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See:
Description
| Interface Summary | |
|---|---|
| CounterBase | Interface for counting the number of ticks on a digital input channel. |
| IDashboard | Represents a Dashboard which can provide data to be sent by the DriverStation class. |
| MotorSafety | |
| NamedSendable | The interface for sendable objects that gives the sendable a default name in the Smart Dashboard |
| PIDController.Tolerance | Tolerance is the type of tolerance used to specify if the PID controller is on target. |
| PIDOutput | This interface allows PIDController to write it's results to its output. |
| PIDSource | This interface allows for PIDController to automatically read from this object |
| Sendable | The base interface for objects that can be sent over the network through network tables. |
| SpeedController | Interface for speed controlling devices. |
| Class Summary | |
|---|---|
| Accelerometer | Handle operation of the accelerometer. |
| AccumulatorResult | Structure for holding the values stored in an accumulator |
| ADXL345_I2C | |
| ADXL345_I2C.AllAxes | |
| ADXL345_I2C.Axes | |
| ADXL345_I2C.DataFormat_Range | |
| ADXL345_SPI | |
| ADXL345_SPI.AllAxes | |
| ADXL345_SPI.Axes | |
| ADXL345_SPI.DataFormat_Range | |
| AnalogChannel | Analog channel class. |
| AnalogModule | Analog Module class. |
| AnalogPotentiometer | Class for reading analog potentiometers. |
| AnalogTrigger | Class for creating and configuring Analog Triggers |
| AnalogTriggerOutput | Class to represent a specific output from an analog trigger. |
| AnalogTriggerOutput.Type | Type determines under what state the analog trigger evaluates to true or false |
| CANJaguar | |
| CANJaguar.ControlMode | Mode determines how the Jaguar is controlled |
| CANJaguar.Faults | Faults reported by the Jaguar |
| CANJaguar.LimitMode | Determines which sensor to use for position reference. |
| CANJaguar.Limits | Limit switch masks |
| CANJaguar.NeutralMode | Determines how the Jaguar behaves when sending a zero signal. |
| CANJaguar.PositionReference | Determines which sensor to use for position reference. |
| CANJaguar.SpeedReference | Determines which sensor to use for speed reference. |
| Compressor | Compressor object. |
| Counter | Class for counting the number of ticks on a digital input channel. |
| Counter.Mode | Mode determines how and what the counter counts |
| CounterBase.EncodingType | The number of edges for the counterbase to increment or decrement on |
| Dashboard | Pack data into the "user data" field that gets sent to the dashboard laptop via the driver station. |
| DigitalInput | Class to read a digital input. |
| DigitalModule | Class representing a digital module |
| DigitalOutput | Class to write digital outputs. |
| DigitalSource | DigitalSource Interface. |
| DoubleSolenoid | DoubleSolenoid class for running 2 channels of high voltage Digital Output (9472 module). |
| DoubleSolenoid.Value | Possible values for a DoubleSolenoid |
| DriverStation | Provide access to the network communication data to / from the Driver Station. |
| DriverStation.Alliance | The robot alliance that the robot is a part of |
| DriverStationEnhancedIO | |
| DriverStationEnhancedIO.tAccelChannel | Accelerometer channel for enhanced IO |
| DriverStationEnhancedIO.tDigitalConfig | Digital configuration for enhanced IO |
| DriverStationEnhancedIO.tPWMPeriodChannels | PWM period channels for enhanced IO |
| DriverStationLCD | Provide access to "LCD" on the Driver Station. |
| DriverStationLCD.Line | The line number on the Driver Station LCD |
| Encoder | Class to read quad encoders. |
| GearTooth | Alias for counter class. |
| GenericHID | GenericHID Interface |
| GenericHID.Hand | Which hand the Human Interface Device is associated with. |
| Gyro | Use a rate gyro to return the robots heading relative to a starting position. |
| HiTechnicColorSensor | HiTechnic NXT Color Sensor. |
| HiTechnicColorSensor.tColorSensorMode | |
| HiTechnicCompass | HiTechnic NXT Compass. |
| I2C | I2C bus interface class. |
