Index (ftc-helper-lib reference)

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

A

a - Variable in class com.crossbotics.ftchelper.robot.Pad: Face buttons.
A - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
accelerations(double[], double[]) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: Speeds-up (acceleration) at each moment, counts per second per second: the slope of a straight line through the speeds within WINDOW_SEC each side (a least-squares slope: it smooths the noise).
accelSec() - Method in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: Seconds to reach about 63% of a new speed (kA / kV): how quickly it speeds up.
action(Action) - Method in class com.crossbotics.ftchelper.robot.Steps: Steps.action(Action, double) with up to 10 seconds.
action(Action, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Runs an action from Actions.java and waits until it is done (at most timeoutSec).
Action - Class in com.crossbotics.ftchelper.robot: Steps that use several parts together, written once (in Actions.java) and started by a button in TeleOp or used as a step in an autonomous.
actionTimeoutSec - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Each move or turn gives up after this many seconds.
add(double, double) - Method in class com.crossbotics.ftchelper.launcher.ShotTable: Adds a point with no hood.
add(double, double, double) - Method in class com.crossbotics.ftchelper.launcher.ShotTable: Adds a measured point (distance in inches, RPM, hood in degrees).
add(Subsystem...) - Method in class com.crossbotics.ftchelper.core.Subsystems: Adds parts.
add(T) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Adds a mechanism and hands it back, so it can go in a field: lift = add(Lift.slide("lift"));
addChoices(InitMenu) - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Extra INIT choices, e.g.
addChoices(InitMenu) - Method in class com.crossbotics.ftchelper.robot.Auto
addInitTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Extra lines for the Driver Station during INIT (before START), every INIT loop.
addInitTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Auto
addInitTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.ControlMap
addInitTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Extra lines for the Driver Station during INIT (before START), every INIT loop.
addTelemetry(RobotTelemetry) - Method in interface com.crossbotics.ftchelper.core.Subsystem: Adds this part's lines to the telemetry.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.core.Subsystems: Adds every part's telemetry.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.FinderResults: Shows the lines under a "Copy into your code" heading (nothing if empty).
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Shows measured / target RPM and READY; shots seen in debug mode; a warning for a fault.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Shows the state, shots left and READY; problems as warnings; then the flywheel, feeder and hood.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: A JAMMED warning; "feeding" or "idle" in debug mode.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: "idle", "pushing" or "returning", in debug mode.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.launcher.Turret: Shows the angle and AIMED; warnings for faults, not homed, and out of range; the target in debug mode.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.match.InitMenu: Shows the menu.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Shows its state on the Driver Station: warnings first, then target and position; more in debug mode.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Shows the target name; in debug mode also the raw position (and degrees, if set up).
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Shows the state; a warning while it backs out of a jam; speed and jam count in debug mode.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Shows the power (or "stopped"); the angle in debug mode if there is a sensor.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.odometry.PoseTracker
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Camera
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.ControlMap
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Indexer
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Intake
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Launcher
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Module: The part's telemetry line; each module adds its own.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.MotorPositions
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.ServoPositions
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.robot.Turret
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Extra lines for the Driver Station, every loop.
addTelemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.tuning.TuningMenu: Shows the menu (only when open).
addTelemetry(RobotTelemetry) - Method in interface com.crossbotics.ftchelper.vision.TargetSource: Shows a warning if the camera is not working, and, when debug lines are on (the PRACTICE profile), its status and every target it sees.
addTelemetry(RobotTelemetry, String) - Method in class com.crossbotics.ftchelper.finders.Chooser: Shows one page of the list around the choice.
adjust(int) - Method in class com.crossbotics.ftchelper.robot.Launcher: Changes the speed by steps x stepRpm (e.g.
ageMs(long) - Method in class com.crossbotics.ftchelper.vision.TargetObservation: Milliseconds since the picture was taken: how old the picture is.
ageSec() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Seconds since MatchMemory.remember(com.crossbotics.ftchelper.match.Alliance, com.crossbotics.ftchelper.util.FieldPose) was called (very large if never).
ageSec() - Static method in class com.crossbotics.ftchelper.util.PoseStore: Seconds since the pose was saved.
aimAt(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Turns to a robot-relative angle (0 = forward, counterclockwise +), the safe way round.
aimAt(double) - Method in class com.crossbotics.ftchelper.robot.Turret: Turns to an angle (inside the limits) and stops following.
aimAtTarget(TargetObservation, boolean) - Method in class com.crossbotics.ftchelper.launcher.Turret: Aims at a camera target, safely: only a FRESH picture is used, and each picture only once (an old or repeated picture would push the turret further and further).
aimBy(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Turns BY an amount from where it is now.
AimController - Class in com.crossbotics.ftchelper.vision: Turns a camera target into a turn power, safely: no target, an old picture, or no bearing all give 0 (the robot never turns toward a target it cannot see now).
AimController(double, double) - Constructor for class com.crossbotics.ftchelper.vision.AimController: Makes an aim controller.
AimController(double, double, LongSupplier) - Constructor for class com.crossbotics.ftchelper.vision.AimController: For tests: the same, with a clock you control (nanoseconds).
aimField(double, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Points at a FIELD direction, whatever way the robot faces.
AimRumble - Class in com.crossbotics.ftchelper.gamepad: Buzzes the gamepad when an error is small, for example when the robot is aimed at a target.
AimRumble(Gamepad) - Constructor for class com.crossbotics.ftchelper.gamepad.AimRumble: Makes one that uses the real clock.
AimRumble(Gamepad, LongSupplier) - Constructor for class com.crossbotics.ftchelper.gamepad.AimRumble: Makes one with your own clock.
aimStep(double, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: A step (autonomous): turn to a robot-relative angle and wait until aimed (or timeoutSec).
AimTunerOpMode - Class in com.crossbotics.ftchelper.finders: Finds the camera offset for aiming: where the target sits in the camera's view when the LAUNCHER points straight at it.
AimTunerOpMode() - Constructor for class com.crossbotics.ftchelper.finders.AimTunerOpMode
all() - Method in class com.crossbotics.ftchelper.core.Subsystems: The parts, in order (read only).
all() - Static method in class com.crossbotics.ftchelper.robot.Motors: Every known motor, in catalog order (read only).
all() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Every part, for one update() per loop (the OpMode classes do this).
all() - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Every tunable made so far, in the order they were made.
alliance() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The alliance chosen in INIT.
alliance() - Method in class com.crossbotics.ftchelper.match.InitMenu: Adds the alliance choice (starts at the alliance remembered from earlier, else BLUE).
alliance() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The alliance for this match (chosen in autonomous; TeleOp remembers it).
alliance() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The alliance autonomous chose (BLUE if no autonomous ran in the last few minutes).
Alliance - Enum Class in com.crossbotics.ftchelper.match: Red or blue.
allianceOr(Alliance) - Static method in class com.crossbotics.ftchelper.match.MatchMemory: The remembered alliance if it is from this match, else fallback.
alliancesOnOneWall() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: True when both alliances' drivers stand at the same wall (a mirrored field like DECODE 2025-26); false (default) when BLUE's drivers face RED's from the far wall (BIOBUZZ 2026-27).
alongRowIn(int) - Method in class com.crossbotics.ftchelper.vision.TagGroup: The tag's place along the row (inches from the middle, + = right as printed), NaN if not in the group.
alongside(Action) - Method in class com.crossbotics.ftchelper.robot.Steps: Starts an action and goes on at once: it runs during the next steps.
angle() - Method in class com.crossbotics.ftchelper.robot.Turret: The angle now, degrees.
angle(String, double) - Method in class com.crossbotics.ftchelper.robot.Shape: An arm on a servo: its angle at a named position (from Tunables.java).
Angles - Class in com.crossbotics.ftchelper.util: Angle helpers, in degrees.
angleSensor(HardwareMap, String, double) - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Adds an angle sensor (an analog input, e.g.
apply(double) - Method in class com.crossbotics.ftchelper.drive.ReverseDrive: Use on forward and strafe only.
applyTo(PidController) - Method in class com.crossbotics.ftchelper.tuning.PidTunables: Copies the current values into the controller.
arcade(double, double) - Method in class com.crossbotics.ftchelper.drive.TankDrive: Arcade drive: one value for forward, one for turning.
arcade(double, double, double) - Static method in class com.crossbotics.ftchelper.drive.DifferentialMixer: "Arcade" drive: one stick for forward, one for turning.
arcade(double, double, double) - Method in class com.crossbotics.ftchelper.drive.TankDrive: Arcade drive with a speed multiplier 0 to 1 (for a slow mode).
arm() - Static method in class com.crossbotics.ftchelper.robot.Shape: A part that swings about a hinge (an intake that folds, an arm).
Arm - Class in com.crossbotics.ftchelper.robot: An arm that swings on one motor, with named angles in degrees.
atIn(double, double, double) - Method in class com.crossbotics.ftchelper.robot.Shape: Shape.atMm(double, double, double) in inches.
atMm(double, double, double) - Method in class com.crossbotics.ftchelper.robot.Shape: Where it is, in mm from its parent: forward, left, up (the parent: the chassis, or Shape.on(com.crossbotics.ftchelper.robot.Module<?>)).
atStart(Supplier<Action>) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: An action that runs once, right after START, in autonomous and in TeleOp (for example a servo that pushes the intake into place).
atTarget() - Method in class com.crossbotics.ftchelper.control.PidController: True if the last error was within the tolerance.
auto() - Method in class com.crossbotics.ftchelper.core.RobotConfig: Autonomous tuning (wheel size, encoder counts, ...).
auto(HardwareMap) - Static method in class com.crossbotics.ftchelper.hardware.BulkReads: Turns on AUTO bulk reads on every hub.
Auto<R> - Class in com.crossbotics.ftchelper.robot: One autonomous, in one short file: the list of Steps.
Auto() - Constructor for class com.crossbotics.ftchelper.robot.Auto
AUTO_SECONDS - Static variable in class com.crossbotics.ftchelper.match.MatchTimer: FTC autonomous length (seconds).
AutoContext - Interface in com.crossbotics.ftchelper.auto: What a running AutoStep can use.
autoDrive() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The drive, for custom steps.
AutoDrive - Class in com.crossbotics.ftchelper.drive: Autonomous moves for a mecanum OR standard (tank) robot, using the wheel encoders and the IMU.
AutoDrive(AutoDriveConfig, boolean, double, DcMotorEx, DcMotorEx, DcMotorEx, DcMotorEx, DoubleSupplier, Runnable, BooleanSupplier, Runnable, Consumer<String>, LongSupplier) - Constructor for class com.crossbotics.ftchelper.drive.AutoDrive: For tests and simulations (no robot needed): everything AutoDrive needs, given directly.
AutoDrive(LinearOpMode, DriveConfig, AutoDriveConfig, IMU) - Constructor for class com.crossbotics.ftchelper.drive.AutoDrive: Sets up the four drive motors (encoders reset, RUN_USING_ENCODER, brake, power 0).
AutoDrive.Result - Enum Class in com.crossbotics.ftchelper.drive: How a move ended.
autoDriveConfig() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The autonomous tuning.
AutoDriveConfig - Class in com.crossbotics.ftchelper.drive: Tuning for AutoDrive (autonomous encoder and IMU moves).
AutoDriveConfig() - Constructor for class com.crossbotics.ftchelper.drive.AutoDriveConfig
autoExposure() - Method in class com.crossbotics.ftchelper.robot.Camera: Venue lighting for a webcam: tries the camera's own automatic exposure, then 3, 6 and 12 ms, in INIT and keeps the one that sees the most AprilTags.
autoExposure() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Venue lighting: tries WebcamTags.DEFAULT_EXPOSURES_MS (the camera's own automatic exposure, then 3, 6 and 12 ms) in INIT and keeps the one whose pictures see the most AprilTags.
autoExposure(long...) - Method in class com.crossbotics.ftchelper.robot.Camera: Venue lighting for a webcam: tries these exposures (milliseconds; 0 = the camera's own automatic exposure) in INIT and keeps the one that sees the most AprilTags.
autoExposure(long...) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Venue lighting: tries these exposures one after the other in INIT, counts the pictures that see AprilTags with each, and keeps the best one.
autonomous() - Static method in class com.crossbotics.ftchelper.match.MatchTimer: A 30-second autonomous timer.
autoPipelines(int...) - Method in class com.crossbotics.ftchelper.robot.Camera: Venue lighting for a Limelight: tries these pipelines in INIT and keeps the one that sees the most AprilTags (set each one up on the Limelight's web page for a kind of light).
autoPipelines(int...) - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Venue lighting: tries these pipelines one after the other in INIT, counts the pictures that see AprilTags with each, and keeps the best one.
AutoRoutine - Class in com.crossbotics.ftchelper.auto: An autonomous written as a list of named steps.
AutoRoutine(LinearOpMode) - Constructor for class com.crossbotics.ftchelper.auto.AutoRoutine: Makes a routine for your OpMode.
AutoRoutine(BooleanSupplier, Runnable, Telemetry) - Constructor for class com.crossbotics.ftchelper.auto.AutoRoutine: For tests and simulations: what "running" and "idle" mean, and the telemetry.
AutoStep - Interface in com.crossbotics.ftchelper.auto: One step of an autonomous routine: "drive 24 inches", "raise the lift", "wait 1 second".
axis(String) - Method in class com.crossbotics.ftchelper.robot.Shape: The line it turns about: "up", "down", "forward", "back", "left" or "right".

B

b - Variable in class com.crossbotics.ftchelper.robot.Pad: Face buttons.
B - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
back - Variable in class com.crossbotics.ftchelper.robot.Pad: BACK and START.
BACK - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
BACK_HOLD_SEC - Static variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp: How long BACK is held to reset "forward" when a tap of BACK has another job, seconds.
BACK_LEFT - Static variable in class com.crossbotics.ftchelper.drive.MecanumMixer: Index of each wheel in the arrays this class returns.
BACK_RIGHT - Static variable in class com.crossbotics.ftchelper.drive.MecanumMixer: Index of each wheel in the arrays this class returns.
BackgroundWorker - Class in com.crossbotics.ftchelper.util: Runs slow jobs (a network request, a camera setting) on a separate thread, so the robot's loop never waits for them.
BackgroundWorker(String) - Constructor for class com.crossbotics.ftchelper.util.BackgroundWorker: Starts the worker thread (a daemon: it never keeps the app alive).
backLeft - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: Configuration name of the back-left motor.
backLeftReversed - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: True = this motor is reversed.
backRight - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: Configuration name of the back-right motor.
backRightReversed - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: True = this motor is reversed.
backTap() - Method in class com.crossbotics.ftchelper.robot.ControlMap
backTap() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: What a tap of BACK does, or null (default): then BACK resets "forward".
backward() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Spins backward at the SpinServo.power power.
bearingDeg - Variable in class com.crossbotics.ftchelper.vision.TargetObservation: Degrees to turn to face the target.
beforeDriving(Runnable) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Code to run when a step starts driving the wheels (move, turn, driveTo...).
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: Binds gamepad 1 buttons.
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
bind(ControllerBindings) - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
bindButtons(ControllerBindings, ControllerBindings) - Method in class com.crossbotics.ftchelper.robot.ControlMap
bindButtons(ControllerBindings, ControllerBindings) - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Your buttons.
bindHold(ControllerBindings.Pad, ControllerBindings.Btn, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Runs whileHeld every loop while the button is down.
bindPress(ControllerBindings.Pad, ControllerBindings.Btn, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Runs onPress once each time the button goes down.
bindRelease(ControllerBindings.Pad, ControllerBindings.Btn, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Runs onRelease once each time the button comes back up.
bindToggle(ControllerBindings.Pad, ControllerBindings.Btn, Runnable, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Each press flips between ON and OFF.
bindTriggerAxis(ControllerBindings.Pad, ControllerBindings.Trigger, DoubleConsumer) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Gives the trigger's value (0 to 1) to use every loop.
bindTriggerHold(ControllerBindings.Pad, ControllerBindings.Trigger, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Runs whileHeld every loop while the trigger is past the threshold.
bindTriggerPress(ControllerBindings.Pad, ControllerBindings.Trigger, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Runs onPress once each time the trigger goes past the threshold (default 0.5).
bindTriggerRelease(ControllerBindings.Pad, ControllerBindings.Trigger, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Runs onRelease once each time the trigger comes back under the threshold.
bindTriggerToggle(ControllerBindings.Pad, ControllerBindings.Trigger, Runnable, Runnable) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Each pull flips between ON and OFF, like ControllerBindings.bindToggle(com.crossbotics.ftchelper.gamepad.ControllerBindings.Pad, com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn, java.lang.Runnable, java.lang.Runnable) for a button.
biobuzz() - Static method in class com.crossbotics.ftchelper.vision.TagGroup: BIOBUZZ (2026-27): the 4 tags under each CELL, the same groups and names as the FTC SDK 12.0's tag library (AprilTagGameDatabase.getBioBuzzTagLibrary(), manual section 9.9).
BLUE - Enum constant in enum class com.crossbotics.ftchelper.match.Alliance
bottomSwitch(String) - Method in class com.crossbotics.ftchelper.robot.Arm: A touch sensor at the min end: pressing it sets the angle to 0.
bottomSwitch(String) - Method in class com.crossbotics.ftchelper.robot.Lift: A touch sensor at the bottom of the travel.
box(String) - Static method in class com.crossbotics.ftchelper.robot.Shape: A part that does not move (a ramp, a tower, a hood).
brake - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: True = wheels hold still at power 0 (recommended).
brake() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: At power 0 the motor resists turning (holds still).
buildRoutine(AutoRoutine) - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Adds the steps.
buildRoutine(AutoRoutine) - Method in class com.crossbotics.ftchelper.robot.Auto
BulkReads - Class in com.crossbotics.ftchelper.hardware: Makes sensor and encoder reads much faster with "bulk reads".
buttonHelp() - Method in class com.crossbotics.ftchelper.robot.ControlMap
buttonHelp() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The button map's lines for the help page, or null (default) for none.
buttons(R, Pad, Pad) - Method in class com.crossbotics.ftchelper.robot.ControlMap: Your buttons, after the modules' standard ones.
buzzAtSecondsLeft() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Seconds left when both gamepads buzz.

