Index

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

A

addConditional(Supplier<Boolean>, Runnable) - Method in class MRILib.statemachine.ArmFSM

Adds a conditional action to be checked once per loop.

ArmBotEasy - Class in MRILib.managers

Extends the base Bot class to include specific hardware and control logic for a robot arm mechanism consisting of a slide, pivot, and claw assembly.

ArmBotEasy(HardwareMap) - Constructor for class MRILib.managers.ArmBotEasy

Constructor for ArmBotEasy.

ArmBotFF - Class in MRILib.managers

Extends Bot to manage arm-specific hardware (motors, servos) for a Pivoting Slide Arm robot.

ArmBotFF(HardwareMap, Telemetry) - Constructor for class MRILib.managers.ArmBotFF

Constructor: Initializes the ArmBotFF.

armController - Variable in class MRILib.managers.ArmBotFF

Controller instance for managing pivot arm movements, potentially with feedforward.

ArmFSM - Class in MRILib.statemachine

Finite State Machine for controlling robot arm mechanisms.

ArmFSM(ArmBotEasy) - Constructor for class MRILib.statemachine.ArmFSM

Constructor for Autonomous usage (no gamepads needed).

ArmFSM(ArmBotEasy, Gamepad, Gamepad) - Constructor for class MRILib.statemachine.ArmFSM

Constructor for TeleOp usage (includes gamepads).

armThread - Variable in class MRILib.managers.ArmBotFF

Thread dedicated to running the armController logic concurrently.

auton - Variable in class MRILib.statemachine.ArmFSM

Flag indicating if the FSM is running in Autonomous mode.

B

backLeft - Variable in class MRILib.managers.Bot

backLeftPos - Variable in class MRILib.managers.Bot

Current encoder position of the back left drive motor.

backLeftPosPrev - Variable in class MRILib.managers.Bot

Previous encoder position of the back left drive motor (from the last Bot.updateEncoders() call).

backRight - Variable in class MRILib.managers.Bot

backRightPos - Variable in class MRILib.managers.Bot

Current encoder position of the back right drive motor.

backRightPosPrev - Variable in class MRILib.managers.Bot

Previous encoder position of the back right drive motor (from the last Bot.updateEncoders() call).

bot - Variable in class MRILib.motion.PIDController

The robot hardware interface (Bot or subclass) providing access to sensors and motors.

bot - Variable in class MRILib.statemachine.ArmFSM

The robot's arm hardware and methods manager.

bot - Variable in class MRILib.statemachine.DriveFSM

The robot hardware and state manager.

Bot - Class in MRILib.managers

Base Robot Hardware Manager and Controller

Bot(HardwareMap) - Constructor for class MRILib.managers.Bot

Constructs a Bot instance, initializing drive motors, IMU, odometry, and voltage sensor.

BotState - Class in MRILib.statemachine

Base class for states within a Finite State Machine (FSM).

BotState() - Constructor for class MRILib.statemachine.BotState

Default constructor.

BotState(String) - Constructor for class MRILib.statemachine.BotState

Constructor to create a state with a specific name.

C

checkConditionals() - Method in class MRILib.statemachine.ArmFSM

Checks all stored conditionals.

claw - Variable in class MRILib.managers.ArmBotEasy

claw - Variable in class MRILib.managers.ArmBotFF

The servo controlling the claw grip.

claw_pitch - Variable in class MRILib.managers.ArmBotEasy

claw_pitch - Variable in class MRILib.managers.ArmBotFF

The servo controlling the pitch (up/down tilt) of the claw.

claw_roll - Variable in class MRILib.managers.ArmBotEasy

claw_roll - Variable in class MRILib.managers.ArmBotFF

The servo controlling the roll (side-to-side rotation) of the claw.

conditionalList - Variable in class MRILib.statemachine.ArmFSM

List to hold conditional actions to be checked each loop.

currentPosition - Variable in class MRILib.managers.Bot

currentState - Variable in class MRILib.statemachine.ArmFSM

The currently active arm state.

currentStep - Variable in class MRILib.statemachine.DriveFSM

Index of the currently active step in the 'steps' list.

D

driveFieldXYW(double, double, double) - Method in class MRILib.managers.Bot

Drives the robot using field-centric Cartesian coordinates (x, y) and robot-centric rotation (w).