| InterruptableSensorBase | Base for sensors to be used with interrupts |
| IterativeRobot | IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class. |
| Jaguar | VEX Robotics Jaguar Speed Control |
| Joystick | Handle input from standard Joysticks connected to the Driver Station. |
| Joystick.AxisType | Represents an analog axis on a joystick. |
| Joystick.ButtonType | Represents a digital button on the JoyStick |
| Kinect | |
| KinectStick | |
| Module | Base class for AnalogModule and DigitalModule. |
| MotorSafetyHelper | The MotorSafetyHelper object is constructed for every object that wants to implement the Motor Safety protocol. |
| PIDController | Class implements a PID Control Loop. |
| PIDSource.PIDSourceParameter | A description for the type of output value to provide to a PIDController |
| Preferences | The preferences class provides a relatively simple way to save important values to the cRIO to access the next time the cRIO is booted. |
| PWM | Class implements the PWM generation in the FPGA. |
| PWM.PeriodMultiplier | Represents the amount to multiply the minimum servo-pulse pwm period by. |
| Relay | Class for VEX Robotics Spike style relay outputs. |
| Relay.Direction | The Direction(s) that a relay is configured to operate in. |
| Relay.Value | The state to drive a Relay to. |
| Resource | Track resources in the program. |
| RobotBase | Implement a Robot Program framework. |
| RobotDrive | Utility class for handling Robot drive based on a definition of the motor configuration. |
| RobotDrive.MotorType | The location of a motor on the robot for the purpose of driving |
| SafePWM | |
| SensorBase | Base class for all sensors. |
| SerialPort | Driver for the RS-232 serial port on the cRIO. |
| SerialPort.FlowControl | Represents what type of flow control to use for serial communication |
| SerialPort.Parity | Represents the parity to use for serial communications |
| SerialPort.StopBits | Represents the number of stop bits to use for Serial Communication |
| SerialPort.WriteBufferMode | Represents which type of buffer mode to use when writing to a serial port |
| Servo | Standard hobby style servo. |
| SimpleRobot | A simple robot base class that knows the standard FRC competition states (disabled, autonomous, or operator controlled). |
| Skeleton | A Skeleton object to be used with Kinect data from the FRC Kinect server on the DriverStation |
| Skeleton.tJointTrackingState | The Joint TrackingState |
| Skeleton.tJointTypes | Helper class used to index the joints in a (@link Skeleton) |
| Skeleton.tTrackState | The TrackState of the skeleton |
| Solenoid | Solenoid class for running high voltage Digital Output (9472 module). |
| SolenoidBase | SolenoidBase class is the common base class for the Solenoid and DoubleSolenoid classes. |
| SPIDevice | Represents a device on an SPI bus Note that the cRIO only supports one SPI bus Attempting to open a second SPI device with a different shared pin (clk, mosi, miso) will result in an exception |
| Talon | CTRE Talon Speed Controller |
| Timer | Timer objects measure accumulated time in milliseconds. |
| Ultrasonic | Ultrasonic rangefinder class. |
| Ultrasonic.Unit | The units to return when PIDGet is called |
| Utility | Contains global utility functions |
| Victor | VEX Robotics Victor Speed Controller |
| Watchdog | Watchdog timer class. |
| Exception Summary | |
|---|---|
| DriverStationEnhancedIO.EnhancedIOException | |
| Preferences.ImproperPreferenceKeyException | Should be thrown if a string can not be used as a key in the preferences file. |
| Preferences.IncompatibleTypeException | This exception is thrown if the a value requested cannot be converted to the requested type. |
| SPIDevice.BadSPIConfigException | |
The WPI Robotics library (WPILibJ) is a set of Java classes that interfaces to the hardware in the FRC control system and your robot. There are classes to handle sensors, motors, the driver station, and a number of other utility functions like timing and field management. The library is designed to:
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