C

calculate(double) - Method in class com.crossbotics.ftchelper.control.SlewRateLimiter: Moves toward the input, but no faster than the limit.
calculate(double, double) - Method in class com.crossbotics.ftchelper.control.PidController: Works out the output.
calibrationConfirmed - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Must be set to true before AutoDrive will run.
Camera - Class in com.crossbotics.ftchelper.robot: A camera that finds AprilTags: a Limelight 3A or a webcam.
cameraOffset(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Where the target should sit in the camera's view when the LAUNCHER points straight at it, in degrees (positive = left of the camera's center), for a camera that is not centered on the launcher.
cameraOnBody() - Method in class com.crossbotics.ftchelper.robot.Turret: The camera is on the robot's body, not on the turret.
cameraOnTurret() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: True (default) if the camera turns with the turret; false if it is on the robot body.
cancel() - Method in interface com.crossbotics.ftchelper.auto.PathJob: Stops the path and the wheels now.
cancel() - Method in interface com.crossbotics.ftchelper.robot.PathFollower: Stops following (or holding) now and stops the wheels.
cancel(Action) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Stops an action.
cancelAll() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Stops every running action.
canFieldCentric() - Method in class com.crossbotics.ftchelper.drive.DriverControls: True if this robot can drive field-centric: mecanum wheels and a heading.
ccwPower(TargetObservation) - Method in class com.crossbotics.ftchelper.vision.AimController: The same power, COUNTERCLOCKWISE positive (the IMU's sign), e.g.
ceaseFire() - Method in class com.crossbotics.ftchelper.robot.Launcher: The button is let go: no more shots.
changedAsCode() - Static method in class com.crossbotics.ftchelper.tuning.Tunable: The values that differ from the code, as lines to copy into it: "Lift: kP = 0.0050" means kP = 0.0050 in Tunables.java, class Lift.
changedTunables() - Static method in class com.crossbotics.ftchelper.robot.RobotDefinition: The Tunables values changed on this robot (tuning menu) that differ from Tunables.java, as lines to copy back into the code: "Tunables.Lift.kP = 0.0050 (code 0.004)".
CharacterizeMath - Class in com.crossbotics.ftchelper.finders: The math behind the Characterizer: from a log of power, battery voltage and speed, it finds the motor's feedforward numbers (see control/Feedforward): power = kS x sign(speed) + kV x speed + kA x acceleration (+ kG for a lift).
CharacterizeMath.Fit - Class in com.crossbotics.ftchelper.finders: One fit.
CharacterizerOpMode - Class in com.crossbotics.ftchelper.finders: Measures how the real robot moves, so the simulator (and your code) can use real numbers: for the drivetrain, each lift or arm, and each flywheel, it finds the feedforward numbers (kS = power to start moving, kV = power per speed, kA = power per speeding-up, kG = power to hold a lift) and how fast a flywheel coasts down.
CharacterizerOpMode() - Constructor for class com.crossbotics.ftchelper.finders.CharacterizerOpMode
CharacterizerOpMode.Mechanism - Class in com.crossbotics.ftchelper.finders: A lift, arm or flywheel to measure.
chassisMm(double, double, double) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The chassis box for the simulator (it bumps into the field and the game pieces): length front to back, width side to side, height from the tiles to its top, in mm.
check(Object) - Method in interface com.crossbotics.ftchelper.robot.PathFollower: Checks a path at INIT (when the autonomous is built): throws IllegalArgumentException if this follower cannot follow it, so a mistake stops INIT and not the match.
choice(String) - Method in class com.crossbotics.ftchelper.auto.EasyAuto: An INIT choice (from EasyAuto.addChoices(com.crossbotics.ftchelper.match.InitMenu)).
choice(String) - Method in class com.crossbotics.ftchelper.robot.Steps: The option chosen for this label.
choice(String, String...) - Method in class com.crossbotics.ftchelper.match.InitMenu: Adds a choice from a list.
Chooser - Class in com.crossbotics.ftchelper.finders: A list on the Driver Station to choose from with the D-pad (for example every servo in the configuration).
Chooser(List<String>) - Constructor for class com.crossbotics.ftchelper.finders.Chooser
chosen() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: The alliance the program running now uses (autonomous's INIT menu, or TeleOp's), or null if none said.
chosen() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The setting kept (0 = the first label), or -1 while still trying.
chosenLabel() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The label of the kept setting, or null while still trying.
clamp(double, double, double) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Keeps a number inside a range.
clamp(int, int, int) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Same as MathUtil.clamp(double, double, double) for whole numbers (for example encoder ticks).
Claw - Class in com.crossbotics.ftchelper.robot: A claw on one servo: open and closed, plus any other positions you name.
clear() - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Removes every binding.
clear() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Forgets everything (alliance and pose).
clear() - Static method in class com.crossbotics.ftchelper.util.PoseStore: Forgets the saved pose.
clear(List<LynxModule>) - Static method in class com.crossbotics.ftchelper.hardware.BulkReads: Clears the cached readings so the next read gets new values.
clearJam() - Method in interface com.crossbotics.ftchelper.launcher.Feeder: Forgets a jam (the launcher calls it when the driver asks to shoot again).
clearJam() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Clears the jam flag.
clearJam() - Method in class com.crossbotics.ftchelper.robot.Indexer
clearReadyChecks() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Removes every Launcher.requireReady(java.lang.String, java.util.function.BooleanSupplier) check.
close() - Method in class com.crossbotics.ftchelper.robot.Claw: Closes it (goes to "closed").
close() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Stops the Limelight, forgets its targets and ends the background worker.
close() - Method in interface com.crossbotics.ftchelper.vision.TargetSource: Stops the camera and frees it.
close() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Stops the camera, frees it for the next OpMode, ends the background worker, forgets its targets.
CLUSTER - Static variable in class com.crossbotics.ftchelper.vision.TargetObservation: The id used for AprilTag clusters (they have a name instead of a number).
coast() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: At power 0 the motor spins freely.
coastSec(double[], double[], double[]) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: How long a coasting motor (power 0, FLOAT) takes to slow down: the time for its speed to drop to about 37% (one "time constant"), seconds.
codeLines() - Method in class com.crossbotics.ftchelper.finders.ShotPoints: The code for these shots: "new ShotTable()" and one ".add(...)" line per shot.
color(String) - Method in class com.crossbotics.ftchelper.robot.Shape: Its colour in the 3D view, e.g.
com.crossbotics.ftchelper.auto - package com.crossbotics.ftchelper.auto
com.crossbotics.ftchelper.control - package com.crossbotics.ftchelper.control
com.crossbotics.ftchelper.core - package com.crossbotics.ftchelper.core
com.crossbotics.ftchelper.drive - package com.crossbotics.ftchelper.drive
com.crossbotics.ftchelper.finders - package com.crossbotics.ftchelper.finders
com.crossbotics.ftchelper.gamepad - package com.crossbotics.ftchelper.gamepad
com.crossbotics.ftchelper.hardware - package com.crossbotics.ftchelper.hardware
com.crossbotics.ftchelper.launcher - package com.crossbotics.ftchelper.launcher
com.crossbotics.ftchelper.match - package com.crossbotics.ftchelper.match
com.crossbotics.ftchelper.mechanism - package com.crossbotics.ftchelper.mechanism
com.crossbotics.ftchelper.odometry - package com.crossbotics.ftchelper.odometry
com.crossbotics.ftchelper.robot - package com.crossbotics.ftchelper.robot
com.crossbotics.ftchelper.safety - package com.crossbotics.ftchelper.safety
com.crossbotics.ftchelper.telemetry - package com.crossbotics.ftchelper.telemetry
com.crossbotics.ftchelper.teleop - package com.crossbotics.ftchelper.teleop
com.crossbotics.ftchelper.testing - package com.crossbotics.ftchelper.testing
com.crossbotics.ftchelper.tuning - package com.crossbotics.ftchelper.tuning
com.crossbotics.ftchelper.util - package com.crossbotics.ftchelper.util
com.crossbotics.ftchelper.vision - package com.crossbotics.ftchelper.vision
COMPETITION - Enum constant in enum class com.crossbotics.ftchelper.core.Profile: At an event: debug telemetry off, tuning menu blocked.
configureDriving(DriverControls) - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Changes how driving feels, once, in INIT, right after the drive is made.
consume() - Static method in class com.crossbotics.ftchelper.util.PoseStore: Returns the saved pose and clears it, so it is used only once.
contains(int) - Method in class com.crossbotics.ftchelper.vision.TagGroup: True if this tag is in the group.
ControllerBindings - Class in com.crossbotics.ftchelper.gamepad: Connects gamepad buttons to robot actions in one place.
ControllerBindings() - Constructor for class com.crossbotics.ftchelper.gamepad.ControllerBindings
ControllerBindings.Btn - Enum Class in com.crossbotics.ftchelper.gamepad: Gamepad buttons.
ControllerBindings.Pad - Enum Class in com.crossbotics.ftchelper.gamepad: Which gamepad: G1 = gamepad1 (usually the driver), G2 = gamepad2 (usually the operator).
ControllerBindings.Trigger - Enum Class in com.crossbotics.ftchelper.gamepad: The two analog triggers.
ControlMap<R> - Class in com.crossbotics.ftchelper.robot: The team's TeleOp and button map in one file, Controls.java.
ControlMap() - Constructor for class com.crossbotics.ftchelper.robot.ControlMap
convert(AprilTagDetection) - Static method in class com.crossbotics.ftchelper.vision.WebcamTags: Turns one SDK detection (single tag or cluster) into a TargetObservation.
copy() - Method in class com.crossbotics.ftchelper.util.FieldPose: A new pose with the same numbers.
correctedDiameter(double, double, double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: A corrected wheel diameter after a drive test: the robot was asked for asked inches and really went measured.
correctedStrafe(double, double, double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: A corrected strafe correction after a sideways test: asked for asked inches, really went measured.
countChanged() - Static method in class com.crossbotics.ftchelper.tuning.Tunable: How many tunables use a saved value that is different from the code.
countsPerDegree(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Encoder counts per degree of TURRET rotation (motor counts x gear ratio / 360).
countsPerRev - Variable in class com.crossbotics.ftchelper.robot.Motors.Kind: Encoder counts per turn of the output shaft (what the FTC SDK reports).
countsPerRev() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode: Encoder counts per ONE turn of the flywheel.
countsPerRev(double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Encoder counts per ONE flywheel turn.
covers(double) - Method in class com.crossbotics.ftchelper.launcher.ShotTable: True if the distance is inside the tested range.
create(HardwareMap, DriveConfig, DriverHeading) - Static method in class com.crossbotics.ftchelper.drive.DriverControls: Makes the drive from your settings: a MecanumDrive or a TankDrive, picked by config.type.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.launcher.Flywheel: Gets the motor: coast (a flywheel must spin down freely), speed control on.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Gets the motor (brake, plain power).
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Gets the servo.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.launcher.Turret: Gets the motor (brake, encoder reset, plain power) and wraps it.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Gets the motor (brake, encoder reset, plain power) and wraps it.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.mechanism.PositionServo: Gets the servo.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Gets the motor (coast, plain power) and wraps it.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.mechanism.SpinServo: Gets the servo (must be configured as a Continuous Rotation Servo).
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.vision.LimelightTags: Finds the Limelight in the robot configuration and wraps it.
create(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.vision.WebcamTags: Finds the webcam in the robot configuration and wraps it.
createAimController() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: The aiming controller for turning the robot (the same gains as in your TeleOp).
createCamera() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Your camera.
createCamera() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Your camera, or null to set the distance by hand.
createHeading(IMU) - Method in class com.crossbotics.ftchelper.robot.ControlMap
createHeading(IMU) - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The driver's heading for field-centric driving: from the IMU (with autonomous's saved heading).
createImu() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The IMU, set up for your hub's mounting.
createImu() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp
createLauncher() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Your launcher, for test shots, or null (default).
createLauncher() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Your launcher (flywheel, feeder, hood), set up as in your TeleOp.
createSubsystems() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Your mechanisms, kept working during every step.
createSubsystems() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Other mechanisms to keep updated.
createSubsystems() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Other mechanisms to keep updated (for example an intake that loads the launcher).
createSubsystems() - Method in class com.crossbotics.ftchelper.robot.Auto
createSubsystems() - Method in class com.crossbotics.ftchelper.robot.ControlMap
createSubsystems() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Your mechanisms: kept updated every loop and stopped at the end.
createTurret() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Your turret, or null (default) to aim by turning the robot.
crServo(String) - Static method in class com.crossbotics.ftchelper.robot.Indexer: A continuous-rotation servo that runs for a moment per piece.
crServos(String...) - Static method in class com.crossbotics.ftchelper.robot.Intake: An intake on one or more CR servos (they run together).
cueAt(double, Runnable) - Method in class com.crossbotics.ftchelper.match.MatchTimer: Runs action once, when this many seconds are left.
current() - Static method in enum class com.crossbotics.ftchelper.core.Profile: The active profile (read from the saved setting the first time).
current() - Method in class com.crossbotics.ftchelper.finders.Chooser: The chosen name, or null if the list is empty.
current() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The setting being tried now (or kept), -1 before the first update.
currentSeason() - Static method in class com.crossbotics.ftchelper.vision.TagGroup: This season's groups (the default for LimelightTags).
curve(double, double) - Static method in class com.crossbotics.ftchelper.gamepad.StickShaping: Bends the stick response so small moves give fine control and a full push still gives full power.
custom(Function<Devices, PoseTracker>) - Static method in class com.crossbotics.ftchelper.robot.Odometry: Your own pose source (e.g.

D

deadband(double) - Method in class com.crossbotics.ftchelper.vision.AimController: Errors smaller than this (degrees) give 0 power and count as aimed.
deadband(double, double) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Ignores small values near zero.
deadbandScaled(double, double) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Like MathUtil.deadband(double, double), but the output starts again from 0 at the edge of the band, so there is no sudden jump.
DeadWheelOdometry - Class in com.crossbotics.ftchelper.odometry: Odometry from dead wheels: unpowered omni wheels ("pods") on encoder ports.
debug(String, Object) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A programmer line: only shown when debug is on.
debug(String, String, Object...) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A programmer line with a format: only shown when debug is on.
debugSection(String) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A heading that only shows when debug is on.
decimation(float) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Skips pixels to go faster: 2 = default, 3 = faster but shorter range, 1 = slowest, longest range.
decrease() - Method in class com.crossbotics.ftchelper.tuning.Tunable: One step down.
DEFAULT_EXPOSURES_MS - Static variable in class com.crossbotics.ftchelper.vision.WebcamTags: The exposures WebcamTags.autoExposure() tries: the camera's own (0), then 3, 6 and 12 ms.
defaultValue() - Method in class com.crossbotics.ftchelper.tuning.Tunable: The value written in the code.
define() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Describe the robot here: one RobotDefinition.drive line and one RobotDefinition.add(T) line per mechanism.
degrees() - Method in class com.crossbotics.ftchelper.drive.DriverHeading: The heading compared with the driver, -180 to 180 degrees.
degrees(double, double, double, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Lets you use degrees.
delay(double) - Method in class com.crossbotics.ftchelper.match.InitMenu: Adds a start delay choice, 0 to maxSeconds, in 1-second steps.
describe() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Runs define() once (no hardware).
device() - Method in class com.crossbotics.ftchelper.odometry.OtosOdometry: The device, for anything this class does not cover.
device() - Method in class com.crossbotics.ftchelper.odometry.PinpointOdometry: The device, for anything this class does not cover.
deviceName() - Method in class com.crossbotics.ftchelper.robot.Module: The main device's configuration name, e.g.
Devices - Interface in com.crossbotics.ftchelper.robot: Where the modules find their motors, servos and sensors by configuration name.
diameterMm - Variable in class com.crossbotics.ftchelper.robot.Parts.Wheel: Outside diameter, mm.
diameterMm(double) - Method in class com.crossbotics.ftchelper.robot.Shape: A roller's or flywheel's diameter, mm, for a part not in the catalog.
DifferentialMixer - Class in com.crossbotics.ftchelper.drive: The math that turns stick values into left and right powers for a standard (tank) drive.
display() - Method in class com.crossbotics.ftchelper.tuning.Tunable: The value as short text, e.g.
distance - Variable in class com.crossbotics.ftchelper.launcher.ShotTable.Shot: The distance to the goal, the flywheel speed (RPM) and the hood angle (degrees) for it.
distanceIn - Variable in class com.crossbotics.ftchelper.vision.TargetObservation: Inches from the camera to the target, flat in the camera's own view (see above).
distanceInches(Pose3D) - Static method in class com.crossbotics.ftchelper.vision.LimelightTags: Distance to the target in inches, flat in the camera's own view (its up/down left out; the same as the floor distance only for a level camera), NaN if there is no pose.
done() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Sets power to 0 and gives you the motor.
done() - Method in class com.crossbotics.ftchelper.hardware.ServoSetup: Gives you the servo.
DONE - Enum constant in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Reached the target.
DOUBLE_TAP_SEC - Static variable in class com.crossbotics.ftchelper.robot.Pad: Two taps closer together than this (seconds) are a double-tap.
doubleTap(Action) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.doubleTap(Runnable) with an action.
doubleTap(Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Two quick taps run job (the first tap alone runs the tap job, if any).
DPAD_DOWN - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
DPAD_LEFT - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
DPAD_RIGHT - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
DPAD_UP - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
dpadDown - Variable in class com.crossbotics.ftchelper.robot.Pad: The D-pad.
dpadLeft - Variable in class com.crossbotics.ftchelper.robot.Pad: The D-pad.
dpadRight - Variable in class com.crossbotics.ftchelper.robot.Pad: The D-pad.
dpadUp - Variable in class com.crossbotics.ftchelper.robot.Pad: The D-pad.
drive() - Method in class com.crossbotics.ftchelper.core.RobotConfig: The drivetrain: type, motor names, directions, power limit.
drive() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The drivetrain as written in define().
drive(double, double, double) - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: Robot-centric drive: "forward" is where the robot faces.
drive(double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Drives with numbers you worked out yourself (robot-centric), for your own controls.
drive(double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: Robot-centric drive with a speed multiplier (for a slow mode).
drive(AutoDrive) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: The drivetrain for move and turn steps.
drive(Drive) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The drivetrain.
drive(Gamepad) - Method in class com.crossbotics.ftchelper.robot.ControlMap
drive(Gamepad) - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Drives the robot from gamepad 1, every loop (not while the tuning menu is open).
Drive - Class in com.crossbotics.ftchelper.robot: The drivetrain in Robot.java: mecanum or standard (tank), its motor names, the motor and wheel, and how the Control Hub is mounted (for the IMU, the turn sensor).
driveConfig() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The drivetrain settings.
driveConfig() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The drivetrain settings.
DriveConfig - Class in com.crossbotics.ftchelper.drive: The drivetrain type, the motor names and directions, and a power limit.
DriveConfig() - Constructor for class com.crossbotics.ftchelper.drive.DriveConfig
DriveConfig.DriveType - Enum Class in com.crossbotics.ftchelper.drive: The kind of drivetrain.
driveFieldCentric(double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: Field-centric drive at full speed scale.
driveFieldCentric(double, double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: Field-centric drive: "forward" is away from the driver, whichever way the robot faces.
driveRampMax() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode: The highest power the drive and turn ramps reach (default 0.4, at most 0.5).
DriverControls - Class in com.crossbotics.ftchelper.drive: Standard TeleOp driving from one gamepad, for mecanum AND standard (tank) robots, in one line per loop.
DriverHeading - Class in com.crossbotics.ftchelper.drive: Which way the robot faces compared with the DRIVER, for field-centric driving.
DriverHeading(IMU) - Constructor for class com.crossbotics.ftchelper.drive.DriverHeading: Makes the driver heading for this IMU.
driveTo(String, double, double, double, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Drives to a point on the field, using the odometry, and turns to a heading at the same time (mecanum).
driveTo(String, double, double, double, double, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Steps.driveTo(String, double, double, double, double) with your own "close enough", inches.
driveTo(String, Supplier<FieldPose>, double, double, double, double, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Drives to a field point with odometry and ends at a heading (mecanum).
driveTo(String, Supplier<FieldPose>, BooleanSupplier, double, double, double, double, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: AutoRoutine.driveTo(String, java.util.function.Supplier, double, double, double, double, double); stops if ready turns false.
driveTo(Supplier<FieldPose>, double, double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.AutoDrive
driveTo(Supplier<FieldPose>, BooleanSupplier, double, double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: AutoDrive.driveTo(java.util.function.Supplier, double, double, double, double, double), checking every loop that the odometry works: if ready turns false, the robot stops at once (NO_ODOMETRY).
DriveTunerOpMode - Class in com.crossbotics.ftchelper.finders: Finds the autonomous drive numbers in RobotSettings.auto(): the wheel size and (mecanum) the strafe correction.
DriveTunerOpMode() - Constructor for class com.crossbotics.ftchelper.finders.DriveTunerOpMode
driving() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The driving (field-centric on/off, slow mode).
dropOld(List<TargetObservation>, long, double) - Static method in class com.crossbotics.ftchelper.vision.WebcamTags: The observations not older than keepMs.
dropsWhen(ServoPositions<?>, String, double) - Method in class com.crossbotics.ftchelper.robot.Shape: A passive arm that a servo pushes over (an intake folded up at the start): when that servo reaches the named position (three quarters of the way there), it falls to toDegrees (its hard stop) and stays, as gravity holds it there on the robot.

E

EasyAuto - Class in com.crossbotics.ftchelper.auto: The easiest way to write an autonomous: fill in a few methods, and list your steps.
EasyAuto() - Constructor for class com.crossbotics.ftchelper.auto.EasyAuto
EasyTeleOp - Class in com.crossbotics.ftchelper.teleop: A whole TeleOp where you only write what is special about YOUR robot: its mechanisms, the operator's buttons, and any extra screen lines.
EasyTeleOp() - Constructor for class com.crossbotics.ftchelper.teleop.EasyTeleOp
elapsedSec() - Method in class com.crossbotics.ftchelper.match.MatchTimer: Seconds since start (0 before).
end() - Method in class com.crossbotics.ftchelper.robot.Steps: Ends the latest Steps.onlyIf(java.lang.String).
endPose() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The pose to hand to TeleOp at the end, or null (the default: the heading from the drive's IMU only).
endPose() - Method in class com.crossbotics.ftchelper.robot.Auto
endReverse() - Method in class com.crossbotics.ftchelper.robot.Intake: Ends Intake.reverse().
everyLoop() - Method in class com.crossbotics.ftchelper.robot.ControlMap
everyLoop() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Your own code for every loop, e.g.
exposure(long, int) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Manual exposure (milliseconds) and gain.

