynamic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSShooter: Generates a SysId Dynamic characterization command.
sysIdQuasistatic(SysIdRoutine.Direction) - Method in class com.marslib.swerve.SwerveDiagnostics
sysIdQuasistatic(SysIdRoutine.Direction) - Method in class com.marslib.swerve.SwerveDrive
sysIdQuasistatic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSClimber
sysIdQuasistatic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSCowl: Generates a SysId Quasistatic characterization command.
sysIdQuasistatic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSIntakePivot
sysIdQuasistatic(SysIdRoutine.Direction) - Method in class frc.robot.subsystems.MARSShooter: Generates a SysId Quasistatic characterization command.
SystemCheckCommand - Class in com.marslib.diagnostics: A comprehensive, robust pre-match diagnostic routine decoupled from mechanism logic.
SystemCheckCommand(SystemTestable...) - Constructor for class com.marslib.diagnostics.SystemCheckCommand: Safely iterates through all passed testable subsystems.
SystemTestable - Interface in com.marslib.diagnostics: Indicates that a subsystem or component can perform an automated self-test.

T

TAG_STD_BASE - Static variable in class frc.robot.constants.VisionConstants: Base linear standard deviation for single-tag AprilTag poses.
tagCount - Variable in class com.limelight.LimelightHelpers.PoseEstimate
tagCounts - Variable in class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
tagSpan - Variable in class com.limelight.LimelightHelpers.PoseEstimate
tagStdBase() - Method in record class com.marslib.vision.VisionConfig: Returns the value of the tagStdBase record component.
targetVelocityMetersPerSec - Variable in class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
targetVelocityRadPerSec - Variable in class com.marslib.mechanisms.FlywheelIO.FlywheelIOInputs
targetVelocityRadPerSec - Variable in class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs
TELEMETRY_HZ - Static variable in class frc.robot.constants.DriveConstants
TelemetryGamepad - Class in com.marslib.hmi: A wrapper for CommandXboxController that dynamically logs string descriptors indicating what macro is mapped to what button securely to AdvantageKit and NetworkTables.
TelemetryGamepad(int, String) - Constructor for class com.marslib.hmi.TelemetryGamepad
telemetryHz() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the telemetryHz record component.
TELEOP_LINEAR_ACCEL_LIMIT - Static variable in class frc.robot.constants.DriveConstants
TELEOP_OMEGA_ACCEL_LIMIT - Static variable in class frc.robot.constants.DriveConstants
TeleopDriveCommand - Class in com.marslib.swerve: Command to handle Teleop Swerve Driving.
TeleopDriveCommand(SwerveDrive, SwerveConfig, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class com.marslib.swerve.TeleopDriveCommand
TeleopDriveMath - Class in com.marslib.swerve: Pure-function joystick-to-ChassisSpeeds math for the teleop drive pipeline.
teleopInit() - Method in class frc.robot.Robot: This function is called once when teleop is enabled.
teleopLinearAccelLimit() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the teleopLinearAccelLimit record component.
teleopOmegaAccelLimit() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the teleopOmegaAccelLimit record component.
teleopPeriodic() - Method in class frc.robot.Robot: This function is called periodically during operator control.
testInit() - Method in class frc.robot.Robot: This function is called once when test mode is enabled.
testPeriodic() - Method in class frc.robot.Robot: This function is called periodically during test mode.
time - Variable in class com.marslib.util.SimSysIdTuner.DataPoint
timestamps - Variable in class com.marslib.swerve.PhoenixOdometryThread.SyncData: FPGA timestamps corresponding to each position sample.
timestamps - Variable in class com.marslib.vision.AprilTagVisionIO.AprilTagVisionIOInputs
timestamps - Variable in class com.marslib.vision.VIOSlamIO.VIOSlamIOInputs
timestampSeconds - Variable in class com.limelight.LimelightHelpers.PoseEstimate
toString() - Method in record class com.marslib.power.PowerConfig: Returns a string representation of this record class.
toString() - Method in record class com.marslib.swerve.SwerveConfig: Returns a string representation of this record class.
toString() - Method in record class com.marslib.vision.VisionConfig: Returns a string representation of this record class.
totalCurrentAmps - Variable in class com.marslib.power.PowerIO.PowerIOInputs
TRACK_WIDTH_METERS - Static variable in class frc.robot.SwerveConstants: Distance between left and right module centers (meters).
trackWidthMeters() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the trackWidthMeters record component.
TractionControlLimiter - Class in com.marslib.swerve: Advanced 2D Slew Rate Limiter to prevent carpet slippage and Odometry drift.
TractionControlLimiter(double) - Constructor for class com.marslib.swerve.TractionControlLimiter: Initializes the 2D Traction Control limit.
tryUploadLogsAsync() - Static method in class com.marslib.util.LogUploader: Attempts to scan for and upload log files if the cooldown has elapsed and conditions are met.
TURN_GEAR_RATIO - Static variable in class frc.robot.SwerveConstants: Turn motor gear ratio (motor rotations per module rotation).
TURN_KP - Static variable in class frc.robot.SwerveConstants: Proportional gain for the module turn voltage controller.
TURN_STATOR_CURRENT_LIMIT - Static variable in class frc.robot.SwerveConstants: Nominal stator current limit for turn motors (amps).
turnAppliedVolts - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
turnCurrentAmps - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
turnGearRatio() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the turnGearRatio record component.
turnKp() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the turnKp record component.
turnPositions - Variable in class com.marslib.swerve.PhoenixOdometryThread.SyncData: Accumulated turn encoder positions (motor rotations) since the last drain.
turnPositionsRad - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs
turnStatorCurrentLimit() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the turnStatorCurrentLimit record component.
turnVelocityRadPerSec - Variable in class com.marslib.swerve.SwerveModuleIO.SwerveModuleIOInputs

