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@@ -31,20 +31,20 @@
+
default void
+
+
+
void
+
runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
+
Sets the desired chassis speed
-
default void
-
-
default void
-
+
-
default edu.wpi.first.wpilibj2.command.Command
-
-
-
Command to characterize the robot angle motors using SysId
-
+
default void
+
+
default edu.wpi.first.wpilibj2.command.Command
-
+
+
Command to characterize the robot angle motors using SysId
+
+
default edu.wpi.first.wpilibj2.command.Command
+
+
Command to characterize the robot drive motors using SysId
Methods inherited from cl
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+getAngle, getPose, isFieldOrientedDrive, lockPose, resetOdometry, setFieldOrientedDrive, setPoseToMatchField, sysIdAngleMotorCommand, sysIdDriveMotorCommand
Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem
defer, getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd
diff --git a/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html b/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html
index aa84d785..b9339ca8 100644
--- a/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html
+++ b/javadoc/frc/robot/subsystems/drive/DriveSwerveYAGSL.html
@@ -113,40 +113,49 @@ Method Summary
double
-
-
-
This returns the robot's max angular speed in radian/sec
-
double
-
+
+
This returns the robot's max angular speed in radian/sec
+
double
+
+
This returns the robot's max linear speed in meter/sec
+edu.wpi.first.math.geometry.Pose2d
+
+
boolean
void
-
+
void
-runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
+
+
+
void
+
runVelocity(edu.wpi.first.math.kinematics.ChassisSpeeds velocity)
+
Sets the desired chassis speed
-
void
-
-
void
-
+
-
edu.wpi.first.wpilibj2.command.Command
-
-
-
Command to characterize the robot angle motors using SysId
-
+
void
+
+
edu.wpi.first.wpilibj2.command.Command
-
+
+
Command to characterize the robot angle motors using SysId
+
+
edu.wpi.first.wpilibj2.command.Command
+
+
Command to characterize the robot drive motors using SysId
sysIdAngleMotorCommand
+Methods inherited from cl
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+getAngle, getPose, isFieldOrientedDrive, lockPose, resetOdometry, setFieldOrientedDrive, setPoseToMatchField, sysIdAngleMotorCommand, sysIdDriveMotorCommand
Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem
defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd
diff --git a/javadoc/frc/robot/commands/arm/ArmToPositionDebug.html b/javadoc/frc/robot/subsystems/vision/Vision.VisionPose.html
similarity index 54%
rename from javadoc/frc/robot/commands/arm/ArmToPositionDebug.html
rename to javadoc/frc/robot/subsystems/vision/Vision.VisionPose.html
index d476053c..a2819098 100644
--- a/javadoc/frc/robot/commands/arm/ArmToPositionDebug.html
+++ b/javadoc/frc/robot/subsystems/vision/Vision.VisionPose.html
@@ -2,10 +2,10 @@
-ArmToPositionDebug (Crescendo2024 API)
+Vision.VisionPose (Crescendo2024 API)
-
+
@@ -43,14 +43,14 @@
@@ -67,43 +67,45 @@
java.lang.Object
-
edu.wpi.first.wpilibj2.command.Command
-
frc.robot.commands.arm.ArmToPositionDebug
-
+
frc.robot.subsystems.vision.Vision.VisionPose
-- All Implemented Interfaces:
-edu.wpi.first.util.sendable.Sendable- Enclosing interface:
+- Vision
-public class ArmToPositionDebug
-extends edu.wpi.first.wpilibj2.command.Command
-This class uses a widget on Shuffleboard to control the arm setpoint. It is meant to be used for
- debug/test/bring type work.
+public static class Vision.VisionPose
+
extends Object
-
--
-
-
Nested Class Summary
-
-
Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command
-edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior
-
-
-
Field Summary
-
-
Fields inherited from class edu.wpi.first.wpilibj2.command.Command
-m_requirements
+Fields
+
+
+
+
+
+
+
+
+
+
+
edu.wpi.first.math.geometry.Pose2d
+
+
+
double
+
+
+
@@ -114,8 +116,12 @@ Constructor Summary
-
+
+
VisionPose(edu.wpi.first.math.geometry.Pose2d robotPose,
+ double timestamp,
+ String cameraName)
+
@@ -130,76 +136,94 @@ Method Summary
-void
-
-
-void
-
-
-void
-
+
+
-
Methods inherited from class edu.wpi.first.wpilibj2.command.Command
-addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isFinished, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout
-
Methods inherited from class java.lang.Object
-
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
-
+
-
-
-
Constructor Details
+
+Field Details
-
-
-
ArmToPositionDebug
-public ArmToPositionDebug(Arm arm)
+
+
+-
+
+
+-
+
+
robotPose
+public edu.wpi.first.math.geometry.Pose2d robotPose
+
+
+-
+
+
timestamp
+public double timestamp
-
+
-
-
-
Method Details
+
+Constructor Details
-
-
-
initialize
-public void initialize()
+
+VisionPose
+public VisionPose(edu.wpi.first.math.geometry.Pose2d robotPose,
+ double timestamp,
+ String cameraName)
-- Overrides:
-initialize in class edu.wpi.first.wpilibj2.command.Command- Parameters:
+robotPose - // Robot Pose2d as measured by visiontimestamp - // Timestamp the measurement was taken as time since startup, should be
+ taken from Timer.getFPGATimestamp() or similar sources.cameraName - // Name of camera this pose was calculated from
-
-
-
execute
-public void execute()
-
-- Overrides:
-execute in class edu.wpi.first.wpilibj2.command.Command
+
+VisionPose
+public VisionPose()
+
+
+
+
+-
+
+
Method Details
+
-
-
-
end
-public void end(boolean interrupted)
+
+toString
+
- Overrides:
-end in class edu.wpi.first.wpilibj2.command.CommandtoString in class Object
diff --git a/javadoc/frc/robot/subsystems/vision/Vision.html b/javadoc/frc/robot/subsystems/vision/Vision.html
new file mode 100644
index 00000000..65285060
--- /dev/null
+++ b/javadoc/frc/robot/subsystems/vision/Vision.html
@@ -0,0 +1,224 @@
+
+
+
+
+Vision (Crescendo2024 API)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+- All Known Implementing Classes:
+VisionSubsystem
+
+public interface Vision
+
+
+
+
+-
+
+
Nested Class Summary
+Nested Classes
+
+
+
+
+
static class
+
+
+
+
+-
+
+
Method Summary
+
+
+
+
+
+
+
+
default void
+
+
+
+
+
+
Returns the distance to the specified april tag in meters (relative to the primary camera)
+
+
+
+
+
Returns a list of vision-based estimated robot poses
+
+
+
+
+
Returns the yaw in degrees to the specified april tag in meters (relative to the primary
+ camera)
+
+
+
+
+
Returns the yaw in degrees to the best target (relative to the primary camera)
+
+
default boolean
+
+
+
+
+
+
+
+
+
+
+-
+
+
Method Details
+
+-
+
+
setPrimaryCamera
+default boolean setPrimaryCamera(String name)
+
+
+-
+
+
getYawToBestTarget
+
+Returns the yaw in degrees to the best target (relative to the primary camera)
+
+- Returns:
+- yaw to the best target (in degrees)
+
+
+
+-
+
+
getDistanceToAprilTag
+
+Returns the distance to the specified april tag in meters (relative to the primary camera)
+
+- Parameters:
+id - AprilTag ID- Returns:
+- distance to the specified april tag (in meters).
