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.. meta::
   :google-site-verification: POR_nG8b56eXGxmUIutST7jcA_Vl58ypSdJTzJ1g0zg

WPILib Documentation
====================

.. raw:: html

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     <h1 class="wl-hero-title">
       Welcome!
     </h1>
     <p class="wl-hero-copy">
       WPILib is the standard programming library for <em>FIRST</em> Robotics,
       supporting teams competing in
       <strong class="wl-hero-frc"><em>FIRST</em> Robotics Competition (FRC)</strong>
       and
       <strong class="wl-hero-ftc"><em>FIRST</em> Tech Challenge (FTC)</strong>.
     </p>
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         <div class="wl-welcome">
           <h2 class="wl-welcome-h">New to WPILib? You're in the right place.</h2>
           <p class="wl-welcome-p">Start with Zero to Robot to connect Systemcore, install WPILib, and write your first robot program. No programming experience is required.</p>
         </div>
         <h3 class="wl-sh">Set Up and Program Your Robot</h3>
         <a class="wl-card wl-card-shared wl-btn wl-feature-card" href="docs/zero-to-robot/introduction.html">
           <span class="wl-num wl-shared-text">→</span>
           <div>
             <div class="wl-card-title">Zero to Robot</div>
             <div class="wl-card-desc">Choose a programming language and editor, connect and configure Systemcore, then deploy code and drive. Assembly and wiring guides are linked in Step 1.</div>
           </div>
         </a>
         <div class="wl-tip wl-tip-shared">
           <strong>Already comfortable programming?</strong>
           Read <a href="docs/zero-to-robot/new-to-wpilib.html">New to WPILib</a> for an introduction to the robot program structure, hardware classes, and development tools. Then continue with the setup step you need.
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         <h2 class="wl-welcome-h">Welcome back! Get ready for 2027.</h2>
         <p class="wl-welcome-p">Use the checklist below to install WPILib, import your project, and update vendor libraries. Check the replacement tools before you deploy.</p>
       </div>

       <div class="wl-grid">
         <a class="wl-card wl-card-shared wl-btn" href="docs/zero-to-robot/returning.html">
           <span class="wl-num wl-shared-text">0</span>
           <div>
             <div class="wl-card-title">Review the 2027 checklist</div>
             <div class="wl-card-desc">Check the FRC update steps and what's available for FTC teams using Systemcore.</div>
           </div>
         </a>
         <a class="wl-card wl-card-shared wl-btn" href="docs/zero-to-robot/step-2/index.html">
           <span class="wl-num wl-shared-text">1</span>
           <div>
             <div class="wl-card-title">Install the 2027 tools</div>
             <div class="wl-card-desc">Install WPILib and the Driver Station, or set up your OnBot editor.</div>
           </div>
         </a>
       </div>

       <div class="wl-ret-grid">

         <!-- ── FRC column ── -->
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           <div class="wl-ret-card wl-ret-frc">
             <div class="wl-ret-label wl-frc-label">FRC</div>
             <h3 class="wl-ret-h">Pre-Season Checklist</h3>
             <ul>
               <li>Download and run the <strong><a href="docs/zero-to-robot/step-2/wpilib-setup.html">2027 WPILib installer</a></strong></li>
               <li><strong><a href="docs/software/systemcore-info/index.html">Update your Systemcore</a></strong> if needed</li>
               <li>Use <strong><a href="docs/software/vscode-overview/importing-last-years-robot-code.html">Import Project</a></strong> in VS Code to migrate your 2026 code</li>
               <li><strong><a href="docs/software/vscode-overview/3rd-party-libraries.html">Re-add all vendor libraries</a></strong>: they do not carry over when you import your project</li>
               <li>Check for <strong><a href="docs/software/vscode-overview/3rd-party-libraries.html">vendor library updates</a></strong> in the Dependency Manager</li>
               <li>Test with the <strong><a href="docs/software/wpilib-tools/robot-simulation/simulation-gui.html">simulator</a></strong> before deploying to hardware</li>
             </ul>
           </div>

           <div class="wl-ret-card wl-ret-frc">
             <div class="wl-ret-label wl-frc-label">FRC</div>
             <h3 class="wl-ret-h">Tools to Replace for 2027</h3>
             <p class="wl-ret-copy">These tools are <strong>not available in the 2027 release</strong>. Choose a replacement before your first robot test.</p>
             <ul>
               <li><strong>Shuffleboard</strong>: update to <a href="https://github.com/Gold872/elastic-dashboard">Elastic</a> or AdvantageScope</li>
               <li><strong>SmartDashboard</strong>: update to Glass or Elastic </li>
               <li><strong>PathWeaver</strong>: update to <a href="https://github.com/mjansen4857/pathplanner">PathPlanner</a> or <a href="https://sleipnirgroup.github.io/Choreo/">Choreo</a></li>
               <li><strong>RobotBuilder</strong>: being removed with the control system change in 2027</li>
             </ul>
           </div>

