Package edu.wpi.first.wpilibj

  • Interface Summary 
    Interface Description
    Controller Deprecated, for removal: This API element is subject to removal in a future version.
    None of the 2020 FRC controllers use this.
    CounterBase
    Interface for counting the number of ticks on a digital input channel.
    PIDBase.Tolerance
    Tolerance is the type of tolerance used to specify if the PID controller is on target.
    PIDInterface Deprecated, for removal: This API element is subject to removal in a future version.
    PIDOutput Deprecated, for removal: This API element is subject to removal in a future version.
    Use DoubleConsumer and new PIDController class.
    PIDSource Deprecated, for removal: This API element is subject to removal in a future version.
    Use DoubleSupplier and new PIDController class.
    Sendable
    The base interface for objects that can be sent over the network through network tables.
    SpeedController
    Interface for speed controlling devices.
  • Class Summary 
    Class Description
    AddressableLED
    A class for driving addressable LEDs, such as WS2812s and NeoPixels.
    AddressableLEDBuffer
    Buffer storage for Addressable LEDs.
    ADXL345_I2C
    ADXL345 I2C Accelerometer.
    ADXL345_I2C.AllAxes  
    ADXL345_SPI
    ADXL345 SPI Accelerometer.
    ADXL345_SPI.AllAxes  
    ADXL362
    ADXL362 SPI Accelerometer.
    ADXL362.AllAxes  
    ADXRS450_Gyro
    Use a rate gyro to return the robots heading relative to a starting position.
    AnalogAccelerometer
    Handle operation of an analog accelerometer.
    AnalogEncoder
    Class for supporting continuous analog encoders, such as the US Digital MA3.
    AnalogGyro
    Use a rate gyro to return the robots heading relative to a starting position.
    AnalogInput
    Analog channel class.
    AnalogOutput
    Analog output 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.
    BuiltInAccelerometer
    Built-in accelerometer.
    CameraServer Deprecated.
    Replaced with edu.wpi.first.cameraserver.CameraServer
    CAN
    High level class for interfacing with CAN devices conforming to the standard CAN spec.
    Compressor
    Class for operating a compressor connected to a PCM (Pneumatic Control Module).
    Counter
    Class for counting the number of ticks on a digital input channel.
    DigitalGlitchFilter
    Class to enable glitch filtering on a set of digital inputs.
    DigitalInput
    Class to read a digital input.
    DigitalOutput
    Class to write digital outputs.
    DigitalSource
    DigitalSource Interface.
    DMC60
    Digilent DMC 60 Speed Controller.
    DoubleSolenoid
    DoubleSolenoid class for running 2 channels of high voltage Digital Output on the PCM.
    DriverStation
    Provide access to the network communication data to / from the Driver Station.
    DutyCycle
    Class to read a duty cycle PWM input.
    DutyCycleEncoder
    Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder.
    Encoder
    Class to read quadrature encoders.
    Filesystem
    Class for interacting with the Filesystem, particularly, interacting with FRC-related paths on the system, such as the launch and deploy directories.
    GearTooth Deprecated, for removal: This API element is subject to removal in a future version.
    The only sensor this works with is no longer available and no teams use it according to FMS usage reporting.
    GenericHID
    GenericHID Interface.
    GyroBase
    GyroBase is the common base class for Gyro implementations such as AnalogGyro.
    I2C
    I2C bus interface class.
    InterruptableSensorBase
    Base for sensors to be used with interrupts.
    InterruptHandlerFunction<T>
    It is recommended that you use this class in conjunction with classes from java.util.concurrent.atomic as these objects are all thread safe.
    IterativeRobot Deprecated.
    Use TimedRobot instead.
    IterativeRobotBase
    IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class.
    Jaguar
    Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
    Joystick
    Handle input from standard Joysticks connected to the Driver Station.
    LinearFilter
    This class implements a linear, digital filter.
    MedianFilter
    A class that implements a moving-window median filter.
    MotorSafety
    This base class runs a watchdog timer and calls the subclass's StopMotor() function if the timeout expires.
    NidecBrushless
    Nidec Brushless Motor.
    Notifier  
    PIDBase Deprecated, for removal: This API element is subject to removal in a future version.
    All APIs which use this have been deprecated.
    PIDBase.NullTolerance
    Used internally for when Tolerance hasn't been set.
    PIDController Deprecated, for removal: This API element is subject to removal in a future version.
    Use PIDController instead.
    PowerDistributionPanel
    Class for getting voltage, current, temperature, power and energy from the Power Distribution Panel over CAN.
