Package edu.wpi.first.wpilibj

The WPI Robotics library (WPILibJ) is a set of Java classes that interfaces to the hardware in the FRC control system and your robot.

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
AnalogChannel	Analog channel class.
AnalogModule	Analog Module class.
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.
Encoder.PIDSourceParameter
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.
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.
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.

Package edu.wpi.first.wpilibj Description

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:

• Deal with all the low level interfacing to these components so you can concentrate on solving this yearŐs Ňrobot problemÓ. This is a philosophical decision to let you focus on the higher-level design of your robot rather than deal with the details of the processor and the operating system.
• Understand everything at all levels by making the full source code of the library available. You can study (and modify) the algorithms used by the gyro class for oversampling and integration of the input signal or just ask the class for the current robot heading. You can work at any level.