F

feeder(Indexer) - Method in class com.crossbotics.ftchelper.robot.Launcher: The indexer that feeds it.
Feeder - Interface in com.crossbotics.ftchelper.launcher: Pushes ONE game piece into the launcher when asked.
Feedforward - Class in com.crossbotics.ftchelper.control: The power a motor needs for a speed, worked out from how the motor behaves ("feedforward"), instead of waiting for an error to build up like a PID does.
Feedforward(double, double, double) - Constructor for class com.crossbotics.ftchelper.control.Feedforward: For wheels and flywheels (no gravity).
Feedforward(double, double, double, double) - Constructor for class com.crossbotics.ftchelper.control.Feedforward: For a lift: kG = the power that holds it still against gravity.
FEEDING - Enum constant in enum class com.crossbotics.ftchelper.launcher.Launcher.State
feedOne() - Method in interface com.crossbotics.ftchelper.launcher.Feeder: Starts feeding one piece.
feedOne() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Starts feeding one piece: the motor turns on now, and MotorFeeder.update() turns it off.
feedOne() - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Starts one push.
feedOne() - Method in class com.crossbotics.ftchelper.robot.Indexer: Feeds one piece now (ignored while busy).
feedTime(double) - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Seconds to run per piece (also the longest it waits for the sensor).
fieldCentricButton() - Method in class com.crossbotics.ftchelper.robot.ControlMap
fieldCentricButton() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The gamepad 1 button that switches field-centric driving on and off (mecanum with an IMU only).
fieldDirection(double, double) - Static method in class com.crossbotics.ftchelper.drive.MecanumMixer: The robot-relative direction of a field direction.
fieldPose(Alliance, double, double, double) - Static method in class com.crossbotics.ftchelper.match.MatchMemory: A start spot seen from the drivers' wall, as a field position.
FieldPose - Class in com.crossbotics.ftchelper.util: Where the robot is on the field: x and y in inches, heading in degrees (counterclockwise is positive, like the IMU).
FieldPose() - Constructor for class com.crossbotics.ftchelper.util.FieldPose: A pose at (0, 0), heading 0.
FieldPose(double, double, double) - Constructor for class com.crossbotics.ftchelper.util.FieldPose: Makes a pose from three numbers.
fieldToRobot(double, double, double) - Static method in class com.crossbotics.ftchelper.drive.MecanumMixer: Turns a field-relative command into a robot-relative one ("field-centric" driving).
FinderMath - Class in com.crossbotics.ftchelper.finders: The arithmetic behind the finders, kept apart so it can be tested on a laptop.
finderName() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: The finder's name, e.g.
finderName() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
finderName() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
FinderOpMode - Class in com.crossbotics.ftchelper.finders: The shared frame of every finder: INIT, a loop that never waits, the "copy into your code" lines, saving them to the results file, and stopping everything at the end (even after an error).
FinderOpMode() - Constructor for class com.crossbotics.ftchelper.finders.FinderOpMode
FinderResults - Class in com.crossbotics.ftchelper.finders: What a finder found, as lines of code ready to copy.
FinderResults(String) - Constructor for class com.crossbotics.ftchelper.finders.FinderResults
findTarget(TargetSource) - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Which target to aim at.
findTarget(TargetSource) - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Which target the distance is measured to.
fire() - Method in class com.crossbotics.ftchelper.robot.Launcher: Fires one piece (spins up first if needed; feeds as soon as it is at speed).
fire(int) - Method in class com.crossbotics.ftchelper.robot.Launcher: Fires count pieces, one after another.
fireWhileHeld() - Method in class com.crossbotics.ftchelper.robot.Launcher: For a held button, every loop: fires one piece, then the next as soon as that one is fed, for as long as the button is held (the launcher keeps its time between shots).
fit(double[], double[], double[], double[], boolean) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: Fits kS, kV, kA (and kG when gravity) to a log.
fixed(Shape...) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Parts the code does not move, for the simulator: fixed(Shape.box("ramp")...), and Shape.passive parts that belong to no module.
flag(Telemetry, String, boolean) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Adds "label : yes" or "label : no".
flywheel() - Static method in class com.crossbotics.ftchelper.robot.Shape: A launcher wheel not in the parts catalog: give Shape.diameterMm(double) and Shape.lengthMm(double).
flywheel(String) - Static method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode.Mechanism: A flywheel (or any motor that may spin freely: an intake, a spinner).
flywheel(String) - Static method in class com.crossbotics.ftchelper.robot.Shape: A launcher wheel, e.g.
flywheel(String, String) - Static method in class com.crossbotics.ftchelper.robot.Launcher: A launcher with its flywheel on this motor.
Flywheel - Class in com.crossbotics.ftchelper.launcher: A flywheel (shooter wheel) that holds a speed in RPM, says when it is ready, and notices shots.
Flywheel(String, DcMotorEx) - Constructor for class com.crossbotics.ftchelper.launcher.Flywheel: Wraps a motor you already set up (RUN_USING_ENCODER).
FlywheelFinderOpMode - Class in com.crossbotics.ftchelper.finders: Finds a flywheel's speed-control numbers.
FlywheelFinderOpMode() - Constructor for class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
flywheelPidf(double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: Starting speed-control gains for a flywheel from its top speed (the hub's velocity PIDF).
folder() - Static method in class com.crossbotics.ftchelper.finders.FinderResults: The folder for results and logs: /sdcard/FIRST/ftc-helper on the robot.
follow(Object, boolean) - Method in interface com.crossbotics.ftchelper.robot.PathFollower: Starts following a path.
follow(String, Object) - Method in class com.crossbotics.ftchelper.robot.Steps: Follows a path with the robot's path follower (Robot.java's follower(...) line, e.g.
follow(String, Object, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Steps.follow(String, Object) with your own time limit, seconds.
follower() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The path follower as running (null before setup, or with no follower(...) line).
follower(PathFollower.Maker) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: A path follower from another library, e.g.
follower(HardwareMap, String, boolean) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: A second motor on the same flywheel.
followMode() - Method in class com.crossbotics.ftchelper.robot.Turret: Following the camera's goal: switch it with a button (g2.back.toggle(robot.turret.followMode())).
followPath(String, PathJob, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Follows a path driven by another library (see PathJob) and waits until it is at the end, at most timeoutSec.
follows(Camera) - Method in class com.crossbotics.ftchelper.robot.Turret: Follows this camera's goal (follow mode on from START).
forgetSaved() - Method in class com.crossbotics.ftchelper.drive.DriverHeading: Clears the heading autonomous saved.
format() - Method in class com.crossbotics.ftchelper.match.MatchTimer: The time left as text, like the field clock: "1:23".
forward() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Positive power turns the motor the normal way (this is the default).
forward() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Spins forward at the SpinServo.power power.
free() - Method in class com.crossbotics.ftchelper.robot.Pad.Button: No job: it stays free, even if a module suggested one for it.
free() - Method in class com.crossbotics.ftchelper.robot.Pad.Stick: No job: it stays free, even if a module suggested one for it.
freeRpm - Variable in class com.crossbotics.ftchelper.robot.Motors.Kind: Top speed with no load, RPM.
freshReadingsForTests(boolean) - Static method in class com.crossbotics.ftchelper.safety.SafeMotor: For tests that move a pretend motor with no time passing: true = read the encoder and switches every time; false = the normal 3 ms reuse.
fromCode(String, double, double) - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Like Tunable.number(java.lang.String, double, double), for a number written in the team's code (the robot in five files uses it for every Tunables.java field).
FRONT_LEFT - Static variable in class com.crossbotics.ftchelper.drive.MecanumMixer: Index of each wheel in the arrays this class returns.
FRONT_RIGHT - Static variable in class com.crossbotics.ftchelper.drive.MecanumMixer: Index of each wheel in the arrays this class returns.
frontLeft - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: Configuration name of the front-left motor (tank: the left motor, or the front one of two).
frontLeftReversed - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: True = this motor is reversed.
frontRight - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: Configuration name of the front-right motor (tank: the right motor, or the front one of two).
frontRightReversed - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: True = this motor is reversed.

G

G1 - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Pad
G2 - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Pad
gain(int) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: The gain for WebcamTags.autoExposure()'s manual exposures (default -1: the camera's highest).
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.AimTunerOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.robot.Auto
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.robot.ControlMap
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.auto.EasyAuto
gamepad1 - Variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
gamepad1 - Variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.AimTunerOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.robot.Auto
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.robot.ControlMap
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.auto.EasyAuto
gamepad2 - Variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
gamepad2 - Variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
gaveUp() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: True if no setting saw a tag before it had to stop, so it kept the first one.
gearRatio - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Motor turns per wheel turn.
gearRatio(double) - Method in class com.crossbotics.ftchelper.robot.Arm: Motor turns per arm turn (gears, sprockets or a belt).
gearRatio(double) - Method in class com.crossbotics.ftchelper.robot.Drive: Motor turns per wheel turn, if gears or a belt sit between them.
gearRatio(double) - Method in class com.crossbotics.ftchelper.robot.Turret: Motor turns per turret turn (the gears or belt).
get() - Method in class com.crossbotics.ftchelper.tuning.Tunable: The current value.
get(HardwareMap, Class<? extends T>, String) - Static method in class com.crossbotics.ftchelper.hardware.Hw: Gets a device by its configuration name, or stops the OpMode with a helpful message.
get(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.hardware.MotorSetup: Starts the setup for a motor in the configuration.
get(HardwareMap, String) - Static method in class com.crossbotics.ftchelper.hardware.ServoSetup: Starts the setup for a servo in the configuration.
get(HardwareMap, String, RevHubOrientationOnRobot.LogoFacingDirection, RevHubOrientationOnRobot.UsbFacingDirection) - Static method in class com.crossbotics.ftchelper.hardware.ImuSetup: Gets the IMU, tells it how the hub is mounted, and sets the heading to 0.
get(Class<? extends T>, String) - Method in interface com.crossbotics.ftchelper.robot.Devices: The device with this name and type.
get(String) - Method in class com.crossbotics.ftchelper.match.InitMenu: The chosen option of a choice line, e.g.
get(String) - Static method in class com.crossbotics.ftchelper.robot.Motors: The motor with this id.
get(String, String) - Method in class com.crossbotics.ftchelper.core.SettingsFile: A saved text value, or fallback if none is saved.
getAlliance() - Method in class com.crossbotics.ftchelper.match.InitMenu: The chosen alliance (BLUE if there is no alliance line).
getAngle() - Method in class com.crossbotics.ftchelper.launcher.Turret: The angle now (degrees, counterclockwise +).
getAngleDeg() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: The angle from the sensor, 0 to 360 (NaN without a sensor).
getAppliedPower() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: The last power sent to the motor, after limits.
getAverageMs() - Method in class com.crossbotics.ftchelper.util.LoopTimer: Average loop time in milliseconds (smoothed).
getConfig() - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: The settings this drive was made with.
getConfig() - Method in class com.crossbotics.ftchelper.drive.TankDrive: The settings this drive was made with.
getDegrees() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The angle sent last, in degrees (needs PositionServo.degrees(double, double, double, double); without it the number means nothing).
getDelaySec() - Method in class com.crossbotics.ftchelper.match.InitMenu: The chosen start delay in seconds (0 if there is no delay line).
getDouble(String, double) - Method in class com.crossbotics.ftchelper.core.SettingsFile: A saved number, or fallback if none is saved or it is not a number.
getFault() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: "" or a problem, e.g.
getFault() - Method in class com.crossbotics.ftchelper.launcher.Turret: "" or a problem, e.g.
getFlywheel() - Method in class com.crossbotics.ftchelper.launcher.Launcher: The flywheel inside.
getHood() - Method in class com.crossbotics.ftchelper.launcher.Launcher: The hood servo, or null if there is none.
getHz() - Method in class com.crossbotics.ftchelper.util.LoopTimer: Loops per second (smoothed).
getJamCount() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: How many jams were cleared since the OpMode started.
getKD() - Method in class com.crossbotics.ftchelper.control.PidController: The D gain now in use.
getKF() - Method in class com.crossbotics.ftchelper.control.PidController: The feedforward (F) now in use.
getKI() - Method in class com.crossbotics.ftchelper.control.PidController: The I gain now in use.
getKP() - Method in class com.crossbotics.ftchelper.control.PidController: The P gain now in use.
getLastError() - Method in class com.crossbotics.ftchelper.control.PidController: The error from the last PidController.calculate(double, double) call (target minus measured).
getLastError() - Method in class com.crossbotics.ftchelper.util.BackgroundWorker: "" or the last error a job threw (jobs never crash the robot).
getLastProblem() - Method in class com.crossbotics.ftchelper.launcher.Launcher: The last problem (e.g.
getLastSeconds() - Method in class com.crossbotics.ftchelper.util.LoopTimer: Seconds the last loop took.
getLimelight() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: The SDK's Limelight object, for anything this class does not cover (e.g.
getMaxRpm() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: The highest speed it may be asked for (see Flywheel.maxRpm).
getMotor() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: The FTC motor inside, for anything this helper does not do.
getMotor() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: The FTC motor inside, for anything this helper does not do.
getMotor() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: The motor inside, for anything this class does not cover.
getMotors() - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: The four motors, in the order front-left, front-right, back-left, back-right.
getMotors() - Method in class com.crossbotics.ftchelper.drive.TankDrive: The motors: {left, right} for 2 motors, {front-left, front-right, back-left, back-right} for 4.
getPid() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: The PID controller inside.
getPosition() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: The position now, in units.
getPosition() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The raw position sent last (NaN before the first move).
getPosition() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Position in ticks, measured from the home (zero) position.
getPower() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: The power it is running at now, -1 to 1.
getReport() - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: What happened to each step, e.g.
getRequestedPower() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: The last power asked for, before limits.
getRpm() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: The measured speed (RPM).
getSafeMotor() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: The safety layer inside (limits, switches, powers).
getServo() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The FTC servo inside, for anything this helper does not do.
getShotCount() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: How many shots were noticed (speed drops) since the OpMode started.
getShotsFired() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Pieces fed since the OpMode started.
getShotsLeft() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Shots still waiting to be fired.
getSlowActionWarning() - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: "" or a note about a button action that took too long (more than ControllerBindings.SLOW_ACTION_MS), e.g.
getSlowUpdateWarning() - Method in class com.crossbotics.ftchelper.core.Subsystems: "" or the last slow update (see Subsystems.SLOW_UPDATE_MS).
getState() - Method in class com.crossbotics.ftchelper.launcher.Launcher: What it is doing now (see Launcher.State).
getState() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: What it is doing now.
getTargetAngle() - Method in class com.crossbotics.ftchelper.launcher.Turret: The angle it is going to (NaN if none).
getTargetDegrees() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The angle it is GOING to, in degrees (after the limits), or NaN before the first command.
getTargetName() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: What it is doing, for telemetry: the target's name, "hand" (the stick is moving it), "hold" (holding a spot with no name) or "none" (no power).
getTargetName() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The named position it is at or going to, or "-" .
getTargetRpm() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: The target speed (RPM).
getValue() - Method in class com.crossbotics.ftchelper.control.SlewRateLimiter: The last output.
getWarning() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: "" or the last setup/command problem (missing switch, unknown position name).
getWarning() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: "" or the last command problem (unknown position name).
getWheelTicks() - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Encoder counts, in the order front-left, front-right, back-left, back-right.
giveUpAfterStartMs(double) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: After START, how long to keep trying when no setting has worked yet (milliseconds, default 0 = stop at START and keep the best so far).
goal() - Method in class com.crossbotics.ftchelper.robot.Camera: The goal for this match's alliance (see Camera.goal(String, String)), or null if it is not seen now (or no goal was named).
goal(String, String) - Method in class com.crossbotics.ftchelper.robot.Camera: The goal's tag group for each alliance, e.g.
goTo(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Go to a position in units and hold it.
goTo(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Go to a named position and hold it.
goTo(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Goes to a named position.
goTo(String) - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Goes to a named position from Tunables.java and holds it.
goTo(String) - Method in class com.crossbotics.ftchelper.robot.ServoPositions: Goes to a named position from Tunables.java.
goToRest() - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Moves to rest (call in INIT only if moving there is safe).
goToStep(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: A step: go to a named position and wait until there (or the step timeout).
goToStep(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: A step (autonomous): go to a named position and wait until it should have arrived.
group() - Method in class com.crossbotics.ftchelper.tuning.Tunable: The group: the part of the name before the first "/" ("" if none).
groups(List<TagGroup>) - Method in class com.crossbotics.ftchelper.vision.LimelightTags: The tag groups reported as one target each (default: this season's, TagGroup.currentSeason()).
groupTarget(TagGroup, Map<Integer, double[]>, long) - Static method in class com.crossbotics.ftchelper.vision.LimelightTags: One target for a tag group: the middle of its row, from the tags in view.
GUIDE - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
GUIDE_HOLD_SEC - Static variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp: How long GUIDE is held to open the tuning menu when there is a button map, seconds.

H

HardwareCheckOpMode - Class in com.crossbotics.ftchelper.testing: A ready-made "check every part" OpMode.
HardwareCheckOpMode() - Constructor for class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.AimTunerOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.robot.Auto
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.robot.ControlMap
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.auto.EasyAuto
hardwareMap - Variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
hardwareMap - Variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
hardwareMap() - Method in interface com.crossbotics.ftchelper.robot.Devices: The OpMode's hardwareMap, for code that needs it whole (a path follower); null in tests.
has() - Static method in class com.crossbotics.ftchelper.util.PoseStore: True if a pose is saved.
has(String) - Method in class com.crossbotics.ftchelper.core.SettingsFile: True if a value is saved under this key.
hasAlliance() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: True if autonomous left an alliance for this match (not older than MatchMemory.MAX_AGE_SEC).
hasBackMotors() - Method in class com.crossbotics.ftchelper.drive.DriveConfig: True if there are back motors (always for mecanum; for tank, when both back names are set).
hasBearing() - Method in class com.crossbotics.ftchelper.vision.TargetObservation: True if the camera worked out a bearing (some detections have only an id).
hasDistance() - Method in class com.crossbotics.ftchelper.vision.TargetObservation: True if the camera worked out a distance.
hasFollower() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: True if Robot.java has a follower(...) line.
hasTable() - Method in class com.crossbotics.ftchelper.launcher.Launcher: True if a shot table was given (Launcher.setDistance(double) works).
hasWidth() - Method in class com.crossbotics.ftchelper.robot.Parts.Wheel: True if the catalog knows its width.
heading() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The heading compared with the driver, or null if there is no IMU.
headingDeg - Variable in class com.crossbotics.ftchelper.util.FieldPose: Degrees, counterclockwise positive.
headingDeg() - Method in class com.crossbotics.ftchelper.drive.AutoDrive: The robot's heading, IMU degrees (counterclockwise positive).
headingDeg(IMU) - Static method in class com.crossbotics.ftchelper.hardware.ImuSetup: The robot's heading in degrees, from -180 to 180.
heightMm(double) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The whole robot's height in mm (the tallest fixed part), for the simulator.
heldFor(double, Action) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.heldFor(double, Runnable) with an action.
heldFor(double, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Held down for seconds: job runs once (a safe "are you sure?" for big moves, like re-homing a lift).
helpKeyDown() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: True while a help key is down (GUIDE, or START): used to stop a moving test at once.
helpLines() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: The help page: every button and the steps, a line each (at most 13 lines, about 50 characters each, to fit on the Driver Station).
helpLines() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
helpLines() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
hitsOf(int) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: How many pictures saw tags with setting i in its last try (0 if not tried yet, refused or missing).
hold() - Method in class com.crossbotics.ftchelper.drive.DriverControls: Holds the wheels still this loop (e.g.
hold() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Holds the current position.
hold() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Holds where it is now.
hold(Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Runs whileHeld every loop while it is held.
hold(Runnable, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.hold(Runnable), and onRelease once when it is let go.
holds(int) - Method in class com.crossbotics.ftchelper.robot.Intake: How many game pieces it can hold at once (for the simulator; default: a guess of 3).
holdWhenReleased(boolean) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: True (default): when the driver lets go of manual control, it holds where it is.
home(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Starts homing: turns slowly toward the switch until it closes.
homeDirection() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Which way the turret turns to find its home switch: +1 or -1 (see Turret.home).
homeSwitch(HardwareMap, String, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: A home switch by configuration name (touch sensor), closing at angleDeg.
homeSwitch(BooleanSupplier, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: A home switch read your own way (magnetic: () -> !channel.getState()).
homingPower(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Power while homing, 0 to 1.
homingTimeout(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Homing stops with a fault if the switch is not found within this many seconds.
hood(PositionServo) - Method in class com.crossbotics.ftchelper.launcher.Launcher: A hood servo that has degrees(...) set.
hoodDeg - Variable in class com.crossbotics.ftchelper.launcher.ShotTable.Shot: The distance to the goal, the flywheel speed (RPM) and the hood angle (degrees) for it.
Hw - Class in com.crossbotics.ftchelper.hardware: Gets devices from the robot configuration, with clear error messages.