DriveFSM - Class in MRILib.statemachine

Controls robot motion during autonomous using a finite state machine.

DriveFSM(Bot, PIDController) - Constructor for class MRILib.statemachine.DriveFSM

Initializes the DriveFSM.

driveXYW(double, double, double) - Method in class MRILib.managers.Bot

Drives the robot using robot-centric Cartesian coordinates (x, y) and rotation (w).

E

enableBrakeMode(boolean) - Method in class MRILib.managers.Bot

Enables or disables the "brake" zero power behavior for all drive motors.

end() - Method in class MRILib.statemachine.ArmFSM

Executes the end logic of the current state.

end() - Method in class MRILib.statemachine.BotState

Called once when this state is about to be deactivated (e.g., before transitioning to another state).

end() - Method in class MRILib.statemachine.DriveFSM

Executes the end logic of the current step.

errorSum - Variable in class MRILib.motion.PID

The accumulated integral error sum.

errorSumTotal - Variable in class MRILib.motion.PID

The maximum absolute value the integral error sum (PID.errorSum) is allowed to reach.

F

frontLeft - Variable in class MRILib.managers.Bot

frontLeftPos - Variable in class MRILib.managers.Bot

Current encoder position of the front left drive motor.

frontLeftPosPrev - Variable in class MRILib.managers.Bot

Previous encoder position of the front left drive motor (from the last Bot.updateEncoders() call).

frontRight - Variable in class MRILib.managers.Bot

frontRightPos - Variable in class MRILib.managers.Bot

Current encoder position of the front right drive motor.

frontRightPosPrev - Variable in class MRILib.managers.Bot

Previous encoder position of the front right drive motor (from the last Bot.updateEncoders() call).

G

getBL() - Method in class MRILib.managers.Bot

getBLPos() - Method in class MRILib.managers.Bot

getBLPosPrev() - Method in class MRILib.managers.Bot

getBR() - Method in class MRILib.managers.Bot

getBRPos() - Method in class MRILib.managers.Bot

getBRPosPrev() - Method in class MRILib.managers.Bot

getClaw() - Method in class MRILib.managers.ArmBotEasy

Gets the main claw grip servo instance.

getClaw() - Method in class MRILib.managers.ArmBotFF

getClawPitch() - Method in class MRILib.managers.ArmBotEasy

Gets the claw pitch servo instance.

getClawPitch() - Method in class MRILib.managers.ArmBotFF

getClawPitchPos() - Method in class MRILib.managers.ArmBotEasy

Gets the current commanded position of the claw pitch servo.

getClawPitchPos() - Method in class MRILib.managers.ArmBotFF

getClawPos() - Method in class MRILib.managers.ArmBotEasy

Gets the current commanded position of the main claw grip servo.

getClawPos() - Method in class MRILib.managers.ArmBotFF

getClawRoll() - Method in class MRILib.managers.ArmBotEasy

Gets the claw roll servo instance.

getClawRoll() - Method in class MRILib.managers.ArmBotFF

getClawRollPos() - Method in class MRILib.managers.ArmBotEasy

Gets the current commanded position of the claw roll servo.

getClawRollPos() - Method in class MRILib.managers.ArmBotFF

getCurrentDegrees() - Method in class MRILib.motion.PIDController

Gets the robot's current heading in degrees, based on odometry.

getCurrentRadians() - Method in class MRILib.motion.PIDController

Gets the robot's current heading in radians, based on odometry.

getFL() - Method in class MRILib.managers.Bot

getFLPos() - Method in class MRILib.managers.Bot

getFLPosPrev() - Method in class MRILib.managers.Bot

getFR() - Method in class MRILib.managers.Bot

getFRPos() - Method in class MRILib.managers.Bot

getFRPosPrev() - Method in class MRILib.managers.Bot

getHeading() - Method in class MRILib.managers.Bot

Gets the current estimated heading of the robot.

getIMUHeading() - Method in class MRILib.managers.Bot

Gets the robot's current heading (yaw) from the IMU.

getLastPosition() - Method in class MRILib.managers.Bot

Gets the robot's position and heading from the *previous* update cycle.