           <div class="wl-ret-card wl-ret-frc">
             <div class="wl-ret-label wl-frc-label">FRC</div>
             <h3 class="wl-ret-h">What Is New for 2027</h3>
             <ul>
               <li>FRC now uses Systemcore: see the hardware migration guide</li>
               <li>2027 field images and AprilTag layout data (included in WPILib after kickoff)</li>
               <li>Windows 10 is no longer supported: Windows 11 is required</li>
               <li>Vendor library updates required: check the Dependency Manager</li>
             </ul>
             <a href="docs/yearly-overview/index.html" class="wl-frc-text wl-ret-link">Full 2027 changelog</a>
           </div>

         </div>

         <!-- ── FTC + shared column ── -->
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           <div class="wl-ret-card wl-ret-ftc">
             <div class="wl-ret-label wl-ftc-label">FTC</div>
             <h3 class="wl-ret-h">FTC: Choose Your Control System</h3>
             <p class="wl-ret-copy wl-ret-copy-spacious">FTC teams use Systemcore with WPILib or REV Control Hub / Expansion Hub with the FTC SDK. Choose the documentation for your hardware.</p>
             <strong class="wl-ret-subhead">Using REV Control Hub / Expansion Hub?</strong>
             <p class="wl-ret-copy">Follow <a href="https://ftc-docs.firstinspires.org/en/latest/">FTC Docs</a> for setup, wiring, and programming.</p>
             <strong class="wl-ret-subhead wl-ret-subhead-spaced">Using Systemcore with WPILib?</strong>
             <ul class="wl-ret-compact-list">
               <li>Systemcore works with WPILib code; Motioncore connects motors</li>
               <li>See the FTC overview for release status and setup information</li>
               <li>Practice writing and running code on an <a href="docs/xrp-robot/index.html">XRP robot</a></li>
               <li><a href="docs/ftc/index.html">WPILib FTC overview</a></li>
             </ul>
           </div>

           <div class="wl-ret-card wl-ret-shared">
             <div class="wl-ret-label wl-shared-label">FRC + FTC</div>
             <h3 class="wl-ret-h">Practice with WPILib</h3>
             <ul>
               <li>Use WPILib to read sensors, control motors, and write autonomous routines</li>
               <li>Choose your language and editor in Zero to Robot</li>
               <li>Use the XRP to practice without waiting for a competition robot</li>
             </ul>
             <a href="https://wpilib.org/blog" class="wl-shared-text wl-ret-link">Follow the WPILib blog for release updates</a>
           </div>

         </div>

       </div>
     </div>

   </div>


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.. rubric:: Find the Right Documentation

.. grid:: 1 1 3 3
   :gutter: 3

   .. grid-item-card:: WPILib: Systemcore and Robot Programming
      :link: /docs/zero-to-robot/introduction
      :link-type: doc
      :class-card: sw-card-shared

      Set up Systemcore, write robot code, and learn how to test and debug it.
      You'll also find links to hardware guides and vendor documentation.

   .. grid-item-card:: FRC Docs: Team, Hardware, and Vendor Resources
      :link: /docs/hardware/hardware-basics/hardware-overview
      :link-type: doc
      :class-card: sw-card-frc

      **Separate site coming soon**
      ^^^
      Find FRC hardware guides, vendor links, and team resources. These will
      move to a separate site; until then they are here in WPILib docs.

      +++
      Browse current FRC resources →

   .. grid-item-card:: FTC Docs: Hardware and Setup and more
      :link: https://ftc-docs.firstinspires.org/en/latest/
      :link-type: url
      :class-card: sw-card-ftc

      Find FTC assembly and wiring guides, plus setup and programming help
      for the REV control system. For Systemcore programming, use WPILib docs.