I

id - Variable in class com.crossbotics.ftchelper.robot.Motors.Kind: The parts catalog id, e.g.
id - Variable in class com.crossbotics.ftchelper.robot.Parts.Wheel: The parts catalog id, e.g.
id - Variable in class com.crossbotics.ftchelper.vision.TargetObservation: The AprilTag's number, or TargetObservation.CLUSTER for a group of tags.
idle() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Goes back to the idle speed (cancels any shots).
idle() - Method in class com.crossbotics.ftchelper.robot.Launcher: Back to the idle speed (idleRpm, 0 = coast to a stop); cancels shots still waiting.
IDLE - Enum constant in enum class com.crossbotics.ftchelper.launcher.Launcher.State
idleRpm(double) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Speed to keep when not shooting, in RPM (0 = stop).
ids() - Method in class com.crossbotics.ftchelper.vision.TagGroup: The tag ids in the group.
ignoreHeldButtons(Gamepad, Gamepad) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Call once right after START.
imu(HardwareMap) - Method in class com.crossbotics.ftchelper.core.RobotConfig: The IMU (turn sensor), set up for how the hub is mounted.
imu(String, RevHubOrientationOnRobot.LogoFacingDirection, RevHubOrientationOnRobot.UsbFacingDirection) - Method in class com.crossbotics.ftchelper.robot.Drive: The IMU's name and how the Control Hub is mounted.
ImuSetup - Class in com.crossbotics.ftchelper.hardware: Starts the IMU (the hub's built-in turn sensor) in one line, and reads the heading.
in() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Spin IN.
in() - Method in class com.crossbotics.ftchelper.robot.Intake: Runs in until Intake.stop().
IN - Enum constant in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State
increase() - Method in class com.crossbotics.ftchelper.tuning.Tunable: One step up.
Indexer - Class in com.crossbotics.ftchelper.robot: Feeds ONE game piece at a time into a launcher: a servo that pushes, a CR servo or a motor that runs for a moment.
InitMenu - Class in com.crossbotics.ftchelper.match: A menu for the INIT screen: choose alliance, start delay, route and more with the gamepad, before pressing START.
InitMenu(Gamepad) - Constructor for class com.crossbotics.ftchelper.match.InitMenu
inputsReady() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: False after START and after the help page closes, until every stick, trigger and button on gamepad 1 has been let go once.
inStep() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: A step: start spinning IN and go straight on.
Intake - Class in com.crossbotics.ftchelper.robot: A roller that pulls game pieces in (and pushes them out): one motor, or one or more continuous rotation (CR) servos.
isActive() - Method in interface com.crossbotics.ftchelper.auto.AutoContext: True while the step should keep going (the OpMode runs, and the time for this part is not up).
isAimed() - Method in class com.crossbotics.ftchelper.launcher.Turret: True when homed, holding a target that is REACHABLE (not out of range), and within the tolerance.
isAimed() - Method in class com.crossbotics.ftchelper.robot.Turret: True when it points where it should (within the tolerance).
isAimed() - Method in class com.crossbotics.ftchelper.vision.AimController: True if the last fresh target was inside the deadband.
isAt(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: True when at this named position (within the tolerance).
isAt(String) - Method in class com.crossbotics.ftchelper.robot.MotorPositions: True when it is at this named position.
isAt(String) - Method in class com.crossbotics.ftchelper.robot.ServoPositions: True if its last command was this position (whether or not it has arrived).
isAtLower() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: True at or below the lowest position, or when the lower switch is pressed.
isAtTarget() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: True when holding a target and within the tolerance.
isAtTarget() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: True when it is at its target.
isAtUpper() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: True at or above the highest position, or when the upper switch is pressed.
isBusy() - Method in interface com.crossbotics.ftchelper.auto.PathJob: True while it is still following the path.
isBusy() - Method in interface com.crossbotics.ftchelper.launcher.Feeder: True until the piece is through and the feeder is ready for the next one.
isBusy() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder
isBusy() - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder
isBusy() - Method in class com.crossbotics.ftchelper.robot.Indexer
isBusy() - Method in interface com.crossbotics.ftchelper.robot.PathFollower: True while it is following (not yet at the end).
isChanged() - Method in class com.crossbotics.ftchelper.tuning.Tunable: True if the value is not the code value.
isClosed() - Method in class com.crossbotics.ftchelper.robot.Claw: True if its last command was "closed".
isDebug() - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: True when debug lines are shown.
isDone() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: True when the servo should have arrived (an estimate: a servo cannot tell us where it is).
isDone() - Method in class com.crossbotics.ftchelper.robot.ServoPositions: True if it should have arrived at its last position (a guess from travelSec).
isDone() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: True once a setting is kept (found, or stopped at START).
isDown(ControllerBindings.Pad, ControllerBindings.Btn) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: True if the button is down right now (as of the last update).
isEmpty() - Method in class com.crossbotics.ftchelper.finders.Chooser: True if there is nothing to choose.
isEmpty() - Method in class com.crossbotics.ftchelper.finders.FinderResults: True if nothing was found yet.
isEnabled() - Method in class com.crossbotics.ftchelper.gamepad.AimRumble: True if buzzing is on.
isFieldCentric() - Method in class com.crossbotics.ftchelper.drive.DriverControls: True while driving field-centric.
isFresh(long, double) - Method in class com.crossbotics.ftchelper.vision.TargetObservation: True if the picture is newer than maxAgeMs.
isFromAuto() - Method in class com.crossbotics.ftchelper.drive.DriverHeading: True if the heading still counts from autonomous's (no reset since).
isHolding() - Method in interface com.crossbotics.ftchelper.robot.PathFollower: True while it holds the end point of a path after its step ended (a path that asked for it).
isHomed() - Method in class com.crossbotics.ftchelper.launcher.Turret: True once the angle is known (switch seen, or there is no switch).
isHomed() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: True after the position was set to 0 by the lower switch or SafeMotor.zeroHere().
isHoming() - Method in class com.crossbotics.ftchelper.launcher.Turret: True while turning slowly to find the home switch.
isJammed() - Method in interface com.crossbotics.ftchelper.launcher.Feeder: True if the feeder is jammed (then the launcher stops shooting).
isJammed() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder
isJammed() - Method in class com.crossbotics.ftchelper.robot.Indexer
isMecanum() - Method in class com.crossbotics.ftchelper.robot.Drive: True for mecanum (it can strafe).
isNear(double, double, double) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Tells if two numbers are close enough.
isOn() - Method in class com.crossbotics.ftchelper.robot.Mode: True while on.
isOpen() - Method in class com.crossbotics.ftchelper.tuning.TuningMenu: True while the menu is open.
isOutOfRange() - Method in class com.crossbotics.ftchelper.launcher.Turret: True if the last aim was outside the limits (it went to the nearest limit instead).
isOutOfRange() - Method in class com.crossbotics.ftchelper.robot.Turret: True when the goal is past its range (it waits at the limit).
isOver() - Method in class com.crossbotics.ftchelper.match.MatchTimer: True when the time is up.
isPaused() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: True while paused.
isPlaying() - Method in class com.crossbotics.ftchelper.gamepad.ToggleRumble: True while the confirmation is still playing.
isPractice() - Method in enum class com.crossbotics.ftchelper.core.Profile: True for PRACTICE.
isPushingOut() - Method in class com.crossbotics.ftchelper.robot.Intake: True while it runs out (after Intake.out()), until Intake.in() or Intake.stop().
isReady() - Method in interface com.crossbotics.ftchelper.auto.PathJob: False while its pose source (the odometry) is not ready.
isReady() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: True when at speed and steady.
isReady() - Method in class com.crossbotics.ftchelper.launcher.Launcher: True when the flywheel is at speed, the hood has arrived, and every check passes.
isReady() - Method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry
isReady() - Method in class com.crossbotics.ftchelper.odometry.OtosOdometry
isReady() - Method in class com.crossbotics.ftchelper.odometry.PinpointOdometry
isReady() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: True when the device works and gives a pose (not calibrating, no fault).
isReady() - Method in class com.crossbotics.ftchelper.robot.Launcher: True when the wheel is at speed (and every other check passes).
isReady() - Method in interface com.crossbotics.ftchelper.robot.PathFollower: False while it cannot follow safely (its pose source is not ready).
isReversed() - Method in class com.crossbotics.ftchelper.drive.ReverseDrive: True when reversed.
isReversed(String) - Method in class com.crossbotics.ftchelper.robot.Drive: True if this drive motor is reversed in Robot.java (a path follower module sets its motors the same way).
isReversed(String) - Method in class com.crossbotics.ftchelper.robot.Odometry: True if this pod ("x"/"y" for a Pinpoint, a port name for dead wheels) is in reversed(...).
isRunning() - Method in class com.crossbotics.ftchelper.match.MatchTimer: True after MatchTimer.start().
isRunning() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: True unless STOPPED.
isRunning() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: True while the power is not 0.
isRunning() - Method in class com.crossbotics.ftchelper.robot.Action: True while it runs.
isRunning() - Method in class com.crossbotics.ftchelper.robot.Intake: True while it runs in or out.
isRunning() - Method in class com.crossbotics.ftchelper.util.BackgroundWorker: True until BackgroundWorker.shutdown().
isShooting() - Method in class com.crossbotics.ftchelper.launcher.Launcher: True while shots are waiting or a piece is being fed.
isShooting() - Method in class com.crossbotics.ftchelper.robot.Launcher: True while shots are waiting or a piece is being fed.
isSlow() - Method in class com.crossbotics.ftchelper.drive.DriverControls: True while the slow trigger is pulled.
isSpinning() - Method in class com.crossbotics.ftchelper.robot.Launcher: True while it is spun up (or spinning up), false when idle.
isTuningMenuOpen() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: True while the tuning menu is open.
isWaitingForHoming() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: True while waiting to be homed on the lower switch.
isWaitingForHoming() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: True while a lower switch is set, homing is required, and it has not been homed yet.
isWorking() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: True when started, connected and running.
isWorking() - Method in interface com.crossbotics.ftchelper.vision.TargetSource: True if the camera is working (connected and streaming).
isWorking() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: True while the camera is streaming pictures.
isYes(String) - Method in class com.crossbotics.ftchelper.match.InitMenu: True if a yes/no line is YES.
isYes(String) - Method in class com.crossbotics.ftchelper.robot.Steps: True if the yes/no choice is "yes".

J

jamCurrent(double) - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Also counts a jam when the current is above this (amps).
jamDetection(double, double) - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Jam detection: slower than minSpeed ticks/s for seconds while feeding.
jamDetection(double, double, double) - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Turns on jam detection while IN.
JamDetector - Class in com.crossbotics.ftchelper.safety: Tells when a motor is jammed: it is asked to spin but barely turns (or draws too much current) for a while.
JamDetector(double, double) - Constructor for class com.crossbotics.ftchelper.safety.JamDetector

K

kA - Variable in class com.crossbotics.ftchelper.control.Feedforward: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kA - Variable in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kD - Variable in class com.crossbotics.ftchelper.tuning.PidTunables: The four gains, each one changeable from the TuningMenu.
keepTargetsMs(double) - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Targets older than this are dropped (milliseconds, default 500).
keepTargetsMs(double) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Targets older than this are dropped from WebcamTags.targets() (milliseconds, default 500), so a camera that stops sending pictures never leaves old targets behind.
kF - Variable in class com.crossbotics.ftchelper.tuning.PidTunables: The four gains, each one changeable from the TuningMenu.
kG - Variable in class com.crossbotics.ftchelper.control.Feedforward: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kG - Variable in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kI - Variable in class com.crossbotics.ftchelper.tuning.PidTunables: The four gains, each one changeable from the TuningMenu.
kind() - Method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry
kind() - Method in class com.crossbotics.ftchelper.odometry.OtosOdometry
kind() - Method in class com.crossbotics.ftchelper.odometry.PinpointOdometry
kind() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: What kind it is, e.g.
kindName() - Method in class com.crossbotics.ftchelper.robot.Odometry: "pinpoint", "otos", "threeWheels" or "twoWheels" (for the Odometry Tuner).
kP - Variable in class com.crossbotics.ftchelper.tuning.PidTunables: The four gains, each one changeable from the TuningMenu.
kS - Variable in class com.crossbotics.ftchelper.control.Feedforward: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kS - Variable in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kV - Variable in class com.crossbotics.ftchelper.control.Feedforward: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).
kV - Variable in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: Power to start moving (kS), per speed (kV), per acceleration (kA), to hold against gravity (kG).

L

L_STICK_BTN - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
labels() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The settings, in the order they are tried.
lastReport() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Autonomous's report from this match (empty if none, or if it is older than MatchMemory.MAX_AGE_SEC).
Launcher - Class in com.crossbotics.ftchelper.launcher: Joins a flywheel, a feeder, and optionally a hood, a shot table and any "ready" checks into one shooter: spin up, wait until everything is ready, feed, repeat.
Launcher - Class in com.crossbotics.ftchelper.robot: A flywheel launcher: a motor that spins a wheel to a speed, and an Indexer that feeds one piece at a time once the speed is right.
Launcher(Flywheel, Feeder) - Constructor for class com.crossbotics.ftchelper.launcher.Launcher: Makes a launcher from a flywheel and a feeder you already made.
Launcher.State - Enum Class in com.crossbotics.ftchelper.launcher: What the launcher is doing (for telemetry).
lb - Variable in class com.crossbotics.ftchelper.robot.Pad: Bumpers (LB, RB) and triggers (LT, RT; a trigger counts as pressed past half way).
LB - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
leastSquares(double[][], double[]) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: The b that makes x b closest to y (least squares).
LEFT - Static variable in class com.crossbotics.ftchelper.drive.DifferentialMixer: Index of each side in the arrays this class returns.
leftStickButton - Variable in class com.crossbotics.ftchelper.robot.Pad: Pressing a stick down (a click).
leftStickX - Variable in class com.crossbotics.ftchelper.robot.Pad: The sticks: up and right are +, from -1 to 1.
leftStickY - Variable in class com.crossbotics.ftchelper.robot.Pad: The sticks: up and right are +, from -1 to 1.
lengthMm(double) - Method in class com.crossbotics.ftchelper.robot.Shape: A roller's length along its axle, mm (needed when the catalog does not give the part's width).
lerp(double, double, double) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Finds the number part of the way from a to b.
library(AprilTagLibrary) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: A different tag library (default: this season's from the SDK).
lift(String, int, int) - Static method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode.Mechanism: A lift (or an arm: treated like a lift, with the same pull of gravity everywhere).
Lift - Class in com.crossbotics.ftchelper.robot: A lift (a slide that goes up and down) on one motor, with named heights and an optional bottom switch.
lighting() - Method in class com.crossbotics.ftchelper.robot.Camera: The venue-lighting test (status and result), or null when it is off.
lighting() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: The venue-lighting helper (its numbers, status and result), or null without LimelightTags.autoPipelines(int...).
lighting() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: The venue-lighting helper (its numbers, status and result), or null without WebcamTags.autoExposure().
LightingSweep - Class in com.crossbotics.ftchelper.vision: Tries a few camera settings one after the other, counts how many pictures see AprilTags with each, and keeps the best one.
LightingSweep(List<String>, IntConsumer, LongSupplier) - Constructor for class com.crossbotics.ftchelper.vision.LightingSweep
limelight(String) - Static method in class com.crossbotics.ftchelper.robot.Camera: A Limelight 3A.
LimelightTags - Class in com.crossbotics.ftchelper.vision: AprilTags with a Limelight 3A.
LimelightTags(String, Limelight3A) - Constructor for class com.crossbotics.ftchelper.vision.LimelightTags: Wraps a Limelight you already have.
limit(double, double, double, double, double, double, boolean, boolean) - Static method in class com.crossbotics.ftchelper.safety.SoftLimits: Applies the limits to a power.
limits(double, double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: Turns two marked encoder counts ("low end" and "high end") into limits for a mechanism whose code counts UP as it goes UP.
limits(double, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: The allowed range, degrees.
limits(double, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: The safe range, from min to max, in units.
limits(double, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Never goes below min or above max (raw positions).
line(String, Object) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A driver line: "label : value".
line(String, String, Object...) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A driver line with a format, e.g.
lines() - Method in class com.crossbotics.ftchelper.finders.FinderResults: The lines, in order (a copy).
liveView(boolean) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Shows the camera picture on the Robot Controller screen (costs speed).
looks(Shape...) - Method in class com.crossbotics.ftchelper.robot.Module: How the part looks and where it sits (Shape), for the simulator's 3D view and size checks.
lookup(double) - Method in class com.crossbotics.ftchelper.launcher.ShotTable: The shot for a distance (inches).
loop() - Method in interface com.crossbotics.ftchelper.auto.AutoContext: One loop: updates every mechanism, shows telemetry, and lets the robot breathe.
LoopTimer - Class in com.crossbotics.ftchelper.util: Measures how fast your OpMode loop runs.
LoopTimer() - Constructor for class com.crossbotics.ftchelper.util.LoopTimer: Makes a timer that uses the phone's clock.
LoopTimer(LongSupplier) - Constructor for class com.crossbotics.ftchelper.util.LoopTimer: Makes a timer with your own clock.
lowerSwitch(HardwareMap, String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: A lower limit switch, by its configuration name (a touch sensor).
lowerSwitch(BooleanSupplier) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: A lower limit switch, read your own way (e.g.
lt - Variable in class com.crossbotics.ftchelper.robot.Pad: Bumpers (LB, RB) and triggers (LT, RT; a trigger counts as pressed past half way).
LT - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Trigger

M

M1 - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
M2 - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
make(Devices, RobotDefinition) - Method in interface com.crossbotics.ftchelper.robot.PathFollower.Maker
makeOdometry(Devices) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: RobotDefinition.makeOdometry(HardwareMap) with any Devices (tests use pretend ones).
makeOdometry(HardwareMap) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Makes only the odometry from the odometry(...) line, for a tool that runs without the rest of the robot (e.g.
manual(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Manual control (a stick), -1 to 1.
manual(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Manual control, e.g.
manual(double) - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Moves by hand, -1 to 1 (a stick).
manual(double) - Method in class com.crossbotics.ftchelper.robot.Turret: By hand, -1 to 1 (a stick, every loop).
manual(HardwareMap) - Static method in class com.crossbotics.ftchelper.hardware.BulkReads: Turns on MANUAL bulk reads on every hub.
MANUAL - Enum constant in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State
matchHasStarted() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: True after LightingSweep.matchStarted() (for the cameras: hide trial pictures during the match).
MatchMemory - Class in com.crossbotics.ftchelper.match: Remembers what autonomous knew, for TeleOp: the alliance and the robot's pose.
matchStarted() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: Tell it the match has started (the OpMode's START).
matchStarted() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Tell the camera the match has started, so an unfinished LimelightTags.autoPipelines(int...) test stops and keeps the best pipeline so far (the five-files Camera module does this for you).
matchStarted() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Tell the camera the match has started, so an unfinished WebcamTags.autoExposure() test stops and keeps the best exposure so far (the five-files Camera module does this for you).
matchTimer() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The 2:00 match timer (started at START).
MatchTimer - Class in com.crossbotics.ftchelper.match: Counts down a match period and runs "cues" at set times, for example a gamepad buzz with 20 seconds left, so drivers do not have to watch the field clock.
MatchTimer(double) - Constructor for class com.crossbotics.ftchelper.match.MatchTimer: A timer for a period of this many seconds.
MatchTimer(double, LongSupplier) - Constructor for class com.crossbotics.ftchelper.match.MatchTimer: For tests: your own clock.
MathUtil - Class in com.crossbotics.ftchelper.util: Small math helpers that robot code needs all the time.
MAX_AGE_SEC - Static variable in class com.crossbotics.ftchelper.match.MatchMemory: After this many seconds the memory belongs to an old match and is ignored.
MAX_TARGET_AGE_MS - Static variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Camera pictures older than this are not used for the distance (milliseconds).
MAX_TOP_SPEED_SEC - Static variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode: The longest full-power run in step 1, seconds.
maxAgeMs(double) - Method in class com.crossbotics.ftchelper.vision.AimController: Pictures older than this are ignored (milliseconds).
maxDriveCounts() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode: The farthest the drive test may roll in one go, in wheel counts (default 2500: about 4.5 ft with 312 rpm motors and 104 mm wheels; fewer feet with smaller counts per inch).
maxPower(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: The most power it ever gets, 0 to 1.
maxPower(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: The most power it ever gets, 0 to 1.
maxPower(double) - Method in class com.crossbotics.ftchelper.vision.AimController: The most turn power the aim may use, 0 to 1.
maxRpm(double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: The highest speed it may be asked for, in RPM.
maxSpeed(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Moves slowly: at most this many raw positions per second (e.g.
maxStartDelaySec() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Longest start delay offered in the menu, seconds.
maxTargetAgeMs(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Turret.aimAtTarget(com.crossbotics.ftchelper.vision.TargetObservation, boolean) ignores camera pictures older than this (milliseconds).
mecanum() - Static method in class com.crossbotics.ftchelper.drive.DriveConfig: Settings for a four-motor mecanum drive (the same as new DriveConfig()).
mecanum(String, String, String, String) - Static method in class com.crossbotics.ftchelper.robot.Drive: A four-wheel mecanum drive (it can strafe).
MECANUM - Enum constant in enum class com.crossbotics.ftchelper.drive.DriveConfig.DriveType: Four mecanum wheels: can drive forward, sideways and turn.
MecanumDrive - Class in com.crossbotics.ftchelper.drive: Drives a four-wheel mecanum chassis.
MecanumDrive(HardwareMap, DriveConfig) - Constructor for class com.crossbotics.ftchelper.drive.MecanumDrive: Gets the four motors, sets their directions and brake mode, and sets power to 0.
MecanumMixer - Class in com.crossbotics.ftchelper.drive: The math that turns "forward, right, turn" into four mecanum wheel powers.
mechanisms() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode: The lifts, arms and flywheels to measure.
menuChoice(String, String...) - Method in class com.crossbotics.ftchelper.robot.Steps: A choice between options in the INIT menu, read with Steps.choice(java.lang.String).
menuYesNo(String, boolean) - Method in class com.crossbotics.ftchelper.robot.Steps: A yes/no choice in the INIT menu (D-pad), read with Steps.onlyIf(java.lang.String) or Steps.isYes(java.lang.String).
minPictures(int) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: How many pictures must see a tag for a setting to count as good (default 3).
mirror(double) - Method in enum class com.crossbotics.ftchelper.match.Alliance: Mirrors a left/right value written for BLUE: unchanged for blue, negated for red.
mirrorFor(Alliance) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Flips turns, headings and sideways directions when alliance is RED.
mirrorForRed() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: True (default): routes are written for BLUE and mirrored left/right for RED.
mirrorsX() - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: True when routes are mirrored now (RED with AutoRoutine.mirrorFor(com.crossbotics.ftchelper.match.Alliance)): x and headings flip.
missingMessage(HardwareMap, Class<?>, String) - Static method in class com.crossbotics.ftchelper.hardware.Hw: The error text for a missing device.
mix(double, double, double, double) - Static method in class com.crossbotics.ftchelper.drive.MecanumMixer: Wheel powers for a robot-relative move.
Mode - Class in com.crossbotics.ftchelper.robot: A rule a module follows every loop while it is on: a turret following the target, a launcher setting its speed from the distance.
Module<M> - Class in com.crossbotics.ftchelper.robot: One kind of mechanism in Robot.java: an Intake, a Lift, a Claw...
modules() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The mechanisms, in the order they were added (read only).
MotionMath - Class in com.crossbotics.ftchelper.drive: Speed-profile math for autonomous moves.
motor(String) - Method in class com.crossbotics.ftchelper.robot.Drive: The drive motor, by its parts-catalog id (see Motors).
motor(String) - Static method in class com.crossbotics.ftchelper.robot.Indexer: A motor (a roller or belt) that runs for a moment per piece.
motor(String) - Static method in class com.crossbotics.ftchelper.robot.Intake: An intake on one motor.
motor(String, String) - Static method in class com.crossbotics.ftchelper.robot.Arm: An arm on this motor.
motor(String, String) - Static method in class com.crossbotics.ftchelper.robot.Turret: A turret on this motor.
motor(Telemetry, String, DcMotorEx) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Adds a motor's power, encoder position and speed (counts per second) on one line.
MotorFeeder - Class in com.crossbotics.ftchelper.launcher: A feeder driven by a motor (a roller, belt or indexer wheel): runs for a set time per piece, or until a sensor sees the piece leave.
MotorFeeder(String, DcMotorEx) - Constructor for class com.crossbotics.ftchelper.launcher.MotorFeeder: Wraps a motor you already set up.
MotorFinderOpMode - Class in com.crossbotics.ftchelper.finders: Finds a motor mechanism's numbers (a lift, an arm, a turret): its limits in encoder counts, the positions you want, and its top speed.
MotorFinderOpMode() - Constructor for class com.crossbotics.ftchelper.finders.MotorFinderOpMode
motorNames() - Method in class com.crossbotics.ftchelper.robot.Drive: Every drive motor name, front left first.
MotorPositions<M> - Class in com.crossbotics.ftchelper.robot: What Lift and Arm share: a motor that goes to named positions and holds them (a PositionMotor inside), with its numbers from Tunables.java.
Motors - Class in com.crossbotics.ftchelper.robot: Encoder counts per turn and top speed of the common FTC motors, by the same ids as the simulator's parts catalog (sim/parts/parts.json, docs/guides/parts-catalog.md): "gobilda-5203-312", "rev-hd-hex-20"...
Motors.Kind - Class in com.crossbotics.ftchelper.robot: One motor: encoder counts per output-shaft turn, and its free (no-load) speed in RPM.
MotorSetup - Class in com.crossbotics.ftchelper.hardware: Sets up a motor in one readable chain.
mountIn(double, double, double) - Method in class com.crossbotics.ftchelper.robot.Odometry: OTOS: where it sits: inches forward of the centre, inches left, and its arrow's direction (CCW deg).
move(double, double, double) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Drives a distance in a straight line, robot-relative, without turning.
move(String, double, double, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Drives a distance: direction 0 forward, 90 right, 180 back, -90 left (robot-relative).
move(String, double, double, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Drives a distance in a direction (clockwise from forward: 0 forward, 90 right, 180 back).
moveMaxTurnPower - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: moveWithTurn: largest heading-correction power, so moving stays the main job.
moveMinPower - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Slowest translation power near the end of a move.
moveTo(double, PidController) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Moves toward a target position with a PID controller.
moveTurnScale - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: moveWithTurn: heading correction is multiplied by this before mixing.
moveWithTurn(double, double, double, double, double) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Drives a distance in a FIELD direction while turning to a heading at the same time.
moveWithTurn(String, double, double, double, double, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Drives in a field direction while turning to a heading (mecanum only).
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.AimTunerOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.robot.Auto
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.robot.ControlMap
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.auto.EasyAuto
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.FinderOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED - Static variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.robot.Auto: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.CharacterizerOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.robot.ControlMap: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.DriveTunerOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.auto.EasyAuto: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.ServoFinderOpMode: Deprecated.
msStuckDetectStop - Variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Deprecated.