U

UNJAM - Enum constant in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState
update() - Method in interface com.marslib.hmi.LEDIO: Pushes the current color buffer to the physical LED hardware.
update() - Method in class com.marslib.hmi.LEDIOAddressable: Periodically updates the underlying LED buffer based on the current state.
update() - Method in class com.marslib.hmi.LEDIOCANdle
update() - Method in class com.marslib.util.MARSStateMachine: Increments the tick counter for the current state.
update(double) - Method in class com.marslib.simulation.MARSPhysicsWorld
update(Pose3d) - Method in class com.marslib.vision.FrustumVisualizer
updateInputs(FlywheelIO.FlywheelIOInputs) - Method in interface com.marslib.mechanisms.FlywheelIO
updateInputs(FlywheelIO.FlywheelIOInputs) - Method in class com.marslib.mechanisms.FlywheelIOSim
updateInputs(FlywheelIO.FlywheelIOInputs) - Method in class com.marslib.mechanisms.FlywheelIOTalonFX
updateInputs(LinearMechanismIO.LinearMechanismIOInputs) - Method in interface com.marslib.mechanisms.LinearMechanismIO
updateInputs(LinearMechanismIO.LinearMechanismIOInputs) - Method in class com.marslib.mechanisms.LinearMechanismIOSim
updateInputs(LinearMechanismIO.LinearMechanismIOInputs) - Method in class com.marslib.mechanisms.LinearMechanismIOTalonFX
updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs) - Method in interface com.marslib.mechanisms.RotaryMechanismIO
updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs) - Method in class com.marslib.mechanisms.RotaryMechanismIOSim
updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs) - Method in class com.marslib.mechanisms.RotaryMechanismIOTalonFX
updateInputs(PowerIO.PowerIOInputs) - Method in interface com.marslib.power.PowerIO
updateInputs(PowerIO.PowerIOInputs) - Method in class com.marslib.power.PowerIOReal
updateInputs(PowerIO.PowerIOInputs) - Method in class com.marslib.power.PowerIOSim
updateInputs(GyroIO.GyroIOInputs) - Method in interface com.marslib.swerve.GyroIO: Updates the set of loggable inputs.
updateInputs(GyroIO.GyroIOInputs) - Method in class com.marslib.swerve.GyroIOPigeon2
updateInputs(GyroIO.GyroIOInputs) - Method in class com.marslib.swerve.GyroIOSim
updateInputs(SwerveModuleIO.SwerveModuleIOInputs) - Method in interface com.marslib.swerve.SwerveModuleIO: Updates the set of loggable inputs.
updateInputs(SwerveModuleIO.SwerveModuleIOInputs) - Method in class com.marslib.swerve.SwerveModuleIOSim
updateInputs(SwerveModuleIO.SwerveModuleIOInputs) - Method in class com.marslib.swerve.SwerveModuleIOTalonFX
updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in interface com.marslib.vision.AprilTagVisionIO
updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in class com.marslib.vision.AprilTagVisionIOLimelight
updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in class com.marslib.vision.AprilTagVisionIOPhoton
updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs) - Method in class com.marslib.vision.AprilTagVisionIOSim
updateInputs(VIOSlamIO.VIOSlamIOInputs) - Method in interface com.marslib.vision.VIOSlamIO
updateInputs(VIOSlamIO.VIOSlamIOInputs) - Method in class com.marslib.vision.VIOSlamIOQuestNav
updateInputs(VIOSlamIO.VIOSlamIOInputs) - Method in class com.marslib.vision.VIOSlamIOROS2
updateInputs(Pose2d) - Method in class com.marslib.simulation.LidarIOSim: Performs the raycast sweep around the robot and logs the hits as a 3D Point Cloud.
updateOdometry(SwerveModule[], GyroIOInputsAutoLogged) - Method in class com.marslib.swerve.SwerveOdometry: Performs the high-frequency synchronous drain of the cached module vectors, updating the pose estimator with sub-loop accuracy.