getOdoPosition() - Method in class MRILib.managers.Bot

Gets the raw position directly from the GoBilda Pinpoint driver.

getPivotMotor() - Method in class MRILib.managers.ArmBotEasy

Gets the pivot motor instance.

getPivotMotor() - Method in class MRILib.managers.ArmBotFF

getPivotPos() - Method in class MRILib.managers.ArmBotEasy

Gets the last updated encoder position of the pivot motor.

getPivotPos() - Method in class MRILib.managers.ArmBotFF

getPivotVelocity() - Method in class MRILib.managers.ArmBotFF

getPosition() - Method in class MRILib.managers.Bot

Gets the robot's current position and heading as estimated by the odometry system.

getSlideMotor() - Method in class MRILib.managers.ArmBotEasy

Gets the slide motor instance.

getSlideMotor() - Method in class MRILib.managers.ArmBotFF

getSlidePos() - Method in class MRILib.managers.ArmBotEasy

Gets the last updated encoder position of the slide motor.

getSlidePos() - Method in class MRILib.managers.ArmBotFF

getSlideVelocity() - Method in class MRILib.managers.ArmBotFF

getTargetDegrees() - Method in class MRILib.motion.PIDController

Gets the current target heading in degrees.

getTargetRadians() - Method in class MRILib.motion.PIDController

Gets the current target heading set by moveTo(double, double, double).

getTargetX() - Method in class MRILib.motion.PIDController

Gets the current target X-coordinate set by moveTo(double, double, double).

getTargetY() - Method in class MRILib.motion.PIDController

Gets the current target Y-coordinate set by moveTo(double, double, double).

getVoltage() - Method in class MRILib.managers.Bot

Gets the current battery voltage reported by the first available voltage sensor.

getX() - Method in class MRILib.managers.Bot

Gets the current estimated X-coordinate of the robot.

getY() - Method in class MRILib.managers.Bot

Gets the current estimated Y-coordinate of the robot.

gpad1 - Variable in class MRILib.statemachine.ArmFSM

Reference to gamepad 1 for TeleOp control.

gpad2 - Variable in class MRILib.statemachine.ArmFSM

Reference to gamepad 2 for TeleOp control.

H

HeadingPID - Class in MRILib.motion

Extends the standard PID controller specifically for controlling heading or angles.

HeadingPID(double, double, double) - Constructor for class MRILib.motion.HeadingPID

Constructs a new HeadingPID controller with specified gains.

I

iLimit - Variable in class MRILib.motion.PID

Integral limit (I-Zone).

imu - Variable in class MRILib.managers.Bot

The Control Hub/Expansion Hub IMU (Inertial Measurement Unit) instance.

init() - Method in class MRILib.statemachine.ArmFSM

Initializes all the arm states.

initIMU(HardwareMap) - Method in class MRILib.managers.Bot

Initializes the Control Hub's IMU using the default hardwareMap name ("imu").

initIMU(HardwareMap, String) - Method in class MRILib.managers.Bot

Initializes the Control Hub's IMU with a specified hardwareMap name and orientation parameters defined in

invalid reference

BotValues

(LOGO_DIR, USB_DIR).

initMotors(HardwareMap) - Method in class MRILib.managers.ArmBotEasy

Initializes the slide and pivot motors.

initMotors(HardwareMap) - Method in class MRILib.managers.ArmBotFF

Initializes slide and pivot motors from the hardware map.

initMotors(HardwareMap) - Method in class MRILib.managers.Bot

Initializes the drive motors using default hardwareMap names ("frontLeft", "frontRight", "backLeft", "backRight").

initMotors(HardwareMap, String, String, String, String) - Method in class MRILib.managers.Bot

Initializes the drive motors with specified hardwareMap names and sets their directions.

initOdo(HardwareMap) - Method in class MRILib.managers.Bot

Initializes the GoBilda Pinpoint Odometry Computer using the default hardwareMap name ("odo").

initOdo(HardwareMap, String) - Method in class MRILib.managers.Bot

Initializes the GoBilda Pinpoint Odometry Computer with a specified hardwareMap name.

initServos(HardwareMap) - Method in class MRILib.managers.ArmBotEasy

Initializes the claw, claw pitch, and claw roll servos.

initServos(HardwareMap) - Method in class MRILib.managers.ArmBotFF

Initializes claw servos from the hardware map.