+
+
+
+-
+
+
getYawToAprilTag
+
+Returns the yaw in degrees to the specified april tag in meters (relative to the primary
+ camera)
+
+- Parameters:
+id - AprilTag ID- Returns:
+- yaw to the specified april tag (in degrees).
+
+
+
+-
+
+
getEstimatedRobotPoses
+
+Returns a list of vision-based estimated robot poses
+
+- Returns:
+- list of estimated poses. list length may be zero if updated pose estimation data is not
+ available.
+
+
+
+-
+
+
enableSimulation
+default void enableSimulation(Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier,
+ boolean enableWireFrame)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+public class VisionCamera
+
extends Object
+
+
+
+
+-
+
+
Constructor Summary
+Constructors
+
+
+
+
+-
+
+
Method Summary
+
+
Methods inherited from class java.lang.Object
+
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+
+
+
+
+
+
+
+
+
+
+
+
+java.lang.Object
+
edu.wpi.first.wpilibj2.command.SubsystemBase
+
frc.robot.subsystems.vision.VisionSubsystem
+
+
+
+
+- All Implemented Interfaces:
+edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem, Vision
+
+public class VisionSubsystem
+
extends edu.wpi.first.wpilibj2.command.SubsystemBase
+implements Vision
+
+
+
+
+-
+
+
Nested Class Summary
+
+
+
+
+-
+
+
Constructor Summary
+Constructors
+
+
+
+
+-
+
+
Method Summary
+
+
+
+
+
+
+
+
void
+
+
+
+
+
+
Returns the distance to the specified april tag in meters (relative to the primary camera)
+
+
+
+
+
Returns a list of vision-based estimated robot poses
+
+
+
+
+
Returns the yaw in degrees to the specified april tag in meters (relative to the primary
+ camera)
+
+
+
+
+
Returns the yaw in degrees to the best target (relative to the primary camera)
+
+
void
+
+
+
boolean
+
+
+
+
+
+
Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase
+addChild, getName, getSubsystem, initSendable, setName, setSubsystem
+
+
Methods inherited from class java.lang.Object
+
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+
Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem
+defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd
+
+
+
+
+
+
+
+-
+
+
Constructor Details
+
+-
+
+
VisionSubsystem
+public VisionSubsystem(List<VisionCamera> cameras,
+ edu.wpi.first.apriltag.AprilTagFieldLayout fieldLayout)
+
+
+
+
+
+
+-
+
+
Method Details
+
+-
+
+
enableSimulation
+public void enableSimulation(Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier,
+ boolean enableWireFrame)
+
+- Specified by:
+enableSimulation in interface Vision
+
+
+-
+
+
periodic
+public void periodic()
+
+- Specified by:
+periodic in interface edu.wpi.first.wpilibj2.command.Subsystem
+
+
+-
+
+
getDistanceToAprilTag
+
+Description copied from interface: Vision
+Returns the distance to the specified april tag in meters (relative to the primary camera)
+
+- Specified by:
+getDistanceToAprilTag in interface Vision- Parameters:
+id - AprilTag ID- Returns:
+- distance to the specified april tag (in meters).
+
+
+
+-
+
+
getYawToBestTarget
+
+Description copied from interface: Vision
+Returns the yaw in degrees to the best target (relative to the primary camera)
+
+- Specified by:
+getYawToBestTarget in interface Vision- Returns:
+- yaw to the best target (in degrees)
+
+
+
+-
+
+
getYawToAprilTag
+
+Description copied from interface: Vision
+Returns the yaw in degrees to the specified april tag in meters (relative to the primary
+ camera)
+
+- Specified by:
+getYawToAprilTag in interface Vision- Parameters:
+id - AprilTag ID- Returns:
+- yaw to the specified april tag (in degrees).
+
+
+
+-
+
+
getEstimatedRobotPoses
+
+Description copied from interface: Vision
+Returns a list of vision-based estimated robot poses
+
+- Specified by:
+getEstimatedRobotPoses in interface Vision- Returns:
+- list of estimated poses. list length may be zero if updated pose estimation data is not
+ available.
+
+
+
+-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+package frc.robot.subsystems.vision
+
+
+-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Class Hierarchy
+
+- java.lang.Object
+
+- edu.wpi.first.wpilibj2.command.SubsystemBase (implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem)
+
+
+- frc.robot.subsystems.vision.Vision.VisionPose
+- frc.robot.subsystems.vision.VisionCamera
+
+
+
+
+
+Interface Hierarchy
+
+- frc.robot.subsystems.vision.Vision
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+-
+
+
Nested Class Summary
+
+
+
+
+-
+
+
Enum Constant Summary
+Enum Constants
+
+
+
+
+-
+
+
Method Summary
+
+
+
+
+
+
+
+
+
+
+
Returns the enum constant of this class with the specified name.
+
+
+
+
+
Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+
+
+
+
Methods inherited from class java.lang.Enum
+
clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
+
+
+
+
+
+-
+
+
Enum Constant Details
+
+
+
+
+-
+
+
Method Details
+
+-
+
+
values
+
+Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+- Returns:
+- an array containing the constants of this enum class, in the order they are declared
+
+
+
+-
+
+
valueOf
+
+Returns the enum constant of this class with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this class. (Extraneous whitespace characters are
+not permitted.)
+
+- Parameters:
+name - the name of the enum constant to be returned.- Returns:
+- the enum constant with the specified name
+- Throws:
+IllegalArgumentException - if this enum class has no constant with the specified nameNullPointerException - if the argument is null
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+-
+
+
Nested Class Summary
+
+
+
+
+-
+
+
Enum Constant Summary
+Enum Constants
+
+
+
+
+-
+
+
Method Summary
+
+
+
+
+
+
+
+
+
+
+
Returns the enum constant of this class with the specified name.
+
+
+
+
+
Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+
+
+
+
Methods inherited from class java.lang.Enum
+
clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf
+
+
+
+
+
+-
+
+
Enum Constant Details
+
+
+
+
+-
+
+
Method Details
+
+-
+
+
values
+
+Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+- Returns:
+- an array containing the constants of this enum class, in the order they are declared
+
+
+
+-
+
+
valueOf
+
+Returns the enum constant of this class with the specified name.
+The string must match exactly an identifier used to declare an
+enum constant in this class. (Extraneous whitespace characters are
+not permitted.)
