WPILib
What is WPILib
What is WPILib
From the WPILib reference on ScreenStepsLive:
The WPI Robotics library (WPILib) is a set of software classes that interfaces with the hardware and software in your FRC robot’s control system. There are classes to handle sensors, motor speed controllers, the driver station, and a number of other utility functions such as timing and field management.
Complete Javadoc
Complete Javadoc
Most Useful WPILib Classes
Most Useful WPILib Classes
This is a list of the primary WPILib classes that are used in the Toronto Framework:
Command Based Programming
- Scheduler - scheduling a command
- Command - the basic framework for all commands
- Subsystem - a container for sensors, motors and pneumatics actuators
Operator Input (OI) Layer
- Joystick - a basic joystick, extended by the Toronto Framework to GameController
- SendableChooser - a way to select an auto pattern on the SmartDashboard
- SmartDashboard - put debug/status information on the SmartDashboard
Speed Controllers (Motors)
- Jaguar, PWMSpeedController, SD540, Spark, Talon, TalonSRX, Victor, VictorSP - a motor connected to a PWM port
- CANTalon - a TalonSRX connected to the CAN bus (requires the CTRE Jars - see Installing the Toronto Framework for instructions)
Sensors
- AnalogGyro - a Gyro plugged into an analog port
- AnalogInput - an analog input (ie. proximity sensor)
- DigitalInput - a limit switch or other digital input plugged into a DIO port
- Encoder - a quadrature encoder
- Counter - a counter attached to a DIO channel used to count fast DIO pulses
Pnematics
- Solenoid - a pneumatic single solenoid
- DoubleSolenoid - a penumatic double solenoid