.. raw:: html

   <hr class="wl-core-intro"/>
   <h2 class="wl-sh wl-core-heading" id="core-documentation">Core Documentation</h2>
   <p class="wl-core-copy">Looking for a specific topic? Start with the links below.</p>

   <h3 class="wl-sh">Foundations</h3>
   <div class="wl-core-grid">
     <a class="wl-core-card" href="docs/hardware/hardware-basics/hardware-overview.html"><div class="wl-core-title">Hardware Overview</div><div class="wl-core-desc">Compare controllers, power distribution, radios, and sensors.</div></a>
     <a class="wl-core-card" href="docs/software/what-is-wpilib.html"><div class="wl-core-title">Software Overview</div><div class="wl-core-desc">Choose a programming language and development environment.</div></a>
     <a class="wl-core-card" href="docs/software/commandbased/index.html"><div class="wl-core-title">Robot Programming</div><div class="wl-core-desc">Write robot code with commands, subsystems, and triggers.</div></a>
   </div>

   <h3 class="wl-sh">Everyday Tools</h3>
   <div class="wl-core-grid">
     <a class="wl-core-card" href="docs/software/dashboards/index.html"><div class="wl-core-title">Dashboards</div><div class="wl-core-desc">Display sensor readings and robot status in Elastic, AdvantageScope, or Glass using NetworkTables.</div></a>
     <a class="wl-core-card" href="docs/software/wpilib-tools/robot-simulation/index.html"><div class="wl-core-title">Simulation</div><div class="wl-core-desc">Test your code on your computer without a robot.</div></a>
     <a class="wl-core-card" href="docs/api-reference.html"><div class="wl-core-title">API Reference</div><div class="wl-core-desc">Java, C++, and Python class and method documentation.</div></a>
   </div>

   <h3 class="wl-sh">Controls and Autonomous Programming</h3>
   <div class="wl-core-grid">
     <a class="wl-core-card" href="docs/software/pathplanning/index.html"><div class="wl-core-title">Path Planning</div><div class="wl-core-desc">Plan autonomous paths with PathPlanner, Choreo, and WPILib tools.</div></a>
     <a class="wl-core-card" href="docs/software/advanced-controls/index.html"><div class="wl-core-title">Advanced Controls</div><div class="wl-core-desc">PID, feedforward, state-space, kinematics, and system identification.</div></a>
   </div>

   <div class="wl-legacy-note">
     <strong>Still using a legacy control system?</strong>
     This site covers the 2027 Systemcore-based control system.
     FRC teams using a roboRIO should use the
     <a href="https://docs.wpilib.org/en/stable/index.html">2026 WPILib documentation</a>.
     FTC teams using a REV Control Hub or Expansion Hub should use the
     <a href="https://ftc-docs.firstinspires.org/en/latest/">FTC documentation</a>.
   </div>

----

.. toctree::
   :maxdepth: 1
   :caption: Start Here
   :hidden:

   New to WPILib <docs/zero-to-robot/new-to-wpilib>
   Returning Teams <docs/zero-to-robot/returning>
   Zero to Robot <docs/zero-to-robot/introduction>

.. toctree::
   :maxdepth: 1
   :caption: Reference
   :hidden:

   docs/yearly-overview/index
   docs/api-reference
   docs/software/support/support-resources
   docs/software/support/troubleshooting
   docs/software/frc-glossary

.. toctree::
   :maxdepth: 1
   :caption: Programming Fundamentals
   :hidden:

   docs/software/what-is-wpilib
   docs/controls-overviews/control-system-software
   docs/software/basic-programming/index
   docs/software/hardware-apis/index
   docs/software/commandbased/index
   docs/software/python/index
   docs/software/programming-snippets
   docs/software/examples-tutorials/wpilib-examples
   docs/software/examples-tutorials/third-party-examples

.. toctree::
   :maxdepth: 1
   :caption: Tools, Dashboards, and Networking
   :hidden:

   docs/software/vscode-overview/index
   docs/software/vscode-overview/3rd-party-libraries
   docs/software/firstdriverstation/index
   docs/software/dashboards/index
   docs/software/telemetry/index
   docs/software/wpilib-tools/outlineviewer/index
   docs/software/wpilib-tools/wpical/index
   docs/networking/networking-introduction/index
   docs/networking/networking-utilities/index

.. toctree::
   :maxdepth: 1
   :caption: Robot Behavior and Autonomy
   :hidden:

   docs/software/kinematics-and-odometry/index
   docs/software/pathplanning/index
   docs/software/advanced-controls/index
   docs/software/wpilib-tools/robot-simulation/index

.. toctree::
   :maxdepth: 1
   :caption: Control Systems
   :hidden:

   docs/ftc/index
   docs/xrp-robot/index
   docs/romi-robot/index

.. toctree::
   :maxdepth: 1
   :caption: Hardware and Wiring
   :hidden:

   docs/controls-overviews/control-system-hardware
   docs/hardware/hardware-basics/hardware-overview
   docs/hardware/hardware-basics/status-lights-ref
   docs/software/can-devices/index

.. toctree::
   :maxdepth: 1
   :caption: Contributing
   :hidden:

   docs/contributing/wpilib-docs/index
   docs/contributing/wpilib/index
   docs/legal/privacy-policy
   Report an Issue <https://github.com/wpilibsuite/frc-docs/issues>