+
+- Parameters:
+name - the name of the enum constant to be returned.- Returns:
+- the enum constant with the specified name
+- Throws:
+IllegalArgumentException - if this enum class has no constant with the specified nameNullPointerException - if the argument is null
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+public class RobotState
+
extends Object
+
+
+
+
+-
+
+
Nested Class Summary
+Nested Classes
+
+
+
+
+
static enum
+
+
+
static enum
+
+
+
+
+-
+
+
Constructor Summary
+Constructors
+
+
+
+
+-
+
+
Method Summary
+
+
+
+
+
+
+
+
static int
+
+
+
static double
+
+
+
+
+
+
+
+
+
static boolean
+
+
+
static boolean
+
+
+
static void
+
+
+
static void
+
+
+
+
+
+
Methods inherited from class java.lang.Object
+
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+
+
+
+
+
+-
+
+
Constructor Details
+
+-
+
+
RobotState
+public RobotState()
+
+
+
+
+
+
+-
+
+
Method Details
+
+-
+
+
+-
+
+
+-
+
+
isAmpMode
+public static boolean isAmpMode()
+
+
+-
+
+
getActiveTargetId
+public static int getActiveTargetId()
+
+
+-
+
+
getTargetName
+public static String getTargetName(int id)
+
+
+-
+
+
getShooterVelocity
+public static double getShooterVelocity()
+
+
+-
+
+
+-
+
+
isFieldOriented
+public static boolean isFieldOriented()
+
+
+
+
+
+
+
+
+
+
+
-
-
Classes
-
+
+
+
Class for a tunable number.
+
+
+
+
+
+
+
diff --git a/javadoc/frc/robot/util/package-tree.html b/javadoc/frc/robot/util/package-tree.html
index 71185bcf..72224809 100644
--- a/javadoc/frc/robot/util/package-tree.html
+++ b/javadoc/frc/robot/util/package-tree.html
@@ -59,6 +59,22 @@
Class Hierarchy
- java.lang.Object
+
+
+
+
+Enum Class Hierarchy
+
diff --git a/javadoc/index-all.html b/javadoc/index-all.html
index d0531680..4c881985 100644
--- a/javadoc/index-all.html
+++ b/javadoc/index-all.html
@@ -64,12 +64,26 @@ A
-
- absolutePositionRaw - Variable in class frc.robot.subsystems.arm.ArmIO.ArmIOInputs
-
-- ampScoreAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
+- AlignToTarget - Class in frc.robot.commands.vision
+-
+- AlignToTarget(Drive, Vision) - Constructor for class frc.robot.commands.vision.AlignToTarget
+-
+- AlignToTarget(Drive, Vision, IntSupplier) - Constructor for class frc.robot.commands.vision.AlignToTarget
+-
+
Creates a new AlignToTarget.
+
+- AMP - Enum constant in enum class frc.robot.util.RobotState.TargetMode
-
-- ampScoreShooterAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
+- ampScoreAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
-
- ampScoreVelocityInRPMs - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
-
+- anglePidKd - Static variable in class frc.robot.config.RobotConfig.DriveConstants
+-
+- anglePidKi - Static variable in class frc.robot.config.RobotConfig.DriveConstants
+-
+- anglePidKp - Static variable in class frc.robot.config.RobotConfig.DriveConstants
+-
- appliedVolts - Variable in class frc.robot.subsystems.arm.ArmIO.ArmIOInputs
-
- appliedVolts - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs
@@ -107,16 +121,8 @@ A
- ArmSubsystem(ArmIO) - Constructor for class frc.robot.subsystems.arm.ArmSubsystem
-
- ArmToPosition - Class in frc.robot.commands.arm
--
-
This class uses a widget on Shuffleboard to control the arm setpoint.
-
-- ArmToPosition(Arm, DoubleSupplier) - Constructor for class frc.robot.commands.arm.ArmToPosition
-
-- ArmToPositionDebug - Class in frc.robot.commands.arm
--
-
This class uses a widget on Shuffleboard to control the arm setpoint.
-
-- ArmToPositionDebug(Arm) - Constructor for class frc.robot.commands.arm.ArmToPositionDebug
+- ArmToPosition(Arm, DoubleSupplier) - Constructor for class frc.robot.commands.arm.ArmToPosition
-
- ArmToPositionTP - Class in frc.robot.commands.arm
-
@@ -162,6 +168,8 @@ B
C
+- cameraName - Variable in class frc.robot.subsystems.vision.Vision.VisionPose
+-
- climber - Static variable in class frc.robot.config.RobotConfig
-
- Climber - Interface in frc.robot.subsystems.climber
@@ -194,8 +202,6 @@ C
-
- ClimberToPosition(Climber, boolean) - Constructor for class frc.robot.commands.climber.ClimberToPosition
-
-- commandsToShuffleboard() - Method in class frc.robot.RobotContainer
--
- Constants - Class in frc.robot
-
Add your docs here.
@@ -215,6 +221,10 @@ C
D
+- DebugControls - Class in frc.robot.controls
+-
+- DebugControls() - Constructor for class frc.robot.controls.DebugControls
+-
- debugMode - Static variable in class frc.robot.Constants
-
Use this to output Smartdashboard or other debug messages
@@ -235,6 +245,8 @@ D
-
- disabledPeriodic() - Method in class frc.robot.Robot
-
+- doubleFormat - Static variable in class frc.robot.subsystems.vision.Vision.VisionPose
+-
- drive - Static variable in class frc.robot.config.RobotConfig
-
- Drive - Interface in frc.robot.subsystems.drive
@@ -247,8 +259,14 @@ D
-
- DriveCommand(DriveBase, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.drive.DriveCommand
-
+- DriveCommand(DriveBase, DoubleSupplier, DoubleSupplier, DoubleSupplier, Supplier<Optional<Double>>) - Constructor for class frc.robot.commands.drive.DriveCommand
+-
- DriveConstants() - Constructor for class frc.robot.config.RobotConfig.DriveConstants
-
+- DriverControls - Class in frc.robot.controls
+-
+- DriverControls() - Constructor for class frc.robot.controls.DriverControls
+-
- DriveSwerveYAGSL - Class in frc.robot.subsystems.drive
-
- DriveSwerveYAGSL(String) - Constructor for class frc.robot.subsystems.drive.DriveSwerveYAGSL
@@ -272,35 +290,31 @@ E
-
- enableLimits(boolean) - Method in class frc.robot.subsystems.climber.ClimberSubsystem
-
-- end(boolean) - Method in class frc.robot.commands.arm.ArmToPosition
+- enableSimulation(Supplier<Pose2d>, boolean) - Method in interface frc.robot.subsystems.vision.Vision
-
-- end(boolean) - Method in class frc.robot.commands.arm.ArmToPositionDebug
+- enableSimulation(Supplier<Pose2d>, boolean) - Method in class frc.robot.subsystems.vision.VisionSubsystem
-
- end(boolean) - Method in class frc.robot.commands.assist.IndexPiece
-
- end(boolean) - Method in class frc.robot.commands.assist.ScorePiece
-
-- end(boolean) - Method in class frc.robot.commands.intake.IntakeOut
+- end(boolean) - Method in class frc.robot.commands.debug.TestShooterAngle
-
-- end(boolean) - Method in class frc.robot.commands.shooter.ShooterEnable
+- end(boolean) - Method in class frc.robot.commands.intake.IntakeOut
-
-- end(boolean) - Method in class frc.robot.commands.shooter.TestShooterAngle
+- end(boolean) - Method in class frc.robot.commands.vision.AlignToTarget
-
- execute() - Method in class frc.robot.commands.arm.ArmToPosition