    Preferences
    The preferences class provides a relatively simple way to save important values to the roboRIO to access the next time the roboRIO is booted.
    PWM
    Class implements the PWM generation in the FPGA.
    PWMSparkMax
    REV Robotics SPARK MAX Speed Controller with PWM control.
    PWMSpeedController
    Common base class for all PWM Speed Controllers.
    PWMTalonFX
    Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control.
    PWMTalonSRX
    Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
    PWMVenom
    Playing with Fusion Venom Smart Motor with PWM control.
    PWMVictorSPX
    Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
    Relay
    Class for VEX Robotics Spike style relay outputs.
    Resource
    Track resources in the program.
    RobotBase
    Implement a Robot Program framework.
    RobotController
    Contains functions for roboRIO functionality.
    RobotDrive Deprecated.
    Use DifferentialDrive or MecanumDrive classes instead.
    RobotState  
    SD540
    Mindsensors SD540 Speed Controller.
    SendableBase Deprecated, for removal: This API element is subject to removal in a future version.
    Use Sendable and SendableRegistry
    SensorUtil
    Stores most recent status information as well as containing utility functions for checking channels and error processing.
    SerialPort
    Driver for the serial ports (USB, MXP, Onboard) on the roboRIO.
    Servo
    Standard hobby style servo.
    SlewRateLimiter
    A class that limits the rate of change of an input value.
    Solenoid
    Solenoid class for running high voltage Digital Output on the PCM.
    SolenoidBase
    SolenoidBase class is the common base class for the Solenoid and DoubleSolenoid classes.
    Spark
    REV Robotics SPARK Speed Controller.
    SpeedControllerGroup
    Allows multiple SpeedController objects to be linked together.
    SPI
    Represents a SPI bus port.
    Talon
    Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
    Threads  
    TimedRobot
    TimedRobot implements the IterativeRobotBase robot program framework.
    Timer  
    Tracer
    A class for keeping track of how much time it takes for different parts of code to execute.
    Ultrasonic
    Ultrasonic rangefinder class.
    Victor
    VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also be used with this class but may need to be calibrated per the Victor 884 user manual.
    VictorSP
    VEX Robotics Victor SP Speed Controller.
    Watchdog
    A class that's a wrapper around a watchdog timer.
    XboxController
    Handle input from Xbox 360 or Xbox One controllers connected to the Driver Station.
  • Enum Summary 
    Enum Description
    ADXL345_I2C.Axes  
    ADXL345_SPI.Axes  
    ADXL362.Axes  
    AnalogTriggerOutput.AnalogTriggerType
    Defines the state in which the AnalogTrigger triggers.
    Counter.Mode
    Mode determines how and what the counter counts.
    CounterBase.EncodingType
    The number of edges for the counterbase to increment or decrement on.
    DoubleSolenoid.Value
    Possible values for a DoubleSolenoid.
    DriverStation.Alliance
    The robot alliance that the robot is a part of.
    DriverStation.MatchType  
    Encoder.IndexingType  
    GenericHID.Hand
    Which hand the Human Interface Device is associated with.
    GenericHID.HIDType  
    GenericHID.RumbleType
    Represents a rumble output on the JoyStick.
    I2C.Port  
    InterruptableSensorBase.WaitResult  
    Joystick.AxisType
    Represents an analog axis on a joystick.
    Joystick.ButtonType
    Represents a digital button on a joystick.
    PIDSourceType Deprecated, for removal: This API element is subject to removal in a future version.
    PWM.PeriodMultiplier
    Represents the amount to multiply the minimum servo-pulse pwm period by.
    Relay.Direction
    The Direction(s) that a relay is configured to operate in.
    Relay.Value
    The state to drive a Relay to.
    RobotDrive.MotorType
    The location of a motor on the robot for the purpose of driving.
    SerialPort.FlowControl
    Represents what type of flow control to use for serial communication.
    SerialPort.Parity
    Represents the parity to use for serial communications.
    SerialPort.Port  
    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.
    SPI.Port  
    Ultrasonic.Unit
    The units to return when PIDGet is called.
    XboxController.Axis
    Represents an axis on an XboxController.
    XboxController.Button
    Represents a digital button on an XboxController.
  • Exception Summary 
    Exception Description
    AnalogTrigger.AnalogTriggerException
    Exceptions dealing with improper operation of the Analog trigger.
    AnalogTriggerOutput.AnalogTriggerOutputException
    Exceptions dealing with improper operation of the Analog trigger output.
    Relay.InvalidValueException
    This class represents errors in trying to set relay values contradictory to the direction to which the relay is set.