K

kD - Variable in class MRILib.motion.PID

Derivative gain (kD).

kI - Variable in class MRILib.motion.PID

Integral gain (kI).

kP - Variable in class MRILib.motion.PID

Proportional gain (kP).

L

lastAngle - Variable in class MRILib.statemachine.DriveFSM

Stores the last target heading for hold position.

lastError - Variable in class MRILib.motion.PID

The error calculated during the previous PID.update(double) call, used for calculating the derivative term.

lastPosition - Variable in class MRILib.managers.Bot

lastTime - Variable in class MRILib.motion.PID

Timestamp of the last PID.update(double) call, used for calculating delta time.

lastX - Variable in class MRILib.statemachine.DriveFSM

Stores the last target X coordinate for hold position.

lastY - Variable in class MRILib.statemachine.DriveFSM

Stores the last target Y coordinate for hold position.

M

maxAngSpeed - Variable in class MRILib.motion.PIDController

Supplier for the maximum allowable angular (rotational) speed component.

maxSpeed - Variable in class MRILib.motion.PIDController

Supplier for the maximum allowable translational speed component.

moveTo(double, double, double) - Method in class MRILib.motion.PIDController

Sets the target pose for the PID controllers.

moveTo(double, double, double) - Method in class MRILib.statemachine.DriveFSM

Adds a moveTo step with default timeout and no parallel command.

moveTo(double, double, double, double) - Method in class MRILib.statemachine.DriveFSM

Adds a moveTo step with a specific timeout and no parallel command.

moveTo(double, double, double, Runnable) - Method in class MRILib.statemachine.DriveFSM

Adds a moveTo step with a parallel command and default timeout.

moveTo(double, double, double, Runnable, double) - Method in class MRILib.statemachine.DriveFSM

Adds a state to move to a target pose, optionally running a command.

moveTo(Pose2D) - Method in class MRILib.statemachine.DriveFSM

Adds a moveTo step using a Pose2D object with default timeout.

MRILib.managers - package MRILib.managers

MRILib.motion - package MRILib.motion

MRILib.statemachine - package MRILib.statemachine

N

name - Variable in class MRILib.statemachine.BotState

The name identifier for this state, used for debugging and retrieval.

nextState - Variable in class MRILib.motion.PIDController

Flag, declared but apparently unused in the current implementation.

nextState() - Method in class MRILib.statemachine.DriveFSM

Ends the current step and starts the next one.

O

odo - Variable in class MRILib.managers.Bot

The GoBilda Pinpoint Odometry Computer driver instance.

P

pid - Variable in class MRILib.statemachine.DriveFSM

The PID controller for movement.

PID - Class in MRILib.motion

Implements a standard Proportional-Integral-Derivative (PID) controller.

PID(double, double, double) - Constructor for class MRILib.motion.PID

Constructs a new PID controller with specified gains.

PIDController - Class in MRILib.motion

Manages three independent PID controllers (for X, Y, and Theta/Heading) to guide a robot towards a target

invalid reference

Pose2D

using field-centric control.

PIDController(Bot, Telemetry) - Constructor for class MRILib.motion.PIDController

Constructs a PIDController associated with a generic Bot.

pivot - Variable in class MRILib.managers.ArmBotEasy

pivot - Variable in class MRILib.managers.ArmBotFF

The motor controlling the arm pivot rotation.

pivotPos - Variable in class MRILib.managers.ArmBotEasy

pivotPos - Variable in class MRILib.managers.ArmBotFF

Current encoder position of the pivot motor.

pivotPosPrev - Variable in class MRILib.managers.ArmBotEasy

pivotPosPrev - Variable in class MRILib.managers.ArmBotFF

Previous encoder position of the pivot motor (from the last update).

POWER_SCALE - Variable in class MRILib.motion.PIDController

Scaling factor for power, declared but currently unused.