-
-- execute() - Method in class frc.robot.commands.arm.ArmToPositionDebug
--
- execute() - Method in class frc.robot.commands.assist.IndexPiece
-
-- execute() - Method in class frc.robot.commands.drive.DriveCommand
+- execute() - Method in class frc.robot.commands.debug.TestShooterAngle
-
-- execute() - Method in class frc.robot.commands.intake.IntakeBaseCommand
+- execute() - Method in class frc.robot.commands.drive.DriveCommand
-
- execute() - Method in class frc.robot.commands.shooter.SetShooterVelocity
-
-- execute() - Method in class frc.robot.commands.shooter.ShooterEnable
--
-- execute() - Method in class frc.robot.commands.shooter.TestShooterAngle
+- execute() - Method in class frc.robot.commands.vision.AlignToTarget
-
- extend() - Method in interface frc.robot.subsystems.climber.Climber
-
@@ -335,6 +349,8 @@
F
-
- ffKvBottom - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
-
+- FIELD - Enum constant in enum class frc.robot.util.RobotState.DriveMode
+-
- frc.robot - package frc.robot
-
- frc.robot.commands.arm - package frc.robot.commands.arm
@@ -343,14 +359,20 @@ F
-
- frc.robot.commands.climber - package frc.robot.commands.climber
-
+- frc.robot.commands.debug - package frc.robot.commands.debug
+-
- frc.robot.commands.drive - package frc.robot.commands.drive
-
- frc.robot.commands.intake - package frc.robot.commands.intake
-
- frc.robot.commands.shooter - package frc.robot.commands.shooter
-
+- frc.robot.commands.vision - package frc.robot.commands.vision
+-
- frc.robot.config - package frc.robot.config
-
+- frc.robot.controls - package frc.robot.controls
+-
- frc.robot.subsystems.arm - package frc.robot.subsystems.arm
-
- frc.robot.subsystems.climber - package frc.robot.subsystems.climber
@@ -361,6 +383,8 @@ F
-
- frc.robot.subsystems.shooter - package frc.robot.subsystems.shooter
-
+- frc.robot.subsystems.vision - package frc.robot.subsystems.vision
+-
- frc.robot.util - package frc.robot.util
-
@@ -370,10 +394,20 @@ G
-
Get the current value, from dashboard if available and in tuning mode.
+- getActiveTargetId() - Static method in class frc.robot.util.RobotState
+-
- getAngle() - Method in interface frc.robot.subsystems.arm.Arm
-
- getAngle() - Method in class frc.robot.subsystems.arm.ArmSubsystem
-
+- getAngle() - Method in interface frc.robot.subsystems.drive.Drive
+-
+- getAngle() - Method in class frc.robot.subsystems.drive.DriveSwerveYAGSL
+-
+- getArmAngleFromDistance(double) - Method in class frc.robot.config.RobotConfig
+-
+- getArmAngleFromDistance(double) - Method in class frc.robot.config.RobotConfigInferno
+-
- getAsDouble() - Method in class frc.robot.util.LoggedTunableNumber
-
- getAutonomousCommand() - Method in class frc.robot.RobotContainer
@@ -386,6 +420,18 @@ G
-
- getCurrentSpeed() - Method in class frc.robot.subsystems.shooter.ShooterSubsystem
-
+- getDistanceToAprilTag(int) - Method in interface frc.robot.subsystems.vision.Vision
+-
+
Returns the distance to the specified april tag in meters (relative to the primary camera)
+
+- getDistanceToAprilTag(int) - Method in class frc.robot.subsystems.vision.VisionSubsystem
+-
+- getEstimatedRobotPoses() - Method in interface frc.robot.subsystems.vision.Vision
+-
+
Returns a list of vision-based estimated robot poses
+
+- getEstimatedRobotPoses() - Method in class frc.robot.subsystems.vision.VisionSubsystem
+-
- getLeftFollower() - Method in class frc.robot.subsystems.drive.DriveTrain
-
- getLeftMaster() - Method in class frc.robot.subsystems.drive.DriveTrain
@@ -414,18 +460,41 @@ G
-
This returns the robot's max linear speed in meter/sec
+- getPose() - Method in interface frc.robot.subsystems.drive.Drive
+-
+- getPose() - Method in class frc.robot.subsystems.drive.DriveSwerveYAGSL
+-
- getRightFollower() - Method in class frc.robot.subsystems.drive.DriveTrain
-
- getRightMaster() - Method in class frc.robot.subsystems.drive.DriveTrain
-
+- getShooterVelocity() - Static method in class frc.robot.util.RobotState
+-
- getState() - Method in interface frc.robot.subsystems.arm.Arm
-
- getState() - Method in class frc.robot.subsystems.arm.ArmSubsystem
-
+- getTargetMode() - Static method in class frc.robot.util.RobotState
+-
+- getTargetName(int) - Static method in class frc.robot.util.RobotState
+-
- getVoltage() - Method in interface frc.robot.subsystems.shooter.Shooter
-
- getVoltage() - Method in class frc.robot.subsystems.shooter.ShooterSubsystem
-
+- getYawToAprilTag(int) - Method in interface frc.robot.subsystems.vision.Vision
+-
+
Returns the yaw in degrees to the specified april tag in meters (relative to the primary
+ camera)
+
+- getYawToAprilTag(int) - Method in class frc.robot.subsystems.vision.VisionSubsystem
+-
+- getYawToBestTarget() - Method in interface frc.robot.subsystems.vision.Vision
+-
+
Returns the yaw in degrees to the best target (relative to the primary camera)
+
+- getYawToBestTarget() - Method in class frc.robot.subsystems.vision.VisionSubsystem
+-
- GIT_BRANCH - Static variable in class frc.robot.BuildConstants
-
- GIT_DATE - Static variable in class frc.robot.BuildConstants
@@ -456,6 +525,8 @@ I
-
- IndexPiece(Intake) - Constructor for class frc.robot.commands.assist.IndexPiece
-
+- IndexPiece(Intake, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.assist.IndexPiece
+-
- indexSpeedInVolts - Static variable in class frc.robot.config.RobotConfig.IntakeConstants
-
- initDefault(double) - Method in class frc.robot.util.LoggedTunableNumber
@@ -464,8 +535,6 @@ I
- initialize() - Method in class frc.robot.commands.arm.ArmToPosition
-
-- initialize() - Method in class frc.robot.commands.arm.ArmToPositionDebug
--
- initialize() - Method in class frc.robot.commands.assist.ScorePiece
-
- initialize() - Method in class frc.robot.commands.climber.ClimberCommand
@@ -476,7 +545,9 @@ I
-
- initialize() - Method in class frc.robot.commands.shooter.SetShooterVelocity
-
-- initialize() - Method in class frc.robot.commands.shooter.ShooterEnable
+- initialize() - Method in class frc.robot.commands.vision.AlignToTarget
+-
+- instance - Static variable in class frc.robot.config.RobotConfig
-
- intake - Static variable in class frc.robot.config.RobotConfig
-
@@ -484,10 +555,6 @@ I
-
- intakeAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
-
-- IntakeBaseCommand - Class in frc.robot.commands.intake
--
-- IntakeBaseCommand(Intake, BooleanSupplier, BooleanSupplier) - Constructor for class frc.robot.commands.intake.IntakeBaseCommand
--
- IntakeConstants() - Constructor for class frc.robot.config.RobotConfig.IntakeConstants
