An interface that describes an iterative action. It is run by an autonomous action, called by the method runAction in AutoModeBase (or more commonly i

Represents the state of the robot and field at the beginning of the autonomous period: the starting position of the robot, and the state of each of th

An abstract class that is the basis of the robot's autonomous routines. This is implemented in auto modes (which are routines that do actions).

Exception thrown when an auto mode ends unexpectedly

This class selects, runs, and stops (if necessary) a specified autonomous mode.

Helper class to implement "Cheesy Drive". "Cheesy Drive" simply means that the "turning" stick controls the curvature of the robot's path rather than

Handles things related to scale angle detection.

Implements a simple circular buffer.

Implements a simple circular buffer. Can be used for any class.

A list of constants used by the rest of the robot code. This include physics constants as well as constants determined through calibrations.

Makes optimization code a little more readable

Makes optimization code a little more readable

Tracks start-up and caught crash events, logging them to a file which dosn't roll over

Runnable class with reports all uncaught throws to CrashTracker

Temporary spline for testing

Temporary spline for testing

Model of a DC motor rotating a shaft. All parameters refer to the output (e.g. should already consider gearing and efficiency losses). The motor is

An iterative boolean latch that delays the transition from false to true.

Dynamic model a differential drive robot. Note: to simplify things, this math assumes the center of mass is coincident with the kinematic center of r

A drivetrain command consisting of the left, right motor settings and whether the brake mode is enabled.