R

resetEncoders() - Method in class MRILib.managers.ArmBotEasy

Resets the encoders for all drive motors (via superclass) and the arm motors (slide, pivot).

resetEncoders() - Method in class MRILib.managers.ArmBotFF

Resets encoders for drive motors (via superclass) and arm motors.

resetEncoders() - Method in class MRILib.managers.Bot

Resets the drive motor encoders to 0 without changing their current DcMotor.RunMode.

resetIMUHeading() - Method in class MRILib.managers.Bot

Resets the IMU's yaw angle to zero based on the current orientation.

resetPrevEncoders() - Method in class MRILib.managers.ArmBotFF

Resets the internal previous encoder position trackers for arm motors.

resetPrevEncoders() - Method in class MRILib.managers.Bot

Resets the stored *previous* encoder tick values to zero.

run(Runnable) - Method in class MRILib.statemachine.DriveFSM

Adds a step to run a command immediately (0-second wait).

S

setArm(int, int) - Method in class MRILib.managers.ArmBotEasy

Convenience method to set both the pivot and slide motors to run to target positions simultaneously.

setArm(int, int) - Method in class MRILib.managers.ArmBotFF

Sets both pivot and slide motors to run to target positions simultaneously.

setArmMode(DcMotor.RunMode) - Method in class MRILib.managers.ArmBotEasy

Sets the DcMotor.RunMode for both the slide and pivot motors simultaneously.

setArmMode(DcMotor.RunMode) - Method in class MRILib.managers.ArmBotFF

Sets the DcMotor.RunMode for both slide and pivot motors.

setClaw(double) - Method in class MRILib.managers.ArmBotEasy

Sets the target position for the main claw grip servo.

setClaw(double) - Method in class MRILib.managers.ArmBotFF

Sets the target position for the claw grip servo.

setClawPitch(double) - Method in class MRILib.managers.ArmBotEasy

Sets the target position for the claw pitch servo.

setClawPitch(double) - Method in class MRILib.managers.ArmBotFF

Sets the target position for the claw pitch servo.

setClawRoll(double) - Method in class MRILib.managers.ArmBotEasy

Sets the target position for the claw roll servo.

setClawRoll(double) - Method in class MRILib.managers.ArmBotFF

Sets the target position for the claw roll servo.

setDirections() - Method in class MRILib.managers.Bot

Sets the direction of the drive motors based on the constants defined in

invalid reference

BotValues

(LEFTDIR, RIGHTDIR).

setILimit(double) - Method in class MRILib.motion.PID

Sets the integral limit (I-Zone).

setIntegralSumLimit(double) - Method in class MRILib.motion.PID

Sets the clamping limit for the integral sum.

setMaxAngSpeed(double) - Method in class MRILib.motion.PIDController

Sets the maximum angular (rotational) speed limit using a simple supplier.

setMaxSpeed(double) - Method in class MRILib.motion.PIDController

Sets the maximum translational speed limit using a simple supplier.

setMode(DcMotor.RunMode) - Method in class MRILib.managers.Bot

Sets the DcMotor.RunMode for all four drive motors simultaneously.

setPID(PID, PID) - Method in class MRILib.motion.PIDController

Sets the PID controllers for the X and Y axes (translational).

setPivot(int) - Method in class MRILib.managers.ArmBotEasy

Sets the pivot motor to run to a specific target encoder position.

setPivot(int) - Method in class MRILib.managers.ArmBotFF

Sets the pivot motor to run to a target encoder position.

setPivotPower(double) - Method in class MRILib.managers.ArmBotFF

Sets the pivot motor power directly.

setPosition(double, double, double) - Method in class MRILib.managers.Bot

Sets the robot's current position and heading in the odometry system.

setPosition(Pose2D) - Method in class MRILib.managers.Bot

Overrides the current position tracked by the GoBilda Pinpoint Odometry Computer.

setSlides(int) - Method in class MRILib.managers.ArmBotEasy

Sets the slide motor to run to a specific target encoder position.

setSlides(int) - Method in class MRILib.managers.ArmBotFF

Sets the slide motor to run to a target encoder position.

setState(String) - Method in class MRILib.statemachine.ArmFSM

Sets the current state by name.

setState(ArmState) - Method in class MRILib.statemachine.ArmFSM

Sets the current state to the provided ArmState instance.

setTarget(double) - Method in class MRILib.motion.PID

Sets the desired target value (setpoint) for the PID controller.

setTurnPID(PID) - Method in class MRILib.motion.PIDController

Sets the PID controller for the Theta (heading/turn) axis.

slide - Variable in class MRILib.managers.ArmBotEasy

slide - Variable in class MRILib.managers.ArmBotFF

The motor controlling the linear slide extension.

slidePos - Variable in class MRILib.managers.ArmBotEasy

slidePos - Variable in class MRILib.managers.ArmBotFF

Current encoder position of the slide motor.

slidePosPrev - Variable in class MRILib.managers.ArmBotEasy

slidePosPrev - Variable in class MRILib.managers.ArmBotFF

Previous encoder position of the slide motor (from the last update).

start() - Method in class MRILib.motion.PID

Resets the PID controller's internal state.

start() - Method in class MRILib.motion.PIDController

Initializes the PID controllers.

start() - Method in class MRILib.statemachine.ArmFSM

Executes the start logic of the current state.

start() - Method in class MRILib.statemachine.BotState

Called once when this state becomes the active state in the FSM.

start() - Method in class MRILib.statemachine.DriveFSM

Executes the start logic of the current step.

steps - Variable in class MRILib.statemachine.DriveFSM

List of autonomous steps (states).

stopMultiThread() - Method in class MRILib.managers.ArmBotFF

Stops the background arm controller thread safely.

T

targetRadians - Variable in class MRILib.motion.PIDController

The current target heading (radians) set via moveTo(double, double, double).

targetVal - Variable in class MRILib.motion.PID

The desired setpoint or target value for the controller.

targetX - Variable in class MRILib.motion.PIDController

The current target X-coordinate (inches) set via moveTo(double, double, double).

targetY - Variable in class MRILib.motion.PIDController

The current target Y-coordinate (inches) set via moveTo(double, double, double).

telemetry - Variable in class MRILib.managers.Bot

telemetry - Variable in class MRILib.motion.PIDController

Telemetry object for displaying debug information.

thetaPID - Variable in class MRILib.motion.PIDController

The PID controller for the rotational (Theta/Heading) movement.

timer - Variable in class MRILib.motion.PID

Timer used to calculate the time difference (deltaTime) between updates.

timer - Variable in class MRILib.motion.PIDController

Timer object, declared but apparently unused in the current implementation.

toString() - Method in class MRILib.statemachine.BotState

Provides a string representation of the state, which is its name.

transition() - Method in class MRILib.statemachine.ArmFSM

Checks all transition conditions defined in the current state.

U

update() - Method in class MRILib.managers.Bot

Updates the robot's state.

update() - Method in class MRILib.motion.PIDController

Updates the PID controllers and commands the robot using field-centric drive.

update() - Method in class MRILib.statemachine.ArmFSM

Executes the update logic of the current state and checks conditionals.

update() - Method in class MRILib.statemachine.BotState

Called repeatedly in the FSM's update loop while this state is active.

update() - Method in class MRILib.statemachine.DriveFSM

Executes the update logic of the current step.

update(double) - Method in class MRILib.motion.HeadingPID

Updates the PID controller calculation specifically for angles/heading.

update(double) - Method in class MRILib.motion.PID

Updates the PID controller calculation based on a single measured value.

update(double, double) - Method in class MRILib.motion.PID

Updates the PID controller calculation by choosing between two measured values.

updateControllerState() - Method in class MRILib.managers.ArmBotFF

Updates the arm controller with current pivot state.

updateEncoders() - Method in class MRILib.managers.ArmBotEasy

Updates the stored encoder positions for all drive motors (via superclass) and the arm motors (slide, pivot).

updateEncoders() - Method in class MRILib.managers.ArmBotFF

Updates current and previous encoder positions for drive and arm motors.

updateEncoders() - Method in class MRILib.managers.Bot

Updates the stored encoder positions for the drive train motors.

V

voltageSensor - Variable in class MRILib.managers.Bot

W

waitForSeconds(double) - Method in class MRILib.statemachine.DriveFSM

Adds a wait step with no parallel command.

waitForSeconds(double, Runnable) - Method in class MRILib.statemachine.DriveFSM

Adds a state to wait for a duration while holding position, optionally running a command.

X

xPID - Variable in class MRILib.motion.PIDController

The PID controller for the X-axis movement (field-centric).

Y

yPID - Variable in class MRILib.motion.PIDController

The PID controller for the Y-axis movement (field-centric).

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