Here are the classes, structs, unions and interfaces with brief descriptions:

Nunits
CQuantity
NVDP
CChannel	A channel of data to be sent to the debug board
CField	Field proto
CFixedPoint	Template for fixed point types
CHasTypeId	Primary template to check if a type has an associated id
CHasTypeId< T, std::void_t< decltype(TypeIdMap< T >::value)> >	Actual check for if a type has an associated id
CIsField	Check for if a held field type is a Field
CIsFixedPoint	Check for if a held field type is a fixed point type
CPacketHeader	A packet header is byte that combines a packet function and packet type
CRecord	Record proto
CTypeIdMap< FixedPoint< Id, Storage > >	Maps fixed points to their Type Ids
CTypeIdMap< Record< Fields... > >	Maps each type -> TypeId
CTypeIdMap< T >	Since our build system makes int32_t an alias for long, we convert regular ints to int32_ts
CAsync	Async runs a command asynchronously
CBranch	Branch chooses from multiple options at runtime. the function decider returns an index into the choices vector If you wish to make no choice and skip this section, return NO_CHOICE; any choice that is out of bounds set to NO_CHOICE
CButtonWidget	Widget that does something when you tap it. The function is only called once when you first tap it
CCentripetalAccelerationConstraint	Trajectory constraint that limits maximum velocity to prevent excessive centripetal acceleration
CChassisAccelerations	Represents robot chassis accelerations
CChassisVelocities	Represents robot chassis velocities
CCommandController
CCondition
CCRC32	A class for calculating the CRC32 checksum from arbitrary data
CCubicHermiteSpline	Cubic Hermite spline segment defined by endpoint positions and tangents
CCustomEncoder
CDelayCommand
CDistanceEvent	Configuration parameters and constraint container for generating trajectories
CDriveForwardCommand
CDriveStopCommand
CDriveToPointCommand
CExponentialMovingAverage
CFeedback
CFeedForward
CFilter
CFlywheel
CFunctionCommand
CFunctionCondition	FunctionCondition is a quick and dirty Condition to wrap some expression that should be evaluated at runtime
CFunctionPage	Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
CHermitePoint	Represents a boundary point along a Hermite spline
CHermiteSpline	CRTP base class for Hermite splines of specific polynomial order
CIfTimePassed	IfTimePassed tests based on time since the command controller was constructed. Returns true if elapsed time > time_s
CInitialization	Initialization is a helper structure of the Initializer class used to group an initialization function with relevant metadata
CInitializer
CInitializerPage	InitializerPage provides a way to Select a desired Initialization on the Screen
CInOrder	InOrder runs its commands sequentially then continues. How to handle timeout in this case. Automatically set it to sum of commands timouts?
CInterpolatingMap
CKalmanFilter
CLift
Clift_cfg_t
CLinearPlantInversionFeedforward
CLinearQuadraticRegulator
CLinearSystem
CLinearVector2d
CLogger	Class to simplify writing to files
CMaxVelocityConstraint	Trajectory constraint that enforces a strict upper limit on velocity
CMaybeMessage	State Machine :)))))) A fun fun way of controlling stateful subsystems - used in the 2023-2024 Over Under game for our overly complex intake-cata subsystem (see there for an example) The statemachine runs in a background thread and a user thread can interact with it through current_state and send_message
CMotionController
Cm_profile_cfg_t
CMovingAverage
COdometryBase
COdometryPage	Page that shows odometry position and rotation and a map (if an sd card with the file is on)
COdometrySerial
COdometryTank
COdomSetPosition
CParallel	Parallel runs multiple commands in parallel and waits for all to finish before continuing. if none finish before this command's timeout, it will call on_timeout on all children continue
CPID
CPIDPage	PIDPage provides a way to tune a pid controller on the screen
CPoint2d	Class representing a lattice point
CPose2d
CPoseWithCurvature	Pair representing 2D Pose and scalar path units::Curvature
CQuinticHermiteSpline	Quintic Hermite spline segment defined by endpoint positions, tangents, and second derivatives
CRect	Describes a Rectangle with a minimum and maximum point
CRectangularRegionConstraint	Enforces a TrajectoryConstraint only when the robot's translation falls within a specified 2D rectangular bounding box
Crobot_specs_t
CRotation2d
CScaledSphericalSimplexSigmaPoints
CScreenPage	Page describes one part of the screen slideshow
CSliderWidget	Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen stuff lives on another thread
CSplineBase	Abstract base class for parametric 2D Hermite splines
CSplinePath	Manages multi-segment Hermite spline paths
CSplineSample	Evaluated state sample at a specific parameter u or distance s along a spline
CState
CStatsPage	Draws motor stats and battery stats to the screen
CTankDrive
CTankKinematics	Helper class that converts a chassis velocity (vx and omega) to left and right wheel velocities for a tank drive
CTankKinematicsConstraint	Trajectory constraint that limits velocity and acceleration based on tank drive kinematics and maximum wheel constraints
CTankVoltageConstraint	Trajectory constraint that limits acceleration based on available battery voltage and motor capabilities
CTankWheelAccelerations	Represents the left and right accelerations of a tank drive
CTankWheelVelocities	Represents the left and right velocities of a tank drive
Ctracking_wheel_cfg_t
CTrajectory	Represents a time-parameterized 2D motion trajectory
CState	Represents a single discrete state sample along a trajectory
CTrajectoryConfigBuilder	Fluent Builder API for constructing TrajectoryConfig instances cleanly
CTrajectoryConstraint	Interface for defining physical trajectory velocity and acceleration constraints
CMinMax	Struct representing minimum and maximum allowed linear accelerations
CTrajectoryEvent	Represents an action event triggered at a specific time along a trajectory
CTrajectoryGenerator	Helper utility class for generating time-parameterized constrained trajectories from waypoints
CTrajectoryParameterizer	Algorithms for time-parameterizing spatial path points into constrained trajectories
CTrajectorySampler	High-efficiency streaming sampler for real-time control loops
CTransform2d
CTrapezoidProfile
CTurnDegreesCommand
CTurnToHeadingCommand
CTwist2d
CUnscentedKalmanFilter
CWaitUntilCondition	Waits until the condition is true