-
- IntakeIO - Interface in frc.robot.subsystems.intake
@@ -528,10 +595,14 @@ I
-
- isAbsoluteEncoderConnected() - Method in class frc.robot.subsystems.arm.ArmSubsystem
-
+- isAmpMode() - Static method in class frc.robot.util.RobotState
+-
- isExtending() - Method in interface frc.robot.subsystems.climber.Climber
-
- isExtending() - Method in class frc.robot.subsystems.climber.ClimberSubsystem
-
+- isFieldOriented() - Static method in class frc.robot.util.RobotState
+-
- isFieldOrientedDrive() - Method in interface frc.robot.subsystems.drive.Drive
-
- isFieldOrientedDrive() - Method in class frc.robot.subsystems.drive.DriveSwerveYAGSL
@@ -550,6 +621,8 @@ I
-
- isFinished() - Method in class frc.robot.commands.shooter.SetShooterVelocity
-
+- isFinished() - Method in class frc.robot.commands.vision.AlignToTarget
+-
- isPieceDetected(boolean) - Method in interface frc.robot.subsystems.intake.Intake
-
- isPieceDetected(boolean) - Method in class frc.robot.subsystems.intake.IntakeSubsystem
@@ -585,6 +658,10 @@ L
-
- lmaxRPS - Variable in class frc.robot.subsystems.arm.ArmIOSparkMax
-
+- lockPose() - Method in interface frc.robot.subsystems.drive.Drive
+-
+- lockPose() - Method in class frc.robot.subsystems.drive.DriveSwerveYAGSL
+-
- LoggedTunableNumber - Class in frc.robot.util
-
Class for a tunable number.
@@ -618,6 +695,8 @@ M
-
- maxVelocity - Static variable in class frc.robot.config.RobotConfig.ArmConstants
-
+- maxVelocityInRPMs - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
+-
- maxVelocityMetersPerSec - Static variable in class frc.robot.config.RobotConfig.DriveConstants
-
- minAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
@@ -637,8 +716,12 @@ P
-
- periodic() - Method in class frc.robot.subsystems.shooter.ShooterSubsystem
-
+- periodic() - Method in class frc.robot.subsystems.vision.VisionSubsystem
+-
- pidAngleErrorInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
-
+- pidAngleErrorInDegrees - Static variable in class frc.robot.config.RobotConfig.DriveConstants
+-
- pidKd - Static variable in class frc.robot.config.RobotConfig.ArmConstants
-
- pidKd - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
@@ -665,8 +748,14 @@ P
-
- pidSettlingTimeInMilliseconds - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
-
+- pidTimeoutInSeconds - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
+-
- pidVelocityErrorInRPMS - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
-
+- PitControls - Class in frc.robot.controls
+-
+- PitControls() - Constructor for class frc.robot.controls.PitControls
+-
- positionRad - Variable in class frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs
-
- positionRadians - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs
@@ -675,11 +764,13 @@ P
-
- PrepareForIntake(Arm, Intake) - Constructor for class frc.robot.commands.assist.PrepareForIntake
-
+- PrepareForIntake(Arm, Intake, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.assist.PrepareForIntake
+-
- PrepareForScore - Class in frc.robot.commands.assist
-
-- PrepareForScore(Arm, Shooter) - Constructor for class frc.robot.commands.assist.PrepareForScore
+- PrepareForScore(Arm, Shooter, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.assist.PrepareForScore
-
-- PrepareForScore(Arm, Shooter, BooleanSupplier) - Constructor for class frc.robot.commands.assist.PrepareForScore
+- ProtectArm - Class in frc.robot.commands.assist
-
R
@@ -714,6 +805,8 @@ R
-
- Robot() - Constructor for class frc.robot.Robot
-
+- ROBOT - Enum constant in enum class frc.robot.util.RobotState.DriveMode
+-
- robotConfig - Variable in class frc.robot.RobotContainer
-
- RobotConfig - Class in frc.robot.config
@@ -726,6 +819,8 @@ R
-
- RobotConfig(boolean, boolean, boolean, boolean, boolean, boolean) - Constructor for class frc.robot.config.RobotConfig
-
+- RobotConfig(boolean, boolean, boolean, boolean, boolean, boolean, boolean) - Constructor for class frc.robot.config.RobotConfig
+-
- RobotConfig.ArmConstants - Class in frc.robot.config
-
- RobotConfig.ClimberConstants - Class in frc.robot.config
@@ -760,6 +855,16 @@ R
-
- robotPeriodic() - Method in class frc.robot.Robot
-
+- robotPose - Variable in class frc.robot.subsystems.vision.Vision.VisionPose
+-
+- RobotState - Class in frc.robot.util
+-
+- RobotState() - Constructor for class frc.robot.util.RobotState
+-
+- RobotState.DriveMode - Enum Class in frc.robot.util
+-
+- RobotState.TargetMode - Enum Class in frc.robot.util
+-
- runVelocity(double) - Method in interface frc.robot.subsystems.shooter.Shooter
-
Run closed loop at the specified velocity
@@ -807,6 +912,8 @@ S
-
- ScorePiece(Intake, Shooter) - Constructor for class frc.robot.commands.assist.ScorePiece
-
+- ScorePiece(Intake, Shooter, DoubleSupplier) - Constructor for class frc.robot.commands.assist.ScorePiece
+-
- setAngle(double) - Method in interface frc.robot.subsystems.arm.Arm
-
- setAngle(double) - Method in class frc.robot.subsystems.arm.ArmSubsystem
@@ -817,6 +924,8 @@ S
- setBrakeMode(boolean) - Method in class frc.robot.subsystems.arm.ArmIOSparkMax
-
+- setDriveMode(RobotState.DriveMode) - Static method in class frc.robot.util.RobotState
+-
- setFeedback(double, double, double, double, double) - Method in interface frc.robot.subsystems.arm.ArmIO
-
Set PID constants
@@ -847,6 +956,10 @@ S
-
- setPosition(double, double) - Method in class frc.robot.subsystems.arm.ArmIOStub
-
+- setPrimaryCamera(String) - Method in interface frc.robot.subsystems.vision.Vision
+-
+- setPrimaryCamera(String) - Method in class frc.robot.subsystems.vision.VisionSubsystem
+-
- SetShooterVelocity - Class in frc.robot.commands.shooter
-
- SetShooterVelocity(Shooter, DoubleSupplier) - Constructor for class frc.robot.commands.shooter.SetShooterVelocity
@@ -857,6 +970,18 @@ S
-
- setTalonMode(NeutralMode) - Method in class frc.robot.subsystems.drive.DriveTrain
-
+- setTargetMode(RobotState.TargetMode) - Static method in class frc.robot.util.RobotState
+-
+- setupControls() - Static method in class frc.robot.controls.DebugControls
+-
+- setupControls() - Static method in class frc.robot.controls.PitControls
+-
+- setupControls(CommandXboxController) - Static method in class frc.robot.controls.DriverControls
+-
+- setupGUI() - Static method in class frc.robot.controls.DriverControls
+-
+- setupGUI() - Static method in class frc.robot.controls.SysIdControls
+-
- setVelocity(double, double) - Method in interface frc.robot.subsystems.shooter.ShooterIO
-
Run closed loop at the specified velocity
