WPILib

What is WPILib

From the WPILib reference on ScreenStepsLive:

The WPI Robotics Library (WPILib) is the standard software library provided for teams to write code for their FRC® robots. A software library is a collection of code that can be imported into and used by other software. WPILib contains a set of useful classes and subroutines for interfacing with various parts of the FRC control system (such as sensors, motor controllers, and the driver station), as well as an assortment of other utility functions.

Complete Javadoc

Most Useful WPILib Classes

This is a list of the primary WPILib classes used in robot programming:

Command Based Programming

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)

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

Key IP Address Lists

  • roboRIO USB: 172.22.11.2

  • roboRIO mDNS: roboRIO-####-FRC.local (where #### is your team number with no leading zeroes) You should be able to use this address to communicate with the roboRIO over either interface through ping, browser, etc.

  • Robot Radio: 10.TE.AM.1 (where TE.AM is your 4 digit team number with leading zeroes if required)

  • DHCP range: 10.TE.AM.20 to 10.TE.AM.199