N

name - Variable in class com.crossbotics.ftchelper.vision.TagGroup: The group's name, as the target's name (the SDK's cluster name for this season's field).
name - Variable in class com.crossbotics.ftchelper.vision.TargetObservation: A name to show on the screen, e.g.
name() - Method in interface com.crossbotics.ftchelper.core.Subsystem: The name shown in telemetry and in the hardware check.
name() - Method in class com.crossbotics.ftchelper.launcher.Flywheel
name() - Method in class com.crossbotics.ftchelper.launcher.Launcher
name() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder
name() - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder
name() - Method in class com.crossbotics.ftchelper.launcher.Turret
name() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor
name() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo
name() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor
name() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo
name() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker
name() - Method in class com.crossbotics.ftchelper.robot.Action: The name given to Action.named(java.lang.String).
name() - Method in class com.crossbotics.ftchelper.robot.Mode: E.g.
name() - Method in class com.crossbotics.ftchelper.robot.Module: The name shown on the Driver Station and the Tunables section: "Lift", "IntakeDeploy".
name() - Method in class com.crossbotics.ftchelper.tuning.Tunable: The full name, e.g.
name() - Method in class com.crossbotics.ftchelper.vision.LimelightTags
name() - Method in class com.crossbotics.ftchelper.vision.WebcamTags
name(String) - Method in class com.crossbotics.ftchelper.robot.Shape: Its name in the robot file (default: the part's configuration name, then name_2, name_3...).
named(String) - Static method in class com.crossbotics.ftchelper.robot.Action: Starts a new action.
names() - Method in class com.crossbotics.ftchelper.robot.Odometry: The configuration names, in the order written.
newSession() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: A new camera session (the camera was closed and started again): everything as new, INIT again.
next() - Method in class com.crossbotics.ftchelper.finders.Chooser: Moves the choice down one (wraps from the last to the first).
next() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The next named position in the order you added them (wraps around).
next() - Method in class com.crossbotics.ftchelper.robot.Positioner: The next position, in the order written in Tunables.java (after the last comes the first).
next() - Method in class com.crossbotics.ftchelper.robot.Wrist: The next position (by value; after the last comes the first).
NO_ODOMETRY - Enum constant in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Did not move, or stopped: the odometry is not working (a cable, a fault).
NO_PICTURE - Static variable in class com.crossbotics.ftchelper.vision.LightingSweep: Give this to LightingSweep.update(int) when there is no new picture.
noImu() - Method in class com.crossbotics.ftchelper.robot.Drive: No IMU: TeleOp drives robot-centric only, and autonomous refuses to start.
NOMINAL_VOLTS - Static variable in class com.crossbotics.ftchelper.control.Feedforward: The battery voltage the numbers are for.
NOMINAL_VOLTS - Static variable in class com.crossbotics.ftchelper.finders.CharacterizeMath: Battery voltage the numbers are for (a full battery).
normalize(double[], double) - Static method in class com.crossbotics.ftchelper.util.MathUtil: Scales a group of numbers down together so that none is bigger than limit.
noTagsYet() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: True while it is still looking for tags (a round found none: the robot should face a tag).
note(String) - Method in interface com.crossbotics.ftchelper.auto.AutoContext: Adds a note to this step's line in the end-of-autonomous report, e.g.
note(String) - Method in class com.crossbotics.ftchelper.robot.Shape: Where a number came from, written after the line ("est.
notes() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Notes for INIT: missing Tunables sections or fields (the library's defaults are used).
notTunedHelp() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: What to do when the drive is not tuned, shown on the Driver Station instead of running.
notTunedHelp() - Method in class com.crossbotics.ftchelper.robot.Auto
num(double, int) - Static method in class com.crossbotics.ftchelper.finders.FinderResults: A number as text with this many decimals, always with a "." (whatever the phone's language).
num(double, int) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Formats a number with a fixed number of decimals, e.g.
number(String, double, double) - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Makes a tunable number, or returns the existing one with this name.

O

odometry() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The odometry as running (null before setup, or with no odometry(...) line).
odometry(Odometry) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The odometry: what tells the robot where it is on the field (see Odometry).
Odometry - Class in com.crossbotics.ftchelper.robot: The robot's odometry, one line in Robot.java: what tells the robot where it is on the field.
odometryChecked() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: True once Tunables.Odometry.checked = true: the odometry's directions and offsets were checked with the Odometry Tuner.
odometrySpec() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The odometry as written in define() (null if none).
OdometryTunerOpMode - Class in com.crossbotics.ftchelper.finders: Checks and measures the odometry of the robot in five files (lesson 7): which way each pod counts, how far it measures, and where the pods sit (the offsets).
OdometryTunerOpMode() - Constructor for class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
of(DcMotorEx) - Static method in class com.crossbotics.ftchelper.hardware.MotorSetup: Starts the setup for a motor you already have.
of(HardwareMap) - Static method in interface com.crossbotics.ftchelper.robot.Devices: The robot's devices, from the OpMode's hardwareMap.
of(Servo) - Static method in class com.crossbotics.ftchelper.hardware.ServoSetup: Starts the setup for a servo you already have.
of(String, double, double, double, double) - Static method in class com.crossbotics.ftchelper.tuning.PidTunables: Makes the four tunables "group/kP" ...
of(DoubleSupplier, Runnable, boolean) - Static method in class com.crossbotics.ftchelper.drive.DriverHeading: A driver heading from your own source, e.g.
off() - Method in class com.crossbotics.ftchelper.robot.Mode: Switches it off.
OFF - Enum constant in enum class com.crossbotics.ftchelper.launcher.Launcher.State
offset(double) - Method in class com.crossbotics.ftchelper.vision.AimController: Where the target should sit in the camera's view when the LAUNCHER points straight at it, in degrees (positive = the target appears left of the camera's center).
offsetsMm(double, double) - Method in class com.crossbotics.ftchelper.robot.Odometry: Pinpoint: where the pods sit, in mm (the Odometry Tuner measures them).
ok() - Method in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: True when the fit can be used: a speed number was found and it matches the log well enough.
on() - Method in class com.crossbotics.ftchelper.robot.Mode: Switches it on.
on(Module<?>) - Method in class com.crossbotics.ftchelper.robot.Shape: Rides on another part's (first) shape: it moves with it, and atMm is from that shape's hinge or middle.
on(String) - Method in class com.crossbotics.ftchelper.robot.Shape: Rides on a shape by its name in the robot file (a Shape.box(java.lang.String), or a part's second shape).
onAtStart() - Method in class com.crossbotics.ftchelper.robot.Intake: Starts running in at START (in autonomous and TeleOp), until stopped.
oneDriver() - Method in class com.crossbotics.ftchelper.robot.ControlMap: True if this class has public static boolean oneDriver = true.
onlyIf(String) - Method in class com.crossbotics.ftchelper.robot.Steps: The steps up to Steps.end() run only if the yes/no choice is "yes".
onlyIf(String, String) - Method in class com.crossbotics.ftchelper.robot.Steps: The steps up to Steps.end() run only if this option was chosen.
onStart() - Method in class com.crossbotics.ftchelper.robot.ControlMap
onStart() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Runs once, right after START, before the first loop.
open() - Method in class com.crossbotics.ftchelper.robot.Claw: Opens it (goes to "open").
openHelp() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: Opens the help page (e.g.
other() - Method in enum class com.crossbotics.ftchelper.match.Alliance: The other alliance.
OTHER_SETTING - Static variable in class com.crossbotics.ftchelper.vision.LightingSweep: Give this to LightingSweep.update(int) for a new picture taken with another setting (the one before).
otos(String) - Static method in class com.crossbotics.ftchelper.robot.Odometry: A SparkFun OTOS (I2C port).
OtosOdometry - Class in com.crossbotics.ftchelper.odometry: Odometry from a SparkFun OTOS (Optical Tracking Odometry Sensor): a camera-like sensor under the robot that watches the floor move, with its own IMU.
OtosOdometry(String, SparkFunOTOS, double, double, double, double, double) - Constructor for class com.crossbotics.ftchelper.odometry.OtosOdometry: Sets the OTOS up, calibrates its IMU and zeroes it (the robot must be still; INIT is).
out() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Spin OUT.
out() - Method in class com.crossbotics.ftchelper.robot.Intake: Runs out until Intake.stop() or Intake.in().
OUT - Enum constant in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State
outForStep(double) - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: A step: run OUT for some seconds, then stop (e.g.
outStep() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: A step: start spinning OUT and go straight on.

P

Pad - Class in com.crossbotics.ftchelper.robot: One gamepad in Controls.java: every button and stick, by name.
Pad.Button - Class in com.crossbotics.ftchelper.robot: One button or trigger.
Pad.Stick - Class in com.crossbotics.ftchelper.robot: One stick direction: up and right are +, from -1 to 1.
parallelLeftIn(double) - Method in class com.crossbotics.ftchelper.robot.Odometry: Two dead wheels: how far LEFT of the centre the forward-measuring pod is, inches (right = negative).
parkReserveSec() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Seconds kept at the end for the steps after thenPark().
parkReserveSec() - Method in class com.crossbotics.ftchelper.robot.Auto
parkWithSeconds(double) - Method in class com.crossbotics.ftchelper.robot.Steps: The steps after this are PARK steps, and they get the last seconds of autonomous: when only that many seconds are left, the step running before it stops at once and the rest before it are skipped; the park steps always run.
part() - Method in class com.crossbotics.ftchelper.robot.Launcher: The launcher.Launcher inside, for anything this module does not offer.
part() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: The PositionMotor inside, for anything this module does not offer.
part() - Method in class com.crossbotics.ftchelper.robot.ServoPositions: The PositionServo inside, for anything this module does not offer.
part() - Method in class com.crossbotics.ftchelper.robot.Turret: The launcher.Turret inside, for anything this module does not offer.
part(String) - Method in class com.crossbotics.ftchelper.robot.Module: The main device's parts catalog id: a motor (Motors, e.g.
Parts - Class in com.crossbotics.ftchelper.robot: The wheels and rollers (and the servo ids) of the simulator's parts catalog (sim/parts/parts.json, docs/guides/parts-catalog.md), by the same ids: "gobilda-hogback-96", "offset-tubing-90"...
Parts.Wheel - Class in com.crossbotics.ftchelper.robot: One wheel or roller: its size in millimetres.
passive() - Method in class com.crossbotics.ftchelper.robot.Shape: Moved by gravity or springs, not by the code (a floating intake, a sprung flywheel mount).
PathFollower - Interface in com.crossbotics.ftchelper.robot: A path follower from another library (Pedro Pathing, through the ftc-helper-lib "pedro" module), plugged into the robot in five files: follower(Pedro.follower(...)) in Robot.java, then s.follow("To the goal", path) in an autonomous.
PathFollower.Maker - Interface in com.crossbotics.ftchelper.robot: Makes the follower at INIT, from the robot's devices (after its drive and odometry are set up).
PathJob - Interface in com.crossbotics.ftchelper.auto: A path that another library drives (Pedro Pathing, through the pedro module), as one autonomous step: AutoRoutine.followPath(java.lang.String, com.crossbotics.ftchelper.auto.PathJob, double).
pause() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
pause() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
pause() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: Stops what moves, while the help page is open (the finder's buttons pause then).
pause() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
pause() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
pause() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
pauseAll() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Pauses the whole robot: every part stops now with its motors on brake (actions wait), and remembers what it was doing.
peek() - Static method in class com.crossbotics.ftchelper.util.PoseStore: Returns a copy of the saved pose and keeps it saved.
pending() - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: The lines waiting to be sent, as text (used by tests and the hardware check).
perpForwardIn(double) - Method in class com.crossbotics.ftchelper.robot.Odometry: Dead wheels: how far FORWARD of the centre the sideways-measuring pod is, inches (back = negative).
pick(boolean, boolean) - Static method in enum class com.crossbotics.ftchelper.core.Profile: Same as Profile.pick(Object, Object) for true/false.
pick(double, double) - Static method in enum class com.crossbotics.ftchelper.core.Profile: Same as Profile.pick(Object, Object) for numbers (no boxing).
pick(double, double) - Method in enum class com.crossbotics.ftchelper.match.Alliance: Same as Alliance.pick(Object, Object) for numbers.
pick(int, int) - Method in enum class com.crossbotics.ftchelper.match.Alliance: Same as Alliance.pick(Object, Object) for whole numbers.
pick(T, T) - Static method in enum class com.crossbotics.ftchelper.core.Profile: One value for practice, another for competition.
pick(T, T) - Method in enum class com.crossbotics.ftchelper.match.Alliance: One value for blue, another for red.
pictures(int) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: How many pictures to look at per setting (default 10).
picturesOf(int) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: How many pictures were counted with setting i in its last try.
pictureTimeNanos(long, long, double, double, double) - Static method in class com.crossbotics.ftchelper.vision.LimelightTags: When the picture was really taken: now, minus the time since the hub got the result (staleness), minus the Limelight's own capture, processing and parse time.
pid(double, double, double, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: PID gains (see docs/modules/control.md).
pid(double, double, double, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: PID gains (see docs/modules/control.md; tutorial 07 tunes them on a lift).
PidController - Class in com.crossbotics.ftchelper.control: A PID controller: it works out how much power to give so a value reaches a target.
PidController(double, double, double) - Constructor for class com.crossbotics.ftchelper.control.PidController: Makes a controller with no feedforward.
PidController(double, double, double, double) - Constructor for class com.crossbotics.ftchelper.control.PidController: Makes a controller with a fixed feedforward push.
PidController(double, double, double, double, LongSupplier) - Constructor for class com.crossbotics.ftchelper.control.PidController: Makes a controller with your own clock.
pidf(double, double, double, double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: The hub's speed-control gains (P, I, D, F).
PidTunables - Class in com.crossbotics.ftchelper.tuning: The four PID gains of one controller as Tunables, in one line.
pinpoint(String) - Static method in class com.crossbotics.ftchelper.robot.Odometry: A goBILDA Pinpoint (I2C port), with goBILDA 4-bar pods unless you say otherwise.
PinpointOdometry - Class in com.crossbotics.ftchelper.odometry: Odometry from a goBILDA Pinpoint: a small computer on an I2C port that reads two odometry pods and its own IMU and works out the pose itself, about 1500 times a second.
PinpointOdometry(String, GoBildaPinpointDriver, double, double, GoBildaPinpointDriver.GoBildaOdometryPods, double, boolean, boolean) - Constructor for class com.crossbotics.ftchelper.odometry.PinpointOdometry: Sets the Pinpoint up and zeroes it (the robot must be still for about a quarter second; INIT is).
pipeline(int) - Method in class com.crossbotics.ftchelper.vision.LimelightTags: The pipeline to use (set up on the Limelight's web page).
placement() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Where the running autonomous wants the robot placed (field frame, see MatchMemory.fieldPose(com.crossbotics.ftchelper.match.Alliance, double, double, double)), and its note for the drive team; null if it did not say.
placementNote() - Static method in class com.crossbotics.ftchelper.match.MatchMemory: The drive team's note for MatchMemory.placement() ("" if none).
play(boolean) - Method in class com.crossbotics.ftchelper.gamepad.ToggleRumble: Plays the confirmation.
podsSwingarm() - Method in class com.crossbotics.ftchelper.robot.Odometry: goBILDA swingarm pods instead of 4-bar pods.
podTicksPerMm() - Method in class com.crossbotics.ftchelper.robot.Odometry: Pod encoder counts per mm.
points() - Method in class com.crossbotics.ftchelper.finders.ShotPoints: The saved shots, nearest first (a copy).
points() - Method in class com.crossbotics.ftchelper.launcher.ShotTable: The points, sorted by distance.
pollRate(int) - Method in class com.crossbotics.ftchelper.vision.LimelightTags: How often to ask for results, per second.
pose() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: This loop's pose (a copy: changing it does not move the robot).
pose() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Where the robot is now, from the odometry: x inches right, y inches away from your drivers' wall, heading 0 = facing away, counterclockwise + (the same as autonomous start spots).
PoseStore - Class in com.crossbotics.ftchelper.util: Passes the robot's last pose from Autonomous to TeleOp.
PoseTracker - Class in com.crossbotics.ftchelper.odometry: Where the robot is on the field, from odometry: small wheels ("pods") or a sensor that measure how far the robot moved.
PoseTracker(String) - Constructor for class com.crossbotics.ftchelper.odometry.PoseTracker
position() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Where it is now, in its units.
position(String, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Adds a named position, in units, e.g.
position(String, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Adds a named raw position, 0 to 1.
Positioner - Class in com.crossbotics.ftchelper.robot: Any servo with named positions: a deploy servo, a fold-out pivot, a gate, a flag.
PositionMotor - Class in com.crossbotics.ftchelper.mechanism: A motor that moves something to named positions and holds it there: a lift, an arm, a slide, a motor-driven claw.
PositionMotor(String, DcMotorEx) - Constructor for class com.crossbotics.ftchelper.mechanism.PositionMotor: Wraps a motor you already set up (brake mode, encoder reset).
positions() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: The named positions, lowest first.
positions() - Method in class com.crossbotics.ftchelper.robot.ServoPositions: The named positions, in the order it cycles through them.
positions(double, double) - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Raw servo positions (0 to 1) for "rest" and "push".
PositionServo - Class in com.crossbotics.ftchelper.mechanism: A normal (positional) servo with named positions: a claw, a wrist, a hood, a gate.
PositionServo(String, Servo) - Constructor for class com.crossbotics.ftchelper.mechanism.PositionServo: Wraps a servo you already have.
power(double) - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Power while feeding, -1 to 1.
power(double) - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: The power used by SpinServo.forward() and SpinServo.backward(), 0 to 1.
power(double, double) - Method in class com.crossbotics.ftchelper.control.Feedforward: The power for this speed and acceleration (counts per second, and per second per second), at 12.8 V.
power(double, double, double) - Method in class com.crossbotics.ftchelper.control.Feedforward: The same for the battery you have now: a weaker battery needs more power for the same speed.
powerLimit - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: The largest power any wheel gets, 0 to 1.
powers(double, double) - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Powers for IN and OUT, -1 to 1 (OUT is usually negative and a bit gentler).
PRACTICE - Enum constant in enum class com.crossbotics.ftchelper.core.Profile: In the shop: debug telemetry on, tuning menu allowed.
press(Action) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Starts the action; pressing again while it runs cancels it.
press(Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Runs onPress once each time it is pressed.
previous() - Method in class com.crossbotics.ftchelper.finders.Chooser: Moves the choice up one (wraps from the first to the last).
previous() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: The previous named position (wraps around).
previous() - Method in class com.crossbotics.ftchelper.robot.Wrist: The previous position.
problems() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: Problems to show, one per skipped setting, e.g.
profile() - Method in class com.crossbotics.ftchelper.match.InitMenu: Adds the practice/competition profile choice (saved on the hub when changed).
Profile - Enum Class in com.crossbotics.ftchelper.core: Practice or competition.
pushTicks(int[]) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: The wheel count of a push test from each wheel's change in counts.
put(String, String) - Method in class com.crossbotics.ftchelper.core.SettingsFile: Sets a value in memory.

Q

queued() - Method in class com.crossbotics.ftchelper.util.BackgroundWorker: Jobs waiting to run.