@@ -909,10 +1034,6 @@ S
-
- ShooterConstants() - Constructor for class frc.robot.config.RobotConfig.ShooterConstants
-
-- ShooterEnable - Class in frc.robot.commands.shooter
--
-- ShooterEnable(ShooterSubsystem) - Constructor for class frc.robot.commands.shooter.ShooterEnable
--
- ShooterIO - Interface in frc.robot.subsystems.shooter
-
- ShooterIO.ShooterIOInputs - Class in frc.robot.subsystems.shooter
@@ -943,6 +1064,8 @@ S
-
- slewRateLimiterY - Static variable in class frc.robot.config.RobotConfig.DriveConstants
-
+- SPEAKER - Enum constant in enum class frc.robot.util.RobotState.TargetMode
+-
- stowIntakeAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
-
- subwooferScoreAngleInDegrees - Static variable in class frc.robot.config.RobotConfig.ArmConstants
@@ -959,6 +1082,10 @@ S
-
Command to characterize the robot angle motors using SysId
+- SysIdControls - Class in frc.robot.controls
+-
+- SysIdControls() - Constructor for class frc.robot.controls.SysIdControls
+-
- sysIdDriveMotorCommand() - Method in interface frc.robot.subsystems.drive.Drive
-
Command to characterize the robot drive motors using SysId
@@ -994,9 +1121,11 @@ T
-
- testPeriodic() - Method in class frc.robot.Robot
-
-- TestShooterAngle - Class in frc.robot.commands.shooter
+- TestShooterAngle - Class in frc.robot.commands.debug
+-
+- TestShooterAngle(Shooter, Intake, Arm, DoubleSupplier, DoubleSupplier, DoubleSupplier) - Constructor for class frc.robot.commands.debug.TestShooterAngle
-
-- TestShooterAngle(Shooter, Intake, Arm) - Constructor for class frc.robot.commands.shooter.TestShooterAngle
+- timestamp - Variable in class frc.robot.subsystems.vision.Vision.VisionPose
-
- tkD - Variable in class frc.robot.subsystems.shooter.ShooterIOSparkMax
-
@@ -1014,6 +1143,8 @@ T
-
- tmaxRPS - Variable in class frc.robot.subsystems.shooter.ShooterIOSparkMax
-
+- toString() - Method in class frc.robot.subsystems.vision.Vision.VisionPose
+-
- tuningMode - Static variable in class frc.robot.Constants
-
When set to true you can adjust values of things like PID or input voltage on dashboard
@@ -1064,11 +1195,29 @@ V
-
Returns the enum constant of this class with the specified name.
+ - valueOf(String) - Static method in enum class frc.robot.util.RobotState.DriveMode
+-
+
Returns the enum constant of this class with the specified name.
+
+- valueOf(String) - Static method in enum class frc.robot.util.RobotState.TargetMode
+-
+
Returns the enum constant of this class with the specified name.
+
- values() - Static method in enum class frc.robot.subsystems.shooter.ShooterIOStub.ShooterId
-
Returns an array containing the constants of this enum class, in
the order they are declared.
+- values() - Static method in enum class frc.robot.util.RobotState.DriveMode
+-
+
Returns an array containing the constants of this enum class, in
+the order they are declared.
+
+- values() - Static method in enum class frc.robot.util.RobotState.TargetMode
+-
+
Returns an array containing the constants of this enum class, in
+the order they are declared.
+
- velocityInRPMs - Static variable in class frc.robot.config.RobotConfig.ShooterConstants
-
- velocityRadiansPerSecond - Variable in class frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs
@@ -1079,6 +1228,24 @@ V
-
- VERSION - Static variable in class frc.robot.BuildConstants
-
+- vision - Static variable in class frc.robot.config.RobotConfig
+-
+- Vision - Interface in frc.robot.subsystems.vision
+-
+- Vision.VisionPose - Class in frc.robot.subsystems.vision
+-
+- VisionCamera - Class in frc.robot.subsystems.vision
+-
+- VisionCamera(String, Transform3d) - Constructor for class frc.robot.subsystems.vision.VisionCamera
+-
+- VisionPose() - Constructor for class frc.robot.subsystems.vision.Vision.VisionPose
+-
+- VisionPose(Pose2d, double, String) - Constructor for class frc.robot.subsystems.vision.Vision.VisionPose
+-
+- VisionSubsystem - Class in frc.robot.subsystems.vision
+-
+- VisionSubsystem(List<VisionCamera>, AprilTagFieldLayout) - Constructor for class frc.robot.subsystems.vision.VisionSubsystem
+-
- voltageSafety(double) - Method in class frc.robot.subsystems.arm.ArmSubsystem
-
diff --git a/javadoc/index.html b/javadoc/index.html
index c84ecdcb..089679d0 100644
--- a/javadoc/index.html
+++ b/javadoc/index.html
@@ -62,23 +62,31 @@ Crescendo2024 API
-
+
-
+
-
+
+
+
+
+
-
+
+
+
+
+
-
+
-
+
-
+
-
+
diff --git a/javadoc/member-search-index.js b/javadoc/member-search-index.js
index 4a586735..817fa813 100644
--- a/javadoc/member-search-index.js
+++ b/javadoc/member-search-index.js
@@ -1 +1 @@
-memberSearchIndex = 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\ No newline at end of file
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Shooter)","u":"%3Cinit%3E(frc.robot.subsystems.intake.Intake,frc.robot.subsystems.shooter.Shooter)"},{"p":"frc.robot.commands.assist","c":"ScorePiece","l":"ScorePiece(Intake, Shooter, DoubleSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.intake.Intake,frc.robot.subsystems.shooter.Shooter,java.util.function.DoubleSupplier)"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"setAngle(double)"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"setAngle(double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIO","l":"setBrakeMode(boolean)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"setBrakeMode(boolean)"},{"p":"frc.robot.util","c":"RobotState","l":"setDriveMode(RobotState.DriveMode)","u":"setDriveMode(frc.robot.util.RobotState.DriveMode)"},{"p":"frc.robot.subsystems.arm","c":"ArmIO","l":"setFeedback(double, double, double, double, double)","u":"setFeedback(double,double,double,double,double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"setFeedback(double, double, double, double, double)","u":"setFeedback(double,double,double,double,double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOStub","l":"setFeedback(double, double, double, double, double)","u":"setFeedback(double,double,double,double,double)"},{"p":"frc.robot.subsystems.drive","c":"Drive","l":"setFieldOrientedDrive(boolean)"},{"p":"frc.robot.subsystems.drive","c":"DriveSwerveYAGSL","l":"setFieldOrientedDrive(boolean)"},{"p":"frc.robot.subsystems.drive","c":"Drive","l":"setPoseToMatchField()"},{"p":"frc.robot.subsystems.drive","c":"DriveSwerveYAGSL","l":"setPoseToMatchField()"},{"p":"frc.robot.subsystems.climber","c":"ClimberIO","l":"setPosition(double)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIOSparkMax","l":"setPosition(double)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIOStub","l":"setPosition(double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIO","l":"setPosition(double, double)","u":"setPosition(double,double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"setPosition(double, double)","u":"setPosition(double,double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOStub","l":"setPosition(double, double)","u":"setPosition(double,double)"},{"p":"frc.robot.subsystems.vision","c":"Vision","l":"setPrimaryCamera(String)","u":"setPrimaryCamera(java.lang.String)"},{"p":"frc.robot.subsystems.vision","c":"VisionSubsystem","l":"setPrimaryCamera(String)","u":"setPrimaryCamera(java.lang.String)"},{"p":"frc.robot.commands.shooter","c":"SetShooterVelocity","l":"SetShooterVelocity(Shooter, DoubleSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.Shooter,java.util.function.DoubleSupplier)"},{"p":"frc.robot.subsystems.arm","c":"Arm","l":"setState(TrapezoidProfile.State)","u":"setState(edu.wpi.first.math.trajectory.TrapezoidProfile.State)"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"setState(TrapezoidProfile.State)","u":"setState(edu.wpi.first.math.trajectory.TrapezoidProfile.State)"},{"p":"frc.robot.subsystems.drive","c":"DriveTrain","l":"setTalonMode(NeutralMode)","u":"setTalonMode(com.ctre.phoenix.motorcontrol.NeutralMode)"},{"p":"frc.robot.util","c":"RobotState","l":"setTargetMode(RobotState.TargetMode)","u":"setTargetMode(frc.robot.util.RobotState.TargetMode)"},{"p":"frc.robot.controls","c":"DebugControls","l":"setupControls()"},{"p":"frc.robot.controls","c":"PitControls","l":"setupControls()"},{"p":"frc.robot.controls","c":"DriverControls","l":"setupControls(CommandXboxController)","u":"setupControls(edu.wpi.first.wpilibj2.command.button.CommandXboxController)"},{"p":"frc.robot.controls","c":"DriverControls","l":"setupGUI()"},{"p":"frc.robot.controls","c":"SysIdControls","l":"setupGUI()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"setVelocity(double, double)","u":"setVelocity(double,double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"setVelocity(double, double)","u":"setVelocity(double,double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOStub","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIOSparkMax","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIOStub","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSparkMax","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOStub","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOTalonSRX","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"setVoltage(double)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub","l":"setVoltage(double)"},{"p":"frc.robot.config","c":"RobotConfig","l":"shooter"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub.ShooterId","l":"SHOOTER_BOTTOM"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub.ShooterId","l":"SHOOTER_TOP"},{"p":"frc.robot.config","c":"RobotConfig.ShooterConstants","l":"ShooterConstants()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"ShooterIOInputs()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"ShooterIOSparkMax(int)","u":"%3Cinit%3E(int)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub","l":"ShooterIOStub()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub","l":"ShooterIOStub(ShooterIOStub.ShooterId)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterIOStub.ShooterId)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"ShooterSubsystem(ShooterIO)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterIO)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"ShooterSubsystem(ShooterIO, ShooterIO)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.ShooterIO,frc.robot.subsystems.shooter.ShooterIO)"},{"p":"frc.robot.config","c":"RobotConfig.DriveConstants","l":"slewRateLimiterAngle"},{"p":"frc.robot.config","c":"RobotConfig.DriveConstants","l":"slewRateLimiterX"},{"p":"frc.robot.config","c":"RobotConfig.DriveConstants","l":"slewRateLimiterY"},{"p":"frc.robot.util","c":"RobotState.TargetMode","l":"SPEAKER"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"stowIntakeAngleInDegrees"},{"p":"frc.robot.config","c":"RobotConfig.ArmConstants","l":"subwooferScoreAngleInDegrees"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"supportsHardwarePid()"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"supportsHardwarePid()"},{"p":"frc.robot.subsystems.drive","c":"Drive","l":"sysIdAngleMotorCommand()"},{"p":"frc.robot.subsystems.drive","c":"DriveSwerveYAGSL","l":"sysIdAngleMotorCommand()"},{"p":"frc.robot.controls","c":"SysIdControls","l":"SysIdControls()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.drive","c":"Drive","l":"sysIdDriveMotorCommand()"},{"p":"frc.robot.subsystems.drive","c":"DriveSwerveYAGSL","l":"sysIdDriveMotorCommand()"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"sysIdDynamic(SysIdRoutine.Direction)","u":"sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"sysIdDynamic(SysIdRoutine.Direction)","u":"sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction)"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"sysIdQuasistatic(SysIdRoutine.Direction)","u":"sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterSubsystem","l":"sysIdQuasistatic(SysIdRoutine.Direction)","u":"sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction)"},{"p":"frc.robot","c":"Robot","l":"teleopExit()"},{"p":"frc.robot","c":"Robot","l":"teleopInit()"},{"p":"frc.robot","c":"Robot","l":"teleopPeriodic()"},{"p":"frc.robot","c":"Robot","l":"testExit()"},{"p":"frc.robot","c":"Robot","l":"testInit()"},{"p":"frc.robot","c":"Robot","l":"testPeriodic()"},{"p":"frc.robot.commands.debug","c":"TestShooterAngle","l":"TestShooterAngle(Shooter, Intake, Arm, DoubleSupplier, DoubleSupplier, DoubleSupplier)","u":"%3Cinit%3E(frc.robot.subsystems.shooter.Shooter,frc.robot.subsystems.intake.Intake,frc.robot.subsystems.arm.Arm,java.util.function.DoubleSupplier,java.util.function.DoubleSupplier,java.util.function.DoubleSupplier)"},{"p":"frc.robot.subsystems.vision","c":"Vision.VisionPose","l":"timestamp"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkD"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkFF"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkI"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkIz"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkMaxOutput"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkMinOutput"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tkP"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"tmaxRPS"},{"p":"frc.robot.subsystems.vision