V

validCount - Variable in class com.marslib.swerve.PhoenixOdometryThread.GyroYawData: Number of valid samples.
validCount - Variable in class com.marslib.swerve.PhoenixOdometryThread.SyncData: Number of valid samples in this batch.
valueOf(String) - Static method in enum class com.marslib.faults.Alert.AlertType: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.marslib.hmi.LEDIO.State: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class frc.robot.constants.ModeConstants.Mode: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState: Returns the enum constant of this class with the specified name.
values() - Static method in enum class com.marslib.faults.Alert.AlertType: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.marslib.hmi.LEDIO.State: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class frc.robot.constants.ModeConstants.Mode: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class frc.robot.subsystems.MARSSuperstructure.SuperstructureState: Returns an array containing the constants of this enum class, in the order they are declared.
velocity - Variable in class com.marslib.util.SimSysIdTuner.DataPoint
velocityMetersPerSec - Variable in class com.marslib.mechanisms.LinearMechanismIO.LinearMechanismIOInputs
velocityRadPerSec - Variable in class com.marslib.mechanisms.FlywheelIO.FlywheelIOInputs
velocityRadPerSec - Variable in class com.marslib.mechanisms.RotaryMechanismIO.RotaryMechanismIOInputs
VERSION - Static variable in class frc.robot.BuildConstants
VIOSlamIO - Interface in com.marslib.vision: Hardware abstraction interface for Visual Inertial Odometry (VIO) SLAM sensors.
VIOSlamIO.VIOSlamIOInputs - Class in com.marslib.vision
VIOSlamIOInputs() - Constructor for class com.marslib.vision.VIOSlamIO.VIOSlamIOInputs
VIOSlamIOQuestNav - Class in com.marslib.vision: Real hardware implementation of VIOSlamIO using a Meta Quest headset running QuestNav.
VIOSlamIOQuestNav() - Constructor for class com.marslib.vision.VIOSlamIOQuestNav
VIOSlamIOROS2 - Class in com.marslib.vision: Real hardware implementation of VIOSlamIO sourcing poses from a ROS2 coprocessor.
VIOSlamIOROS2(String, String) - Constructor for class com.marslib.vision.VIOSlamIOROS2
VISION_OCCLUSION_DROP_PROBABILITY - Static variable in class frc.robot.constants.SimulationConstants
VisionConfig - Record Class in com.marslib.vision: Configuration record for the MARSVision subsystem.
VisionConfig(Supplier<Double>, double, double, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, Supplier<Double>, double) - Constructor for record class com.marslib.vision.VisionConfig: Creates an instance of a VisionConfig record class.
VisionConstants - Class in frc.robot.constants
voltage - Variable in class com.marslib.power.PowerIO.PowerIOInputs
voltage - Variable in class com.marslib.util.SimSysIdTuner.DataPoint

W

WALL_FRICTION - Static variable in class frc.robot.constants.FieldConstants: Coulomb friction coefficient for field boundary walls and obstacles.
WALL_FRICTION - Static variable in class frc.robot.SwerveConstants: Coefficient of friction for robot bumpers scraping against field walls.
WALL_RESTITUTION - Static variable in class frc.robot.constants.FieldConstants: Coefficient of restitution (bounciness) for field boundary walls and obstacles.
WALL_RESTITUTION - Static variable in class frc.robot.SwerveConstants: Coefficient of restitution (bounciness) for robot-to-wall collisions.
WALL_THICKNESS_METERS - Static variable in class frc.robot.constants.FieldConstants: Thickness of simulated field boundary walls (meters).
WARNING - Enum constant in enum class com.marslib.faults.Alert.AlertType
WARNING_VOLTAGE - Static variable in class frc.robot.constants.PowerConstants
warningVoltage() - Method in record class com.marslib.power.PowerConfig: Returns the value of the warningVoltage record component.
warningVoltage() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the warningVoltage record component.
WHEEL_COF_KINETIC - Static variable in class frc.robot.SwerveConstants: Kinetic coefficient of friction once the wheel breaks traction (wheel slip/burnout).
WHEEL_COF_STATIC - Static variable in class frc.robot.SwerveConstants: Static coefficient of friction of the tread against standard FRC carpet.
WHEEL_MOI_KG_M2 - Static variable in class frc.robot.SwerveConstants: Effective rotational inertia of a single driven wheel assembly including the Kraken X60 rotor reflected through the SwerveConstants.DRIVE_GEAR_RATIO (kg·m²).
WHEEL_RADIUS_METERS - Static variable in class frc.robot.SwerveConstants: Radius of the swerve drive wheels (meters).
WHEELBASE_METERS - Static variable in class frc.robot.SwerveConstants: Distance between front and rear module centers (meters).
wheelbaseMeters() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the wheelbaseMeters record component.
wheelCOFStatic() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the wheelCOFStatic record component.
wheelRadiusMeters() - Method in record class com.marslib.swerve.SwerveConfig: Returns the value of the wheelRadiusMeters record component.

Y

yawPositionRad - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs
yawPositions - Variable in class com.marslib.swerve.PhoenixOdometryThread.GyroYawData: High-frequency yaw position samples (rotations).
yawVelocityRadPerSec - Variable in class com.marslib.swerve.GyroIO.GyroIOInputs

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