R

R_STICK_BTN - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
r2 - Variable in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: How well the formula matches the log: 1 = perfectly, below 0.9 = be careful.
range(double, double) - Method in class com.crossbotics.ftchelper.hardware.ServoSetup: Limits the servo to part of its travel.
range(double, double) - Method in class com.crossbotics.ftchelper.robot.Shape: A passive arm's hard stops, in degrees (0 = level forward, +90 = straight up).
range(double, double) - Method in class com.crossbotics.ftchelper.tuning.Tunable: Limits the value to a range (the menu will not go past it).
raw() - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: The SDK telemetry inside.
rb - Variable in class com.crossbotics.ftchelper.robot.Pad: Bumpers (LB, RB) and triggers (LT, RT; a trigger counts as pressed past half way).
RB - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
read() - Method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry
read() - Method in class com.crossbotics.ftchelper.odometry.OtosOdometry
read() - Method in class com.crossbotics.ftchelper.odometry.PinpointOdometry
read() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: The device's pose in its own frame: {X forward in, Y left in, heading CCW deg}, plus, if it knows, {vX in/s, vY in/s, turn deg/s}.
readyTimeout(double) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Give up the remaining shots if not ready within this many seconds.
RED - Enum constant in enum class com.crossbotics.ftchelper.match.Alliance
registerExtraButton(ControllerBindings.Pad, ControllerBindings.Btn, BooleanSupplier) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Lets you bind extra paddles (M1, M2) on controllers that have them.
release(Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Runs onRelease once each time it is let go.
releaseAll() - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Acts as if every button were let go now: "release" actions run for buttons that are down.
remainingIn() - Method in interface com.crossbotics.ftchelper.auto.PathJob: Inches left to the end of the path (for the "stuck" check).
remainingIn() - Method in interface com.crossbotics.ftchelper.robot.PathFollower: Inches left to the end of the path (for "stuck" checks).
remember(Alliance, FieldPose) - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Saves the alliance and the pose (the pose goes to PoseStore).
rememberHeading(String) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Remembers the heading now, for AutoRoutine.returnToHeading(java.lang.String, double).
rememberReport(List<String>) - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Saves autonomous's report (one line per step), for TeleOp's INIT screen.
remove(String) - Method in class com.crossbotics.ftchelper.core.SettingsFile: Removes a value.
remove(String) - Method in class com.crossbotics.ftchelper.finders.FinderResults: Removes the line with this key (nothing if there is none).
removeNear(double) - Method in class com.crossbotics.ftchelper.finders.ShotPoints: Removes the saved shot within ShotPoints.SAME_DISTANCE of this distance.
removeStartingWith(String) - Method in class com.crossbotics.ftchelper.finders.FinderResults: Removes every line whose key starts with this text, e.g.
reportText() - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Formats the report for telemetry: one line per step.
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.robot.Auto
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.robot.ControlMap
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.auto.EasyAuto
requestOpModeStop() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
requestOpModeStop() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
requireReady(String, BooleanSupplier) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Another condition that must be true before each piece is fed (aim, sensor, anything).
requireReady(String, BooleanSupplier) - Method in class com.crossbotics.ftchelper.robot.Launcher: Another check before each piece is fed, e.g.
reserveForPark(double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Main steps stop when this many seconds are left, so the park steps have time.
reset() - Method in class com.crossbotics.ftchelper.control.PidController: Clears the memory (I and D).
reset() - Method in class com.crossbotics.ftchelper.drive.DriverHeading: "The robot now faces away from me": makes the current direction 0.
reset() - Method in class com.crossbotics.ftchelper.drive.StallDetector: Starts over.
reset() - Method in class com.crossbotics.ftchelper.safety.JamDetector: Starts over (after clearing a jam).
reset() - Method in class com.crossbotics.ftchelper.tuning.Tunable: Back to the code value.
reset() - Method in class com.crossbotics.ftchelper.util.LoopTimer: Starts over, as if new.
reset() - Method in class com.crossbotics.ftchelper.vision.AimController: Forgets the past (call when the driver lets go of the aim button).
reset(double) - Method in class com.crossbotics.ftchelper.control.SlewRateLimiter: Jumps straight to a value (for example 0 when you stop).
resetAll() - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Puts every tunable back to its code value and deletes the saved values.
resetAllInBackground(Consumer<Boolean>) - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Tunable.resetAll(), with the file written on a background thread.
resetEncoder() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Sets the encoder count to 0 here.
resetForTests() - Static method in enum class com.crossbotics.ftchelper.core.Profile: For tests: forget the loaded value so it is read again.
resetHeading() - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Sets the current heading to 0.
resolution(int, int) - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Camera resolution (pixels).
restart() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: Forgets the result and tries every setting again (for a button, e.g.
result() - Method in class com.crossbotics.ftchelper.robot.Action: How the last run ended: "done", "cancelled", "stopped: Lift moved by hand"...
results - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode: What the finder found, as code lines.
resume() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Ends RobotDefinition.pauseAll(): every part goes back to what it was doing.
returnToHeading(String, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Turns back to the heading saved by AutoRoutine.rememberHeading(java.lang.String).
reverse() - Method in class com.crossbotics.ftchelper.robot.Intake: Pushes out while a button is held: call it every loop while held, and Intake.endReverse() on release.
reversed() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode.Mechanism: Positive power makes it go DOWN (or backward): flip it, like your robot code does.
reversed() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Positive power turns the motor the other way.
reversed() - Method in class com.crossbotics.ftchelper.hardware.ServoSetup: Position 0 and 1 swap ends.
reversed() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Spins the other way for positive speeds.
reversed() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Positive power turns the other way.
reversed() - Method in class com.crossbotics.ftchelper.launcher.Turret: Positive power turns the other way.
reversed() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Positive power turns the other way.
reversed() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Position 0 and 1 swap ends.
reversed() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Positive power spins the other way.
reversed() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Positive power spins the other way.
reversed() - Method in class com.crossbotics.ftchelper.robot.Indexer: It turns the other way.
reversed() - Method in class com.crossbotics.ftchelper.robot.Intake: Reverses the only device (same as reversed(itsName)).
reversed() - Method in class com.crossbotics.ftchelper.robot.Launcher: The flywheel turns the other way.
reversed() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Positive power turns the other way (if it moves down when it should go up).
reversed() - Method in class com.crossbotics.ftchelper.robot.ServoPositions: The servo turns the other way (0 and 1 swap).
reversed() - Method in class com.crossbotics.ftchelper.robot.Shape: A roller that turns the other way from its motor, through gears (for example the left one of two spinners geared to one intake shaft, so both pull pieces in).
reversed() - Method in class com.crossbotics.ftchelper.robot.Turret: Positive power turns the other way (if + turns it clockwise).
reversed(boolean) - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Sets the direction from a true/false setting.
reversed(String...) - Method in class com.crossbotics.ftchelper.robot.Drive: Exactly these motors run reversed (instead of the left side).
reversed(String...) - Method in class com.crossbotics.ftchelper.robot.Intake: These run the other way (for example the right one of two facing servos).
reversed(String...) - Method in class com.crossbotics.ftchelper.robot.Odometry: Pods that count the wrong way (the Odometry Tuner says which): for a Pinpoint "x" and/or "y"; for dead wheels the motor port names.
ReverseDrive - Class in com.crossbotics.ftchelper.drive: A "drive backwards" mode: when ON, forward and strafe are flipped, so the back of the robot acts as the front.
ReverseDrive() - Constructor for class com.crossbotics.ftchelper.drive.ReverseDrive
RIGHT - Static variable in class com.crossbotics.ftchelper.drive.DifferentialMixer: Index of each side in the arrays this class returns.
rightStickButton - Variable in class com.crossbotics.ftchelper.robot.Pad: Pressing a stick down (a click).
rightStickX - Variable in class com.crossbotics.ftchelper.robot.Pad: The sticks: up and right are +, from -1 to 1.
rightStickY - Variable in class com.crossbotics.ftchelper.robot.Pad: The sticks: up and right are +, from -1 to 1.
robot() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode: Your robot in five files: return new Robot();.
robot() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode: Your robot in five files: return new Robot(); (it must have an odometry(...) line).
robot() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Your robot in five files: return new Robot();.
robot() - Method in class com.crossbotics.ftchelper.robot.Auto: The robot this autonomous runs (set up in INIT).
robot() - Method in class com.crossbotics.ftchelper.robot.ControlMap: The robot, made from ControlMap<Robot>'s type.
robotConfig() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Your robot's settings, shared with TeleOp (see RobotConfig).
robotConfig() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: Your robot settings: needed to aim by turning the robot, and to drive.
robotConfig() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode: Your robot's settings (drive motors, IMU).
robotConfig() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode: Your robot's settings (the same as TeleOp and autonomous), e.g.
robotConfig() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: Your robot settings, to drive with the sticks.
robotConfig() - Method in class com.crossbotics.ftchelper.robot.Auto
robotConfig() - Method in class com.crossbotics.ftchelper.robot.ControlMap
robotConfig() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The drivetrain's settings (motor names, IMU, autonomous tuning) for EasyTeleOp and EasyAuto.
robotConfig() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Your robot's settings, shared with autonomous (see RobotConfig).
RobotConfig - Class in com.crossbotics.ftchelper.core: The robot's drivetrain described ONCE: motor names and directions, autonomous tuning, and how the Control Hub is mounted.
RobotConfig() - Constructor for class com.crossbotics.ftchelper.core.RobotConfig
RobotDefinition - Class in com.crossbotics.ftchelper.robot: What is on the robot, written once in the team's Robot.java: the drive and one line per mechanism, with each part's name in the robot configuration.
RobotDefinition() - Constructor for class com.crossbotics.ftchelper.robot.RobotDefinition
robotTelemetry() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The Driver Station screen helper (warnings, standard and debug lines).
RobotTelemetry - Class in com.crossbotics.ftchelper.telemetry: Telemetry with two levels: STANDARD lines for the drivers, DEBUG lines for programmers.
RobotTelemetry(Telemetry) - Constructor for class com.crossbotics.ftchelper.telemetry.RobotTelemetry: Wraps the OpMode's telemetry.
RobotTelemetry(Telemetry, LongSupplier) - Constructor for class com.crossbotics.ftchelper.telemetry.RobotTelemetry: For tests: your own clock; debug starts off.
roller(String...) - Static method in class com.crossbotics.ftchelper.robot.Shape: A roller (a cylinder; by default its axle runs across the robot, left-right).
rpm - Variable in class com.crossbotics.ftchelper.launcher.ShotTable.Shot: The distance to the goal, the flywheel speed (RPM) and the hood angle (degrees) for it.
rt - Variable in class com.crossbotics.ftchelper.robot.Pad: Bumpers (LB, RB) and triggers (LT, RT; a trigger counts as pressed past half way).
RT - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Trigger
rumble() - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Feedback: the gamepad buzzes when this job runs (a hold: when it starts).
rumble(int) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.rumble() with buzzes short buzzes (1 to 3).
rumbleAt(double, Gamepad...) - Method in class com.crossbotics.ftchelper.match.MatchTimer: Buzzes the gamepads three times when this many seconds are left.
rumbleWhen(BooleanSupplier) - Method in class com.crossbotics.ftchelper.robot.Pad: Feedback from the robot: one buzz on this gamepad each time when becomes true, e.g.
rumbleWhen(BooleanSupplier, int) - Method in class com.crossbotics.ftchelper.robot.Pad: Pad.rumbleWhen(BooleanSupplier) with buzzes short buzzes (1 to 3).
run(AutoContext) - Method in interface com.crossbotics.ftchelper.auto.AutoStep: Does the step.
run(Action) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Starts an action (from its first step if it was running).
run(String, Runnable) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Runs some code at once and goes on (e.g.
run(String, Runnable) - Method in class com.crossbotics.ftchelper.robot.Steps: Runs a command now and goes on at once (e.g.
runAll() - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Runs every step in order.
runFor(double, double) - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Runs at p for seconds, then stops by itself (in SpinServo.update()).
runForStep(double, double) - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: A step (autonomous): run for some seconds at a power, then stop.
runOpMode() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: The whole autonomous, from INIT to the end.
runOpMode() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: The whole finder.
runOpMode() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: The whole TeleOp.
runOpMode() - Method in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode: The whole check.
runUsingEncoder() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Power sets the speed, and the hub uses the encoder to hold that speed.
runWithoutEncoder() - Method in class com.crossbotics.ftchelper.hardware.MotorSetup: Power goes straight to the motor.