","c":"Vision.VisionPose","l":"toString()"},{"p":"frc.robot","c":"Constants","l":"tuningMode"},{"p":"frc.robot.subsystems.arm","c":"ArmIO","l":"updateInputs(ArmIO.ArmIOInputs)","u":"updateInputs(frc.robot.subsystems.arm.ArmIO.ArmIOInputs)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOSparkMax","l":"updateInputs(ArmIO.ArmIOInputs)","u":"updateInputs(frc.robot.subsystems.arm.ArmIO.ArmIOInputs)"},{"p":"frc.robot.subsystems.arm","c":"ArmIOStub","l":"updateInputs(ArmIO.ArmIOInputs)","u":"updateInputs(frc.robot.subsystems.arm.ArmIO.ArmIOInputs)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIO","l":"updateInputs(ClimberIO.ClimberIOInputs)","u":"updateInputs(frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIOSparkMax","l":"updateInputs(ClimberIO.ClimberIOInputs)","u":"updateInputs(frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs)"},{"p":"frc.robot.subsystems.climber","c":"ClimberIOStub","l":"updateInputs(ClimberIO.ClimberIOInputs)","u":"updateInputs(frc.robot.subsystems.climber.ClimberIO.ClimberIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOSparkMax","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOStub","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.intake","c":"IntakeIOTalonSRX","l":"updateInputs(IntakeIO.IntakeIOInputs)","u":"updateInputs(frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOSparkMax","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub","l":"updateInputs(ShooterIO.ShooterIOInputs)","u":"updateInputs(frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub.ShooterId","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"frc.robot.util","c":"RobotState.DriveMode","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"frc.robot.util","c":"RobotState.TargetMode","l":"valueOf(String)","u":"valueOf(java.lang.String)"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIOStub.ShooterId","l":"values()"},{"p":"frc.robot.util","c":"RobotState.DriveMode","l":"values()"},{"p":"frc.robot.util","c":"RobotState.TargetMode","l":"values()"},{"p":"frc.robot.config","c":"RobotConfig.ShooterConstants","l":"velocityInRPMs"},{"p":"frc.robot.subsystems.climber","c":"ClimberIO.ClimberIOInputs","l":"velocityRadiansPerSecond"},{"p":"frc.robot.subsystems.intake","c":"IntakeIO.IntakeIOInputs","l":"velocityRadPerSec"},{"p":"frc.robot.subsystems.shooter","c":"ShooterIO.ShooterIOInputs","l":"velocityRadPerSec"},{"p":"frc.robot","c":"BuildConstants","l":"VERSION"},{"p":"frc.robot.config","c":"RobotConfig","l":"vision"},{"p":"frc.robot.subsystems.vision","c":"VisionCamera","l":"VisionCamera(String, Transform3d)","u":"%3Cinit%3E(java.lang.String,edu.wpi.first.math.geometry.Transform3d)"},{"p":"frc.robot.subsystems.vision","c":"Vision.VisionPose","l":"VisionPose()","u":"%3Cinit%3E()"},{"p":"frc.robot.subsystems.vision","c":"Vision.VisionPose","l":"VisionPose(Pose2d, double, String)","u":"%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,double,java.lang.String)"},{"p":"frc.robot.subsystems.vision","c":"VisionSubsystem","l":"VisionSubsystem(List, AprilTagFieldLayout)","u":"%3Cinit%3E(java.util.List,edu.wpi.first.apriltag.AprilTagFieldLayout)"},{"p":"frc.robot.subsystems.arm","c":"ArmSubsystem","l":"voltageSafety(double)"}];updateSearchResults();
\ No newline at end of file
diff --git a/javadoc/overview-tree.html b/javadoc/overview-tree.html
index 8116685b..2ac434ee 100644
--- a/javadoc/overview-tree.html
+++ b/javadoc/overview-tree.html
@@ -54,15 +54,19 @@ Hierarchy For All Packages
- frc.robot.commands.arm,
- frc.robot.commands.assist,
- frc.robot.commands.climber,
+- frc.robot.commands.debug,
- frc.robot.commands.drive,
- frc.robot.commands.intake,
- frc.robot.commands.shooter,
+- frc.robot.commands.vision,
- frc.robot.config,
+- frc.robot.controls,
- frc.robot.subsystems.arm,
- frc.robot.subsystems.climber,
- frc.robot.subsystems.drive,
- frc.robot.subsystems.intake,
- frc.robot.subsystems.shooter,
+- frc.robot.subsystems.vision,
- frc.robot.util
Class Hierarchy
- frc.robot.subsystems.climber.ClimberIOStub (implements frc.robot.subsystems.climber.ClimberIO)
- edu.wpi.first.wpilibj2.command.Command (implements edu.wpi.first.util.sendable.Sendable)
- frc.robot.Constants
+- frc.robot.controls.DebugControls
+- frc.robot.controls.DriverControls
- frc.robot.subsystems.intake.IntakeIO.IntakeIOInputs
- frc.robot.subsystems.intake.IntakeIOSparkMax (implements frc.robot.subsystems.intake.IntakeIO)
- frc.robot.subsystems.intake.IntakeIOStub (implements frc.robot.subsystems.intake.IntakeIO)
- frc.robot.subsystems.intake.IntakeIOTalonSRX (implements frc.robot.subsystems.intake.IntakeIO)
- frc.robot.util.LoggedTunableNumber (implements java.util.function.DoubleSupplier)
- frc.robot.Main
+- frc.robot.controls.PitControls
- edu.wpi.first.wpilibj.RobotBase (implements java.lang.AutoCloseable)
- frc.robot.subsystems.intake.IntakeSubsystem (implements frc.robot.subsystems.intake.Intake)
- frc.robot.subsystems.shooter.ShooterSubsystem (implements frc.robot.subsystems.shooter.Shooter)
+- frc.robot.subsystems.vision.VisionSubsystem (implements frc.robot.subsystems.vision.Vision)
+frc.robot.controls.SysIdControls
+frc.robot.subsystems.vision.Vision.VisionPose
+frc.robot.subsystems.vision.VisionCamera
@@ -181,6 +195,7 @@ Interface Hierarchy
frc.robot.subsystems.arm.Arm
+frc.robot.subsystems.vision.Vision
@@ -190,6 +205,8 @@ Enum Class Hierarchy
- java.lang.Enum<E> (implements java.lang.Comparable<T>, java.lang.constant.Constable, java.io.Serializable)
diff --git a/javadoc/package-search-index.js b/javadoc/package-search-index.js
index 90639dc7..c0464193 100644
--- a/javadoc/package-search-index.js
+++ b/javadoc/package-search-index.js
@@ -1 +1 @@
-packageSearchIndex = [{"l":"All Packages","u":"allpackages-index.html"},{"l":"frc.robot"},{"l":"frc.robot.commands.arm"},{"l":"frc.robot.commands.assist"},{"l":"frc.robot.commands.climber"},{"l":"frc.robot.commands.drive"},{"l":"frc.robot.commands.intake"},{"l":"frc.robot.commands.shooter"},{"l":"frc.robot.config"},{"l":"frc.robot.subsystems.arm"},{"l":"frc.robot.subsystems.climber"},{"l":"frc.robot.subsystems.drive"},{"l":"frc.robot.subsystems.intake"},{"l":"frc.robot.subsystems.shooter"},{"l":"frc.robot.util"}];updateSearchResults();
\ No newline at end of file
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diff --git a/javadoc/type-search-index.js b/javadoc/type-search-index.js
index 2f0feea3..5166b13c 100644
--- a/javadoc/type-search-index.js
+++ b/javadoc/type-search-index.js
@@ -1 +1 @@
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