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Welcome to WPILib

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Our Mission

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Core Libraries

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Hardware Abstraction Layer (HAL)

• Digital I/O, PWM, Relay outputs
• Analog inputs and outputs
• Encoders and counters
• Pneumatics control (CTRE PCM, REV PH)
• CAN bus communication
• Power distribution monitoring

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WPILibJ & WPILibC

• TimedRobot framework with 20ms periodic execution
• Motor controller classes and groups
• Drive train implementations (Differential, Mecanum, Swerve)
• Sensor wrappers (gyros, accelerometers, limit switches)
• Smart Dashboard integration

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WPIMath

• Geometry classes (Pose2d, Transform2d, Rotation2d)
• Kinematics (differential, mecanum, swerve)
• Odometry and pose estimation
• Trajectory generation and following
• State-space controllers and Kalman filters

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NTCore (Network Tables)

• Automatic type handling and serialization
• Bidirectional communication
• Connection to driver station, dashboards, and coprocessors
• Persistent value storage

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CSCore (Camera Server)

• USB and HTTP camera support
• MJPEG and H.264 streaming
• OpenCV integration for vision processing
• Multiple simultaneous camera streams

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Language Support

import edu.wpi.first.wpilibj.TimedRobot;

public class Robot extends TimedRobot {
  @Override
  public void robotInit() {
    // Initialization code
  }

  @Override
  public void teleopPeriodic() {
    // Teleop code runs every 20ms
  }
}

#include <frc/TimedRobot.h>

class Robot : public frc::TimedRobot {
 public:
  void RobotInit() override {
    // Initialization code
  }

  void TeleopPeriodic() override {
    // Teleop code runs every 20ms
  }
};

import wpilib

class Robot(wpilib.TimedRobot):
    def robotInit(self):
        # Initialization code
        pass

    def teleopPeriodic(self):
        # Teleop code runs every 20ms
        pass

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Open Source

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Getting Started