S

SafeMotor - Class in com.crossbotics.ftchelper.safety: A motor that cannot be driven past its safe range.
SafeMotor(DcMotorEx) - Constructor for class com.crossbotics.ftchelper.safety.SafeMotor
SAME_DISTANCE - Static variable in class com.crossbotics.ftchelper.finders.ShotPoints: Two shots closer than this (in distance units, e.g.
samples - Variable in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: How many moments of the log were used.
save() - Method in class com.crossbotics.ftchelper.core.SettingsFile: Writes the file.
save(double, double, double) - Method in class com.crossbotics.ftchelper.finders.ShotPoints: Saves a shot (replaces one within ShotPoints.SAME_DISTANCE of this distance).
save(FieldPose) - Static method in class com.crossbotics.ftchelper.util.PoseStore: Saves a copy of the pose.
saveAll() - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Saves every tunable's value on the Control Hub.
saveAllInBackground(Consumer<Boolean>) - Static method in class com.crossbotics.ftchelper.tuning.Tunable: Saves every tunable's value on a background thread; returns at once.
saveInBackground() - Method in class com.crossbotics.ftchelper.core.SettingsFile: SettingsFile.saveInBackground(Consumer) without a result.
saveInBackground(Consumer<Boolean>) - Method in class com.crossbotics.ftchelper.core.SettingsFile: Writes the file on a background thread and returns at once, so the robot loop never waits for the storage.
saveInBackground(Consumer<Boolean>) - Method in class com.crossbotics.ftchelper.finders.FinderResults: Adds the lines to the results file on a background thread; returns at once.
saveNow() - Method in class com.crossbotics.ftchelper.finders.FinderResults: Adds the lines to the results file NOW and says if it worked.
says(String) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Words for the help page, e.g.
says(String) - Method in class com.crossbotics.ftchelper.robot.Pad.Stick: Words for the help page.
scores() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: Every setting's score, e.g.
secondsLeft() - Method in interface com.crossbotics.ftchelper.auto.AutoContext: Seconds left in autonomous.
secondsLeft() - Method in class com.crossbotics.ftchelper.match.MatchTimer: Seconds left (the full length before start, never below 0).
section(String) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A heading line: --- title ---.
section(Telemetry, String) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Adds a heading line, to split the screen into groups.
sectionName(String) - Static method in class com.crossbotics.ftchelper.robot.RobotDefinition: The Tunables section a device's module reads: its name in CamelCase ("intake_deploy" -> "IntakeDeploy", "Webcam 1" -> "Webcam1").
servo(String) - Static method in class com.crossbotics.ftchelper.robot.Claw: A claw on this servo.
servo(String) - Static method in class com.crossbotics.ftchelper.robot.Indexer: A servo that pushes a piece in, then comes back.
servo(String) - Static method in class com.crossbotics.ftchelper.robot.Parts: Checks a servo's catalog id.
servo(String) - Static method in class com.crossbotics.ftchelper.robot.Positioner: A positioner on this servo.
servo(String) - Static method in class com.crossbotics.ftchelper.robot.Wrist: A wrist on this servo.
servo(Telemetry, String, Servo) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Adds a servo's last commanded position (servos cannot report where they really are).
ServoFeeder - Class in com.crossbotics.ftchelper.launcher: A feeder driven by a servo (a kicker or pusher arm): push, wait, come back, wait.
ServoFeeder(String, Servo) - Constructor for class com.crossbotics.ftchelper.launcher.ServoFeeder: Wraps a servo you already have.
ServoFinderOpMode - Class in com.crossbotics.ftchelper.finders: Finds a servo's numbers: its safe ends (limits) and the positions you want (open, closed, ...).
ServoFinderOpMode() - Constructor for class com.crossbotics.ftchelper.finders.ServoFinderOpMode
servoPosition(double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: Keeps a servo position inside 0..1, the only range a servo accepts.
ServoPositions<M> - Class in com.crossbotics.ftchelper.robot: What Claw, Wrist and Positioner share: a servo with named positions (a PositionServo inside).
servos() - Static method in class com.crossbotics.ftchelper.robot.Parts: Every servo id, in catalog order (read only).
ServoSetup - Class in com.crossbotics.ftchelper.hardware: Sets up a servo in one readable chain.
set(boolean) - Method in class com.crossbotics.ftchelper.drive.ReverseDrive: Sets the mode.
set(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Goes to a raw position (0 to 1, kept inside the limits).
set(double) - Method in class com.crossbotics.ftchelper.tuning.Tunable: Sets the value (inside the range).
set(Profile) - Static method in enum class com.crossbotics.ftchelper.core.Profile: Changes the profile and saves it on the Control Hub.
set(String, String) - Method in class com.crossbotics.ftchelper.finders.FinderResults: Sets (or replaces) the line with this key.
setAlliance(Alliance) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Sets the alliance (the OpMode classes do this).
setAngleMode(boolean) - Method in class com.crossbotics.ftchelper.control.PidController: Turn on for headings in degrees.
setBrake(boolean) - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: True = wheels hold still at power 0.
setBrake(boolean) - Method in class com.crossbotics.ftchelper.drive.TankDrive: True = hold at 0 power, false = coast.
setChosen(Alliance) - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Sets MatchMemory.chosen() (EasyAuto and EasyTeleOp do it for you).
setDebug(boolean) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: Turns debug lines on or off.
setDegrees(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Goes to an angle in degrees (needs PositionServo.degrees(double, double, double, double)).
setDistance(double) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Sets the shot from the table (speed, and hood angle if there is a hood).
setEnabled(boolean) - Method in class com.crossbotics.ftchelper.gamepad.AimRumble: Turns the buzzing on or off.
setFeel(double, double, int, int, int, int) - Method in class com.crossbotics.ftchelper.gamepad.AimRumble: Changes the feel.
setFieldCentric(boolean) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Field-centric on or off.
setGains(double, double, double, double) - Method in class com.crossbotics.ftchelper.control.PidController: Changes the gains (for live tuning).
setHomingPower(double) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: The most downward power before homing, 0 to 1.
setIntegralLimit(double) - Method in class com.crossbotics.ftchelper.control.PidController: Limits how big the I part can grow.
setLimits(double, double) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Sets the safe range, in encoder ticks, measured from the home (zero) position.
setLoopHook(Runnable) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Runs your code once per loop during every move and turn.
setLowerSwitch(BooleanSupplier) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Adds a lower limit switch.
setMaxCurrent(double) - Method in class com.crossbotics.ftchelper.safety.JamDetector: Also counts as jammed when the current is above this many amps (for the same time).
setMaxPower(double) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: The largest power ever sent, 0 to 1.
setMinIntervalMs(int) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: Sends at most once per this many milliseconds (0 = every loop, the default).
setMinPower(double) - Method in class com.crossbotics.ftchelper.safety.JamDetector: Below this power the motor is not really trying, so it is never "jammed".
setOutputLimits(double, double) - Method in class com.crossbotics.ftchelper.control.PidController: Limits the output.
setPattern(double, int, int) - Method in class com.crossbotics.ftchelper.gamepad.ToggleRumble: Changes how the buzz feels.
setPlacement(FieldPose, String) - Static method in class com.crossbotics.ftchelper.match.MatchMemory: Sets MatchMemory.placement() (null = none) and its note (EasyAuto does it for you).
setPose(FieldPose) - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: Says "the robot is here now".
setPower(double) - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Any power you like, -1 to 1 (e.g.
setPower(double) - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Any power, -1 to 1.
setPower(double) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Sets the power, with the limits applied.
setPowers(double[]) - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: Sets the four wheel powers directly (front-left, front-right, back-left, back-right).
setPowers(double[]) - Method in class com.crossbotics.ftchelper.drive.TankDrive: Sets the left and right powers directly ({left, right}).
setRequireHoming(boolean) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: With a lower switch, the motor is NOT trusted until it has been homed (by default).
setRobotHeading(double) - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Tells the Limelight the robot's heading (for its MegaTag2 field position feature).
setRpm(double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Spins to this speed in RPM (0 = coast to a stop).
setRpm(double) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Sets the shot speed by hand, in RPM.
setSlowZone(double, double) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Reduces power near the ends.
setStopCondition(BooleanSupplier) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: An extra reason to stop a move early: when this is true, the move ends with STOPPED.
setThreshold(double) - Method in class com.crossbotics.ftchelper.gamepad.AimRumble: The error size where buzzing starts.
SettingsFile - Class in com.crossbotics.ftchelper.core: A small settings file on the Control Hub, so choices and tuned numbers survive a restart.
SettingsFile(File) - Constructor for class com.crossbotics.ftchelper.core.SettingsFile: A settings file at a path you choose (used by tests).
settleMs(double) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: How long to wait after the camera has switched before counting pictures (milliseconds, default 300).
settleTime(double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: ...for at least this long, in seconds.
setTolerance(double) - Method in class com.crossbotics.ftchelper.control.PidController: How close counts as "at target" for PidController.atTarget().
setTriggerThreshold(double) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: How far a trigger must be pulled to count as "pressed".
setup() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: Sets up the hardware, in INIT.
setup() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
setup() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
setup(Devices) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: RobotDefinition.setup(HardwareMap) with any Devices (tests use pretend ones).
setup(HardwareMap) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Makes every module's hardware (INIT).
setUpperSwitch(BooleanSupplier) - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Adds an upper limit switch.
shape(double, double, double) - Static method in class com.crossbotics.ftchelper.gamepad.StickShaping: Deadband (with a smooth start) and then a curve.
Shape - Class in com.crossbotics.ftchelper.robot: How a part looks and where it sits, for the simulator's 3D view and its size checks: written in Robot.java next to the part, so the simulator robot file comes from the code (./gradlew :sim:fromRobot).
shared() - Static method in class com.crossbotics.ftchelper.core.SettingsFile: The robot's settings file.
shoot(int) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Shoots count pieces (spins up first if needed).
shootStep(int) - Method in class com.crossbotics.ftchelper.launcher.Launcher: A step: shoot count pieces and wait until done (or it gives up).
shortestDiff(double, double) - Static method in class com.crossbotics.ftchelper.util.Angles: The shortest turn from current to target.
Shot(double, double, double) - Constructor for class com.crossbotics.ftchelper.launcher.ShotTable.Shot: A shot: distance in inches, flywheel RPM, hood angle in degrees.
shotAngle(double) - Method in class com.crossbotics.ftchelper.robot.Launcher: Which way a piece leaves the wheel, for the simulator: degrees up from the wheel shape's forward, seen from the side (45 = forward and up, 90 = straight up, 135 = backward and up).
shotDrop(double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: A drop of more than this many RPM after being ready counts as a shot.
shotInterval(double) - Method in class com.crossbotics.ftchelper.launcher.Launcher: Least time between two pieces, seconds.
ShotPoints - Class in com.crossbotics.ftchelper.finders: The good shots saved in the shot tuner: distance, speed and (if there is a hood) hood angle.
ShotPoints(boolean) - Constructor for class com.crossbotics.ftchelper.finders.ShotPoints
shotRpm() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: The speed for test shots when the launcher has no shot table, RPM.
ShotTable - Class in com.crossbotics.ftchelper.launcher: Turns a distance into a shot: flywheel RPM and hood angle.
ShotTable() - Constructor for class com.crossbotics.ftchelper.launcher.ShotTable
ShotTable.Shot - Class in com.crossbotics.ftchelper.launcher: One shot setting: at distance (inches), spin to rpm with the hood at hoodDeg degrees.
ShotTunerOpMode - Class in com.crossbotics.ftchelper.finders: Builds the shot table: the flywheel speed (and hood angle) for each distance.
ShotTunerOpMode() - Constructor for class com.crossbotics.ftchelper.finders.ShotTunerOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: The finder's own screen lines, every loop.
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
show(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
show(String, Supplier<?>) - Method in class com.crossbotics.ftchelper.robot.ControlMap: Shows a value of your own on the Driver Station during the match, read again every loop.
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: What INIT shows (the controls, a safety note).
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
showInit(RobotTelemetry) - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
shutdown() - Method in class com.crossbotics.ftchelper.util.BackgroundWorker: Stops the thread.
sign() - Method in enum class com.crossbotics.ftchelper.match.Alliance: +1 for blue, -1 for red.
simLines() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The simulator robot file's lines from the code: the drive, then each module's (see ./gradlew :sim:fromRobot).
SIMULATOR_PROPERTY - Static variable in class com.crossbotics.ftchelper.auto.EasyAuto: Set to "true" by the simulator; autonomous then runs with an untuned drive (with a warning).
size() - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Number of steps added.
sizeIn(double, double, double) - Method in class com.crossbotics.ftchelper.robot.Shape: Shape.sizeMm(double, double, double) in inches.
sizeMm(double, double, double) - Method in class com.crossbotics.ftchelper.robot.Shape: Its box in mm: forward x left-right x up (an arm: length x width x thickness at 0 degrees).
skipped(int) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: True if setting i is skipped (the camera refused it, or sent no pictures from it).
SlewRateLimiter - Class in com.crossbotics.ftchelper.control: Stops a value from changing too fast.
SlewRateLimiter(double) - Constructor for class com.crossbotics.ftchelper.control.SlewRateLimiter: Same limit for speeding up and slowing down.
SlewRateLimiter(double, double) - Constructor for class com.crossbotics.ftchelper.control.SlewRateLimiter: Different limits for moving away from zero (speeding up) and toward zero (slowing down).
SlewRateLimiter(double, double, LongSupplier) - Constructor for class com.crossbotics.ftchelper.control.SlewRateLimiter: Makes a limiter with your own clock.
slide() - Static method in class com.crossbotics.ftchelper.robot.Shape: A part that moves in a straight line along its Shape.axis (default up): sizeMm is one stage, atMm the bottom of the fixed stage.
slide(String) - Static method in class com.crossbotics.ftchelper.robot.Lift: A lift on this motor.
slow() - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Slow driving, for one driver (Tunables.Drive.slowSpeed).
SLOW_ACTION_MS - Static variable in class com.crossbotics.ftchelper.gamepad.ControllerBindings: An action slower than this (milliseconds) is reported by ControllerBindings.getSlowActionWarning().
SLOW_UPDATE_MS - Static variable in class com.crossbotics.ftchelper.core.Subsystems: A part whose update() takes longer than this (milliseconds) is reported in telemetry.
slowScale(double, double) - Static method in class com.crossbotics.ftchelper.gamepad.StickShaping: Turns a trigger into a speed multiplier: not pressed = full speed, fully pressed = slowest.
slowSpeed() - Method in class com.crossbotics.ftchelper.robot.ControlMap
slowSpeed() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: Speed at a full squeeze of the slow trigger, 0 to 1.
slowSpeed(double) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Speed at a full squeeze of the left trigger, 0 to 1.
slowZone(double, double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Slow down within deg of a limit, down to powerAtLimit (0 to 1).
slowZone(double, double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Slow down within distance units of a limit, down to powerAtLimit (0 to 1), so it does not slam into the end of its travel.
smoothed(double[], double[]) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: Speeds averaged over WINDOW_SEC each side (the same window as the speeds-up).
soft() - Method in class com.crossbotics.ftchelper.robot.Shape: A soft roller (surgical tubing, flaps): it bends against the field, so in the simulator only game pieces touch it; the field does not stop it.
SoftLimits - Class in com.crossbotics.ftchelper.safety: The rule that keeps a mechanism inside its safe range.
source() - Method in class com.crossbotics.ftchelper.robot.Camera: The camera inside (a LimelightTags or WebcamTags), for anything this module does not offer.
SPEED_TEST_MARGIN - Static variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode: The speed test stops this share of the range before the HIGH end, so it never hits it.
speedFromDistance(Camera) - Method in class com.crossbotics.ftchelper.robot.Launcher: Sets the speed from this camera's distance to the goal (Tunables...speedByDistance).
speedInPerSec() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: Inches per second (how fast the robot moves), if the device tells; 0 if not.
speedMode() - Method in class com.crossbotics.ftchelper.robot.Launcher: Speed from the camera's distance: on from START when Launcher.speedFromDistance(com.crossbotics.ftchelper.robot.Camera) is used.
spinAtStart() - Method in class com.crossbotics.ftchelper.robot.Launcher: Spins up at START (in autonomous and TeleOp), so it is at speed when the first shot is wanted.
SpinMotor - Class in com.crossbotics.ftchelper.mechanism: A motor that spins: an intake, a roller, a conveyor, a spinner.
SpinMotor(String, DcMotorEx) - Constructor for class com.crossbotics.ftchelper.mechanism.SpinMotor: Wraps a motor you already set up.
SpinMotor.State - Enum Class in com.crossbotics.ftchelper.mechanism: What it is doing.
SPINNING - Enum constant in enum class com.crossbotics.ftchelper.launcher.Launcher.State
SpinServo - Class in com.crossbotics.ftchelper.mechanism: A continuous-rotation servo (it spins like a small motor): a roller, a spinner, a small intake.
SpinServo(String, CRServo) - Constructor for class com.crossbotics.ftchelper.mechanism.SpinServo: Wraps a CR servo you already have.
spinUp() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Spins the flywheel up to the shot speed and keeps it there.
spinUp() - Method in class com.crossbotics.ftchelper.robot.Launcher: Spins up to the shot speed and keeps it there.
spinUpStep() - Method in class com.crossbotics.ftchelper.launcher.Launcher: A step: spin up and wait until ready (or the ready timeout).
spinUpStep(double, double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: A step (autonomous): spin up and wait until ready (or timeoutSec).
StallDetector - Class in com.crossbotics.ftchelper.drive: Tells when a move is stuck: the distance left has not gone down enough for a while.
StallDetector(double, double) - Constructor for class com.crossbotics.ftchelper.drive.StallDetector
STALLED - Enum constant in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Stopped early because the robot was stuck.
stallExitEnabled - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Stop a move early if the robot is stuck (pushing a wall or another robot).
stallProgressIn - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: The robot counts as stuck if it gets less than AutoDriveConfig.stallProgressIn closer to the target within AutoDriveConfig.stallTimeSec.
stallTimeSec - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: See AutoDriveConfig.stallProgressIn.
start - Variable in class com.crossbotics.ftchelper.robot.Pad: BACK and START.
start() - Method in interface com.crossbotics.ftchelper.auto.PathJob: Starts the path.
start() - Method in class com.crossbotics.ftchelper.match.MatchTimer: Starts counting (call right after waitForStart()).
start() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Starts the Limelight.
start() - Method in interface com.crossbotics.ftchelper.vision.TargetSource: Starts the camera.
start() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Starts the camera and the AprilTag finder.
start(String, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Where to place the robot (shown in INIT) and which way it faces, degrees from "straight away from your driver", counterclockwise + (TeleOp's field-centric forward uses it).
start(String, double, double, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Where to place the robot: the note for the drive team (shown in INIT), and the spot as seen from your drivers' wall, written for BLUE: xIn inches to the right of the field's centre line, yIn from the centre toward the far wall (negative = your half), heading 0 = facing away from you, counterclockwise +.
START - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
startAngle(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: The turret's angle when the robot is turned on (used when there is no home switch).
startAt(double) - Method in class com.crossbotics.ftchelper.robot.Shape: Where a passive arm is at the start of a match, degrees.
startFieldCentric() - Method in class com.crossbotics.ftchelper.teleop.EasyTeleOp: True to start in field-centric mode.
startHeadingDeg() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Which way the robot faces at the start, compared with "straight away from your driver", in degrees (left = positive).
startHeadingDeg() - Method in class com.crossbotics.ftchelper.robot.Auto
startHoodDeg() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: The hood angle it starts at (if the hood has not been moved yet), degrees.
startOffsetDeg() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode: The offset it starts at, degrees (the one in your code now).
startPosition() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Where to place the robot, shown in INIT so the drive team sets it up right.
startPosition() - Method in class com.crossbotics.ftchelper.robot.Auto
startRpm() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode: The speed it starts at, RPM.
startSpotIn() - Method in class com.crossbotics.ftchelper.auto.EasyAuto: Where to place the robot, as seen from the BLUE drivers' wall (for RED: mirrored like the routes when EasyAuto.mirrorForRed(), else the same numbers from the red wall): {x, y} in inches, x to the right of the field's centre line, y from the centre toward the far wall (negative = your half).
startSpotIn() - Method in class com.crossbotics.ftchelper.robot.Auto
startStep(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: A step: start moving to a named position and go straight on (it keeps moving during the next steps).
status() - Method in class com.crossbotics.ftchelper.drive.DriverControls: One short line for telemetry, e.g.
status() - Method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry
status() - Method in class com.crossbotics.ftchelper.odometry.OtosOdometry
status() - Method in class com.crossbotics.ftchelper.odometry.PinpointOdometry
status() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: "ready", "calibrating", "Y pod not found"...
status() - Method in class com.crossbotics.ftchelper.robot.Action: E.g.
status() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: One line for the Driver Station, e.g.
status() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: e.g.
status() - Method in interface com.crossbotics.ftchelper.vision.TargetSource: A short status for telemetry, e.g.
status() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: e.g.
step() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
step() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
step() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
step() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: Runs once every loop after the buttons: moves things, measures.
step() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
step() - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
step() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
step() - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
step() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
step() - Method in class com.crossbotics.ftchelper.tuning.Tunable: How much one D-pad press changes the value.
step(String, AutoStep) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Any step: a mechanism's step (e.g.
step(String, AutoStep) - Method in class com.crossbotics.ftchelper.robot.Steps: Any other step (a mechanism's step, or your own: see AutoStep).
stepDown() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: One named position down.
stepDown() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Goes to the next position down.
steps(Steps, R) - Method in class com.crossbotics.ftchelper.robot.Auto: The steps.
Steps - Class in com.crossbotics.ftchelper.robot: The steps of one autonomous, read top to bottom (see Auto).
stepTimeout(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: How long autonomous steps wait for a position before going on.
stepUp() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: One named position up (by value).
stepUp() - Method in class com.crossbotics.ftchelper.robot.MotorPositions: Goes to the next position up (by value).
sticks(double, double) - Method in class com.crossbotics.ftchelper.drive.DriverControls: How the sticks feel.
StickShaping - Class in com.crossbotics.ftchelper.gamepad: Helpers that make sticks and triggers feel good to drive with.
stop() - Method in interface com.crossbotics.ftchelper.core.Subsystem: Stops all motion.
stop() - Method in class com.crossbotics.ftchelper.core.Subsystems: Stops every part.
stop() - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Stops all four wheels (brake).
stop() - Method in class com.crossbotics.ftchelper.drive.DriverControls: All wheels to 0.
stop() - Method in class com.crossbotics.ftchelper.drive.MecanumDrive: Sets all four wheel powers to 0.
stop() - Method in class com.crossbotics.ftchelper.drive.TankDrive: Sets both sides to 0.
stop() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Coasts to a stop (no braking: a fast flywheel must spin down freely).
stop() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Fully off: no shots, no idle speed.
stop() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Stops the motor at once and ends any feed.
stop() - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Sends the arm back to rest if it was out, and ends any feed.
stop() - Method in class com.crossbotics.ftchelper.launcher.Turret: Stops: no homing, no target, no power.
stop() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Stops: no target, no power.
stop() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo
stop() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Stop.
stop() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Stops spinning.
stop() - Method in class com.crossbotics.ftchelper.robot.Camera
stop() - Method in class com.crossbotics.ftchelper.robot.Indexer
stop() - Method in class com.crossbotics.ftchelper.robot.Intake
stop() - Method in class com.crossbotics.ftchelper.robot.Launcher
stop() - Method in class com.crossbotics.ftchelper.robot.MotorPositions
stop() - Method in class com.crossbotics.ftchelper.robot.ServoPositions
stop() - Method in class com.crossbotics.ftchelper.robot.Turret
stop() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Stops the motor.
stop() - Method in interface com.crossbotics.ftchelper.vision.TargetSource: Stopping a camera means closing it, so the next OpMode can use it.
stopAll() - Method in class com.crossbotics.ftchelper.finders.AimTunerOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.FinderOpMode: Stops every motor and servo it moves.
stopAll() - Method in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
stopAll() - Method in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
STOPPED - Enum constant in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Stopped because the OpMode was stopped.
STOPPED - Enum constant in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State
stopShooting() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Cancels the shots still waiting (keeps spinning).
stopStep() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: A step: stop.
stopWhen(BooleanSupplier) - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Stop as soon as this is true (e.g.
strafeCorrection - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Mecanum wheels slip sideways: the wheels turn more than the robot moves.
submit(Runnable) - Method in class com.crossbotics.ftchelper.util.BackgroundWorker: Queues a job.
submitLatest(String, Runnable) - Method in class com.crossbotics.ftchelper.util.BackgroundWorker: Queues a job, replacing a waiting job with the same key (only the newest one runs).
Subsystem - Interface in com.crossbotics.ftchelper.core: One part of the robot (a lift, a claw, an intake, a launcher) that needs a little work every loop.
subsystems(Subsystem) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: The mechanisms to keep updated during every step (a Subsystems group, or one Subsystem).
Subsystems - Class in com.crossbotics.ftchelper.core: A group of Subsystems that are updated, stopped and shown together.
Subsystems() - Constructor for class com.crossbotics.ftchelper.core.Subsystems
switched() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The camera says it has the setting being tried now (its pictures are from it).
switchFailed() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The camera refused the setting being tried: it gets no score and is skipped from now on.
switchTimeoutMs(double) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The most time the camera gets to switch to a setting (milliseconds, default 1500).

T

t - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode: The Driver Station screen.
table(ShotTable) - Method in class com.crossbotics.ftchelper.launcher.Launcher: A shot table, used by Launcher.setDistance(double).
TagGroup - Class in com.crossbotics.ftchelper.vision: A group of AprilTags in a row that mark one target (BIOBUZZ: the 4 tags under each CELL), so a camera can report the GROUP as one target with one aiming point, even when it sees only some of the tags.
TagGroup(String, int[], double[]) - Constructor for class com.crossbotics.ftchelper.vision.TagGroup
tank() - Static method in class com.crossbotics.ftchelper.drive.DriveConfig: Settings for a four-motor standard (tank) drive: front_left, front_right, back_left, back_right.
tank(double, double) - Method in class com.crossbotics.ftchelper.drive.TankDrive: Tank drive: one value for each side.
tank(double, double, double) - Static method in class com.crossbotics.ftchelper.drive.DifferentialMixer: "Tank" style: one stick for each side.
tank(double, double, double) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Two-stick "tank style": one value per side, -1 to 1.
tank(double, double, double) - Method in class com.crossbotics.ftchelper.drive.TankDrive: Tank drive with a speed multiplier 0 to 1.
tank(String, String) - Static method in class com.crossbotics.ftchelper.robot.Drive: A two-motor standard (tank) drive, one motor per side.
tank(String, String, String, String) - Static method in class com.crossbotics.ftchelper.robot.Drive: A four-motor standard (tank) drive.
TANK - Enum constant in enum class com.crossbotics.ftchelper.drive.DriveConfig.DriveType: "Standard" drive (also called tank or differential drive): normal wheels, a left side and a right side.
TankDrive - Class in com.crossbotics.ftchelper.drive: Drives a standard (tank / differential) chassis with 2 or 4 motors.
TankDrive(HardwareMap, DriveConfig) - Constructor for class com.crossbotics.ftchelper.drive.TankDrive: Gets the motors, sets their directions and brake mode, and sets power to 0.
tankTwoMotor() - Static method in class com.crossbotics.ftchelper.drive.DriveConfig: Settings for a two-motor standard (tank) drive.
tap(Action) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.tap(Runnable) with an action (a tap again while it runs cancels it).
tap(Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: A quick tap (press and let go) runs job.
taperSpeed(double, double, double, double) - Static method in class com.crossbotics.ftchelper.drive.MotionMath: The speed for this part of a move: full speed ("cruise") until the last part, then a straight-line slow-down to minSpeed at the end ("taper").
taperStartFraction - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: The last part of the move (as a fraction, 0.10 = last 10%) where speed tapers down.
tapOrDoubleTap(Runnable, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: One tap runs tap; a second tap soon after (within Pad.DOUBLE_TAP_SEC) runs doubleTap instead.
taps(int, Action) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.taps(int, Runnable) with an action.
taps(int, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: n quick taps in a row (2 to 5) run job, e.g.
tapThenHold(Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: A quick tap, then press again and hold: whileHeld runs every loop while held (last season's "spray": tap, then hold fire).
tapThenHold(Runnable, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.tapThenHold(Runnable), and onRelease once when it is let go.
target(int) - Method in class com.crossbotics.ftchelper.robot.Camera: The tag with this number, or null if not seen now.
target(int) - Method in interface com.crossbotics.ftchelper.vision.TargetSource: The target with this id in the latest picture, or null (nothing: not seen now).
target(String) - Method in class com.crossbotics.ftchelper.robot.Camera: The target with this name (a tag group or a tag's name), or null if not seen now.
target(String) - Method in interface com.crossbotics.ftchelper.vision.TargetSource: The target with this name (e.g.
TargetObservation - Class in com.crossbotics.ftchelper.vision: One target the camera sees, in the same form for every camera (webcam or Limelight).
TargetObservation(int, String, double, double, long) - Constructor for class com.crossbotics.ftchelper.vision.TargetObservation: Makes one observation.
targetRpm() - Method in class com.crossbotics.ftchelper.robot.Launcher: The speed it is aiming for now, RPM.
targets() - Method in class com.crossbotics.ftchelper.vision.LimelightTags
targets() - Method in interface com.crossbotics.ftchelper.vision.TargetSource: Everything seen in the latest picture (empty if nothing, or if the latest picture is too old).
targets() - Method in class com.crossbotics.ftchelper.vision.WebcamTags
TargetSource - Interface in com.crossbotics.ftchelper.vision: A camera that finds targets.
telemetry - Variable in class com.crossbotics.ftchelper.finders.AimTunerOpMode
telemetry - Variable in class com.crossbotics.ftchelper.robot.Auto
telemetry - Variable in class com.crossbotics.ftchelper.finders.CharacterizerOpMode
telemetry - Variable in class com.crossbotics.ftchelper.robot.ControlMap
telemetry - Variable in class com.crossbotics.ftchelper.finders.DriveTunerOpMode
telemetry - Variable in class com.crossbotics.ftchelper.auto.EasyAuto
telemetry - Variable in class com.crossbotics.ftchelper.teleop.EasyTeleOp
telemetry - Variable in class com.crossbotics.ftchelper.finders.FinderOpMode
telemetry - Variable in class com.crossbotics.ftchelper.finders.FlywheelFinderOpMode
telemetry - Variable in class com.crossbotics.ftchelper.testing.HardwareCheckOpMode
telemetry - Variable in class com.crossbotics.ftchelper.finders.MotorFinderOpMode
telemetry - Variable in class com.crossbotics.ftchelper.finders.OdometryTunerOpMode
telemetry - Variable in class com.crossbotics.ftchelper.finders.ServoFinderOpMode
telemetry - Variable in class com.crossbotics.ftchelper.finders.ShotTunerOpMode
telemetry() - Method in interface com.crossbotics.ftchelper.auto.AutoContext: The telemetry (add your own lines; the routine sends them).
telemetry(RobotTelemetry) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: The telemetry to show steps on (made for you if you do not give one).
TelemetryHelper - Class in com.crossbotics.ftchelper.telemetry: Shortcuts for clear, same-every-time Driver Station telemetry.
teleOp() - Static method in class com.crossbotics.ftchelper.match.MatchTimer: A 2-minute TeleOp timer.
TELEOP_SECONDS - Static variable in class com.crossbotics.ftchelper.match.MatchTimer: FTC driver-controlled (TeleOp) length (seconds).
testDistanceIn() - Method in class com.crossbotics.ftchelper.finders.DriveTunerOpMode: How far each distance test goes, inches.
text(String) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A plain text line for drivers.
then(Runnable...) - Method in class com.crossbotics.ftchelper.robot.Action: Does these at once, then goes to the next step.
thenPark() - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: The steps after this are PARK steps: they run even when the main steps ran out of time.
threeWheels(String, DcMotorEx, DcMotorEx, DcMotorEx, double, double, double, boolean, boolean, boolean) - Static method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry: Three wheels.
threeWheels(String, String, String) - Static method in class com.crossbotics.ftchelper.robot.Odometry: Three dead wheels on encoder ports: two that measure forward (left and right of the centre) and one that measures sideways.
ticksPerInch() - Method in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Encoder counts per inch of wheel travel, worked out from the values above.
ticksPerMm(double) - Method in class com.crossbotics.ftchelper.robot.Odometry: Other pods: encoder counts per mm of wheel travel.
ticksPerRev - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Encoder counts per motor output turn.
ticksPerSecPerPower() - Method in class com.crossbotics.ftchelper.finders.CharacterizeMath.Fit: Top speed per unit of power, counts per second (what the simulator calls maxTicksPerSec).
ticksPerSecToRpm(double, double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: Counts per second to RPM (turns per minute), for this many counts per turn.
tiltDeg(double) - Method in class com.crossbotics.ftchelper.robot.Shape: Mounted turned about its parent's left-right line, in degrees (front up +).
TIMED_OUT - Enum constant in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Stopped because it took longer than actionTimeoutSec.
timeNanos - Variable in class com.crossbotics.ftchelper.vision.TargetObservation: When the picture was taken (System.nanoTime() clock, nanoseconds).
timer(MatchTimer) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: A match timer already started at START (made and started by AutoRoutine.runAll() if not given).
times(double, double) - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Seconds to push, and seconds to come back before the next piece.
toggle() - Method in class com.crossbotics.ftchelper.drive.ReverseDrive: Flips the mode.
toggle() - Method in class com.crossbotics.ftchelper.robot.Claw: Closes it if it is open, else opens it.
toggle() - Method in class com.crossbotics.ftchelper.robot.Intake: On (in) if stopped, stopped if running.
toggle() - Method in class com.crossbotics.ftchelper.robot.Launcher: Spins up if idle, idles if spinning.
toggle() - Method in class com.crossbotics.ftchelper.robot.Mode: On if off, off if on.
toggle() - Method in interface com.crossbotics.ftchelper.robot.Toggleable: Switches on if off, off if on.
toggle() - Method in class com.crossbotics.ftchelper.tuning.TuningMenu: Opens or closes the menu.
toggle(Toggleable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Each press switches the part (an intake, a launcher, a claw, a mode) on or off.
toggle(Runnable, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Each press flips between running onEnable and onDisable.
toggle(String, String) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Goes to b if at (or going to) a, else to a.
Toggleable - Interface in com.crossbotics.ftchelper.robot: Something one button switches on and off: an Intake, a Launcher's spin, a Claw, or a Mode.
toggleDebug() - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: Flips debug on/off.
toggleFieldCentric() - Method in class com.crossbotics.ftchelper.drive.DriverControls: Switches field-centric on/off; returns the new state.
toggleIn() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: IN if it was not running IN, else STOPPED.
toggleOut() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: OUT if it was not running OUT, else STOPPED.
togglePause() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: Pauses if running, resumes if paused.
ToggleRumble - Class in com.crossbotics.ftchelper.gamepad: Buzzes the gamepad to confirm a toggle, so the driver knows without looking: two buzzes = ON, one buzz = OFF.
ToggleRumble(Gamepad) - Constructor for class com.crossbotics.ftchelper.gamepad.ToggleRumble: Makes one that uses the real clock.
ToggleRumble(Gamepad, LongSupplier) - Constructor for class com.crossbotics.ftchelper.gamepad.ToggleRumble: Makes one with your own clock.
tolerance(double) - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Ready when within this many RPM of the target.
tolerance(double) - Method in class com.crossbotics.ftchelper.launcher.Turret: Aimed when within this many degrees.
tolerance(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: How close counts as "there", in units.
topSpeed() - Method in class com.crossbotics.ftchelper.control.Feedforward: The top speed at full power (counts per second), 0 if kV is not set.
toString() - Method in class com.crossbotics.ftchelper.control.Feedforward
toString() - Method in class com.crossbotics.ftchelper.launcher.ShotTable.Shot
toString() - Method in class com.crossbotics.ftchelper.robot.Pad.Button: "G2 RT".
toString() - Method in class com.crossbotics.ftchelper.robot.Pad.Stick: "G2 left stick Y".
toString() - Method in class com.crossbotics.ftchelper.robot.Pad: "G1" or "G2".
toString() - Method in class com.crossbotics.ftchelper.util.FieldPose: The pose as text for telemetry, e.g.
toString() - Method in class com.crossbotics.ftchelper.vision.TargetObservation: A short line of text for the Driver Station, e.g.
TOUCHPAD - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
trackWidthIn(double) - Method in class com.crossbotics.ftchelper.robot.Odometry: Three dead wheels: the distance between the left and right forward-measuring pods, inches.
travelMm(double) - Method in class com.crossbotics.ftchelper.robot.Shape: How far a passive slide can move, mm (from where it rests).
travelTime(double) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Seconds the servo needs for a full 0..1 move.
trialMs(double) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: The most time one setting gets once switched, settling included (milliseconds, default 2000).
tryGet(HardwareMap, Class<? extends T>, String) - Static method in class com.crossbotics.ftchelper.hardware.Hw: Gets a device if it is in the configuration, else returns null.
tryGet(Class<? extends T>, String) - Method in interface com.crossbotics.ftchelper.robot.Devices: The device with this name and type, or null if there is none (for optional parts).
tunable(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Puts the PID gains and every named position in the tuning menu, as "prefix/kP", "prefix/HIGH"...
tunable(String) - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Puts every named position in the tuning menu as "prefix/NAME" (steps of 0.01, kept 0 to 1).
Tunable - Class in com.crossbotics.ftchelper.tuning: A number you can change while the robot runs, from the gamepad (TuningMenu), without rebuilding.
tunables(Class<?>) - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The Tunables class, if it is not called Tunables in the same folder as Robot.java.
tunables(String) - Method in class com.crossbotics.ftchelper.robot.Module: Reads this module's numbers from another Tunables.java section.
tunablesClass() - Method in class com.crossbotics.ftchelper.robot.RobotDefinition: The Tunables class in use, or null if there is none.
tunablesLine(String) - Method in class com.crossbotics.ftchelper.finders.ShotPoints: The table for the robot in five files, one line for Tunables.java (inches, rpm; no hood): public static double[][] speedByDistance = {{48, 2550}, {72, 2900}}; // in Tunables.Launcher (the line that replaces the one in that section).
tunablesLine(String, List<String>) - Static method in class com.crossbotics.ftchelper.finders.FinderResults: A line for the robot in five files: the section of Tunables.java and its numbers.
TuningMenu - Class in com.crossbotics.ftchelper.tuning: A menu on the Driver Station to change Tunable numbers with a gamepad, while the robot runs.
TuningMenu(Gamepad) - Constructor for class com.crossbotics.ftchelper.tuning.TuningMenu: Makes a menu.
turn(double, double) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Turns in place by an amount.
turn(String, double, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Turns by an amount, in degrees: positive = left (mirrored for RED).
turn(String, double, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Turns by an angle (counterclockwise +).
turnDegPerCount(double[], double[]) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: Degrees the robot turns for each wheel count of turning (from the IMU and the wheels), so the simulator turns like the real robot (wheels slip a little when a robot turns).
turnDegPerSec() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: Degrees per second (how fast it turns), if the device tells; 0 if not.
turnKd - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Turn D gain.
turnKp - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Turn P gain: power per degree of error.
turnMinPower - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Smallest turn power while outside the tolerance, so the robot does not stall just short of the target.
turnPower(TargetObservation) - Method in class com.crossbotics.ftchelper.vision.AimController: The turn power toward the target, CLOCKWISE positive: the same sign as every drive's turn (drive.drive(f, s, aim.turnPower(t)), tank.arcade(f, aim.turnPower(t))).
turnSettleSec - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: ...for this long (seconds).
turnTo(double, double) - Method in class com.crossbotics.ftchelper.drive.AutoDrive: Turns in place to face a heading.
turnTo(String, double, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Turns to a heading (0 = the direction at the start, positive = left; mirrored for RED).
turnTo(String, double, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Turns to a heading (0 = the way it faced at the start, counterclockwise +).
turnToleranceDeg - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: A turn is done when the error is this small (degrees)...
Turret - Class in com.crossbotics.ftchelper.launcher: A turret: turns to an angle in degrees, never past its limits (so cables never wind up), and can hold a FIELD direction while the robot drives and turns.
Turret - Class in com.crossbotics.ftchelper.robot: A turret on one motor that turns inside its limits, by hand or following the goal with a Camera.
Turret(String, DcMotorEx) - Constructor for class com.crossbotics.ftchelper.launcher.Turret: Wraps a motor you already set up (brake, encoder reset).
twoWheels(String, DcMotorEx, DcMotorEx, DoubleSupplier, double, double, double, boolean, boolean) - Static method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry: Two wheels and the IMU.
twoWheels(String, String) - Static method in class com.crossbotics.ftchelper.robot.Odometry: Two dead wheels (one forward, one sideways) and the Control Hub's IMU for the heading.
type - Variable in class com.crossbotics.ftchelper.drive.DriveConfig: The kind of drivetrain.

U

units(double, String) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Use your own units instead of encoder ticks, e.g.
UNJAMMING - Enum constant in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State
update() - Method in interface com.crossbotics.ftchelper.core.Subsystem: Called once every loop.
update() - Method in class com.crossbotics.ftchelper.core.Subsystems: Updates every part, in the order they were added.
update() - Method in class com.crossbotics.ftchelper.launcher.Flywheel: Once per loop: sends the speed, reads the real speed, works out "ready", and counts shots.
update() - Method in class com.crossbotics.ftchelper.launcher.Launcher: Once per loop: sets the flywheel speed, updates the flywheel, feeder and hood, then feeds one piece if shots are waiting and everything is ready.
update() - Method in class com.crossbotics.ftchelper.launcher.MotorFeeder: Once per loop: ends the feed when the time is up, the sensor sees the piece leave, or it jams.
update() - Method in class com.crossbotics.ftchelper.launcher.ServoFeeder: Once per loop: after the push time, sends the arm back; after the return time, it is free again.
update() - Method in class com.crossbotics.ftchelper.launcher.Turret: Once per loop: checks the home switch, picks the power (homing, stick or PID), applies the limits.
update() - Method in class com.crossbotics.ftchelper.match.InitMenu: Reads the gamepad.
update() - Method in class com.crossbotics.ftchelper.match.MatchTimer: Runs any cue whose time has come.
update() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Does the real work, once per loop: reads the switches, then sends the motor the power that moves it toward the target (or the stick's power, or none).
update() - Method in class com.crossbotics.ftchelper.mechanism.PositionServo: Once per loop.
update() - Method in class com.crossbotics.ftchelper.mechanism.SpinMotor: Once per loop: sends the power for the current state and, while IN, watches for jams.
update() - Method in class com.crossbotics.ftchelper.mechanism.SpinServo: Once per loop: ends a timed run when its time is up, and sends the power if it changed.
update() - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: Reads the device once and works out the new pose.
update() - Method in class com.crossbotics.ftchelper.robot.Camera
update() - Method in class com.crossbotics.ftchelper.robot.Indexer
update() - Method in class com.crossbotics.ftchelper.robot.Intake
update() - Method in class com.crossbotics.ftchelper.robot.Launcher
update() - Method in class com.crossbotics.ftchelper.robot.MotorPositions
update() - Method in class com.crossbotics.ftchelper.robot.ServoPositions
update() - Method in class com.crossbotics.ftchelper.robot.Turret
update() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Call once per loop, BEFORE SafeMotor.setPower(double) or SafeMotor.moveTo(double, com.crossbotics.ftchelper.control.PidController).
update() - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: Sends the lines to the Driver Station (warnings first) and starts a fresh screen for the next loop.
update() - Method in class com.crossbotics.ftchelper.tuning.TuningMenu: Reads the gamepad.
update() - Method in class com.crossbotics.ftchelper.util.LoopTimer: Call once at the top of each loop.
update() - Method in class com.crossbotics.ftchelper.vision.LimelightTags: Every loop: reads the newest result and turns each tag into a TargetObservation.
update() - Method in class com.crossbotics.ftchelper.vision.WebcamTags: Every loop: picks up the newest picture's tags, if there is a new one.
update(double) - Method in class com.crossbotics.ftchelper.gamepad.AimRumble: Call every loop with the current error.
update(double, double) - Method in class com.crossbotics.ftchelper.drive.StallDetector: Call every loop.
update(double, double, double) - Method in class com.crossbotics.ftchelper.safety.JamDetector: Checks speed only.
update(double, double, double, double) - Method in class com.crossbotics.ftchelper.safety.JamDetector: Checks speed and current.
update(int) - Method in class com.crossbotics.ftchelper.vision.LightingSweep: One quick step.
update(Gamepad) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Drives from the gamepad's sticks.
update(Gamepad, boolean) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Drives from the gamepad's sticks, with slow mode switched by your own code instead of the left trigger (for example a one-driver layout where the trigger has another job).
update(Gamepad, double) - Method in class com.crossbotics.ftchelper.drive.DriverControls: Drives from the gamepad's sticks at a speed your own code works out (0 to 1, e.g.
update(Gamepad, Gamepad) - Method in class com.crossbotics.ftchelper.gamepad.ControllerBindings: Reads both gamepads and runs the actions.
upperSwitch(BooleanSupplier) - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: An upper limit switch: while it is pressed, the motor will not go further up.
use(DoubleConsumer) - Method in class com.crossbotics.ftchelper.robot.Pad.Stick: Gives the stick's value to use every loop (0 when it rests in the middle).
useForTests(SettingsFile) - Static method in class com.crossbotics.ftchelper.core.SettingsFile: For tests: use another file as the shared one.
useStandardButtons() - Method in class com.crossbotics.ftchelper.robot.ControlMap: False to switch the modules' suggested buttons off (only Controls.java's jobs).

V

validate() - Method in class com.crossbotics.ftchelper.drive.DriveConfig: Checks the settings make sense.
value(Telemetry, String, double, int) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Adds "label : value", with the number of decimals you choose.
value(Telemetry, String, double, String) - Static method in class com.crossbotics.ftchelper.telemetry.TelemetryHelper: Adds "label : value unit", with 2 decimals.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.core.Profile: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.drive.DriveConfig.DriveType: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Pad: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Trigger: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.launcher.Launcher.State: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.match.Alliance: Returns the enum constant of this class with the specified name.
valueOf(String) - Static method in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State: Returns the enum constant of this class with the specified name.
values() - Static method in enum class com.crossbotics.ftchelper.core.Profile: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.drive.AutoDrive.Result: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.drive.DriveConfig.DriveType: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Pad: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Trigger: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.launcher.Launcher.State: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.match.Alliance: Returns an array containing the constants of this enum class, in the order they are declared.
values() - Static method in enum class com.crossbotics.ftchelper.mechanism.SpinMotor.State: Returns an array containing the constants of this enum class, in the order they are declared.

W

waitFor(double) - Method in interface com.crossbotics.ftchelper.auto.AutoContext: Loops for this many seconds (mechanisms keep working).
waitFor(String, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Waits (mechanisms keep working).
WAITING_READY - Enum constant in enum class com.crossbotics.ftchelper.launcher.Launcher.State
waitingForCamera() - Method in class com.crossbotics.ftchelper.vision.LightingSweep: For a camera that is not ready yet (a webcam that is not streaming): no switching, only the time limits are checked, so START still ends the test.
waitSeconds(double) - Method in class com.crossbotics.ftchelper.robot.Action: Waits this long (the robot keeps running), then goes on.
waitSeconds(String, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Waits this long (the mechanisms keep working).
waitUntil(String, BooleanSupplier, double) - Method in class com.crossbotics.ftchelper.auto.AutoRoutine: Waits until something is true, at most timeoutSec.
waitUntil(String, BooleanSupplier, double) - Method in class com.crossbotics.ftchelper.robot.Action: Waits until something is true.
waitUntil(String, BooleanSupplier, double) - Method in class com.crossbotics.ftchelper.robot.Steps: Waits until something is true, at most timeoutSec (the report says if it timed out).
waitUntil(BooleanSupplier, double) - Method in interface com.crossbotics.ftchelper.auto.AutoContext: Loops until done is true, the time runs out, or the routine stops.
waitUntil(BooleanSupplier, double) - Method in class com.crossbotics.ftchelper.robot.Action: Action.waitUntil(String, BooleanSupplier, double) with "the condition" as its words.
warn(String) - Method in class com.crossbotics.ftchelper.telemetry.RobotTelemetry: A warning: always shown, at the top, with a "!!" in front.
WARNING_SHOW_SEC - Static variable in class com.crossbotics.ftchelper.core.Subsystems: A slow-update note stays on the screen this many seconds after the last slow update.
WARNING_SHOW_SEC - Static variable in class com.crossbotics.ftchelper.gamepad.ControllerBindings: A slow-action note stays on the screen this many seconds after the last slow action.
webcam(String) - Static method in class com.crossbotics.ftchelper.robot.Camera: A webcam (USB).
WebcamTags - Class in com.crossbotics.ftchelper.vision: AprilTags with a USB webcam, using the FTC SDK's own AprilTag finder (SDK 12: single tags and tag "clusters", groups of tags with one aiming point).
WebcamTags(String, WebcamName) - Constructor for class com.crossbotics.ftchelper.vision.WebcamTags: Wraps a webcam you already have.
wheel(String) - Method in class com.crossbotics.ftchelper.robot.Drive: The wheel by its parts catalog id (see Parts): its diameter comes from the catalog.
wheel(String) - Static method in class com.crossbotics.ftchelper.robot.Parts: A wheel or roller by its catalog id.
wheelDiameterFromPush(double, double, double, double) - Static method in class com.crossbotics.ftchelper.finders.FinderMath: The wheel diameter that matches a "push" test: the robot was pushed inches and the wheels counted ticks.
wheelDiameterIn - Variable in class com.crossbotics.ftchelper.drive.AutoDriveConfig: Wheel diameter, inches.
wheelMm(double) - Method in class com.crossbotics.ftchelper.robot.Drive: The wheel diameter in millimetres (goBILDA mecanum: 96 or 104).
wheels() - Static method in class com.crossbotics.ftchelper.robot.Parts: Every wheel and roller, in catalog order (read only).
wheelsAtMm(double, double) - Method in class com.crossbotics.ftchelper.robot.Drive: Where the wheels sit, for the simulator's turning: wheel centres side to side (track) and front to back (wheel base), in mm.
whyNotReady() - Method in class com.crossbotics.ftchelper.launcher.Launcher: What is not ready yet, e.g.
widthMm - Variable in class com.crossbotics.ftchelper.robot.Parts.Wheel: Width along its axle, mm; NaN when the seller does not give it (then the shape needs its length).
with(Pad.Button, Action) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: Pad.Button.with(Button, Runnable) with an action.
with(Pad.Button, Runnable) - Method in class com.crossbotics.ftchelper.robot.Pad.Button: A pair: hold this button (the "shift key"), then press other to run job.
withCrServos(String...) - Method in class com.crossbotics.ftchelper.robot.Intake: CR servos that run together with the intake motor (for example two side wheels next to a roller).
wrapDegrees(double) - Static method in class com.crossbotics.ftchelper.util.Angles: Puts an angle into the range -180 (not included) to 180 (included).
Wrist - Class in com.crossbotics.ftchelper.robot: A wrist on one servo, with named angles (raw servo positions).
write(double, double, double) - Method in class com.crossbotics.ftchelper.odometry.DeadWheelOdometry
write(double, double, double) - Method in class com.crossbotics.ftchelper.odometry.OtosOdometry
write(double, double, double) - Method in class com.crossbotics.ftchelper.odometry.PinpointOdometry
write(double, double, double) - Method in class com.crossbotics.ftchelper.odometry.PoseTracker: Sets the device's pose in its own frame (X forward in, Y left in, heading CCW deg).

X

x - Variable in class com.crossbotics.ftchelper.robot.Pad: Face buttons.
x - Variable in class com.crossbotics.ftchelper.util.FieldPose: Inches.
X - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn

Y

y - Variable in class com.crossbotics.ftchelper.robot.Pad: Face buttons.
y - Variable in class com.crossbotics.ftchelper.util.FieldPose: Inches.
Y - Enum constant in enum class com.crossbotics.ftchelper.gamepad.ControllerBindings.Btn
yawRates(double[], double[]) - Static method in class com.crossbotics.ftchelper.finders.CharacterizeMath: Turning speed from headings (degrees per second), with the jump at +-180 taken out.
yesNo(String, boolean) - Method in class com.crossbotics.ftchelper.match.InitMenu: Adds a yes/no choice.

Z

zeroHere() - Method in class com.crossbotics.ftchelper.mechanism.PositionMotor: Makes the current position zero (home by hand).
zeroHere() - Method in class com.crossbotics.ftchelper.safety.SafeMotor: Makes the current position 0.

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