.. nowarningstoctree::
   :maxdepth: 1
   :caption: PR CHANGED FILES

   docs/api-reference.rst
   docs/contributing/wpilib-docs/style-guide.rst
   docs/controls-overviews/control-system-hardware.rst
   docs/controls-overviews/control-system-software.rst
   docs/ftc/basic-ftc-robot-wiring.rst
   docs/ftc/ftc-robot-wiring-overview.rst
   docs/ftc/index.rst
   docs/hardware/hardware-basics/hardware-overview.rst
   docs/hardware/hardware-basics/robot-battery.rst
   docs/networking/networking-introduction/ip-configurations.rst
   docs/networking/networking-utilities/portforwarding.rst
   docs/romi-robot/programming-romi.rst
   docs/software/advanced-controls/controllers/bang-bang.rst
   docs/software/advanced-controls/controllers/combining-feedforward-feedback.rst
   docs/software/advanced-controls/controllers/feedforward.rst
   docs/software/advanced-controls/controllers/pidcontroller.rst
   docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
   docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
   docs/software/advanced-controls/filters/debouncer.rst
   docs/software/advanced-controls/filters/linear-filter.rst
   docs/software/advanced-controls/filters/median-filter.rst
   docs/software/advanced-controls/filters/slew-rate-limiter.rst
   docs/software/advanced-controls/geometry/pose.rst
   docs/software/advanced-controls/geometry/transformations.rst
   docs/software/advanced-controls/state-space/state-space-debugging.rst
   docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
   docs/software/advanced-controls/state-space/state-space-observers.rst
   docs/software/advanced-controls/system-identification/creating-routine.rst
   docs/software/advanced-controls/trajectories/constraints.rst
   docs/software/advanced-controls/trajectories/ltv.rst
   docs/software/advanced-controls/trajectories/trajectory-generation.rst
   docs/software/advanced-controls/trajectories/transforming-trajectories.rst
   docs/software/advanced-gradlerio/deploy-git-data.rst
   docs/software/advanced-gradlerio/profiling-with-visualvm.rst
   docs/software/basic-programming/alliancecolor.rst
   docs/software/basic-programming/coordinate-system.rst
   docs/software/basic-programming/cpp-units.rst
   docs/software/basic-programming/deploy-directory.rst
   docs/software/basic-programming/functions-as-data.rst
   docs/software/basic-programming/index.rst
   docs/software/basic-programming/java-gc.rst
   docs/software/basic-programming/joystick.rst
   docs/software/basic-programming/opmodes.rst
   docs/software/basic-programming/robot-preferences.rst
   docs/software/can-devices/can-addressing.rst
   docs/software/commandbased/commands-v2/binding-commands-to-triggers.rst
   docs/software/commandbased/commands-v2/command-compositions.rst
   docs/software/commandbased/commands-v2/command-scheduler.rst
   docs/software/commandbased/commands-v2/commands.rst
   docs/software/commandbased/commands-v2/cpp-command-discussion.rst
   docs/software/commandbased/commands-v2/index.rst
   docs/software/commandbased/commands-v2/organizing-command-based.rst
   docs/software/commandbased/commands-v2/pid-subsystems-commands.rst
   docs/software/commandbased/commands-v2/profile-subsystems-commands.rst
   docs/software/commandbased/commands-v2/profilepid-subsystems-commands.rst
   docs/software/commandbased/commands-v2/structuring-command-based-project.rst
   docs/software/commandbased/commands-v2/subsystems.rst
   docs/software/commandbased/commands-v2/what-is-command-based.rst
   docs/software/commandbased/commands-v3/creating-commands.rst
   docs/software/commandbased/commands-v3/how-it-works.rst
   docs/software/commandbased/commands-v3/index.rst
   docs/software/commandbased/commands-v3/lambda-functions.rst
   docs/software/commandbased/commands-v3/making-commands-run.rst
   docs/software/commandbased/commands-v3/mechanisms.rst
   docs/software/commandbased/commands-v3/migration-guide.rst
   docs/software/commandbased/commands-v3/scopes.rst
   docs/software/commandbased/commands-v3/state-machines.rst
   docs/software/commandbased/commands-v3/structuring-your-project.rst
   docs/software/commandbased/commands-v3/telemetry.rst
   docs/software/commandbased/commands-v3/triggers.rst
   docs/software/commandbased/commands-v3/troubleshooting.rst
   docs/software/commandbased/index.rst
   docs/software/dashboards/advantagescope.rst
   docs/software/dashboards/glass/command-based-widgets.rst
   docs/software/dashboards/glass/field2d-widget.rst
   docs/software/dashboards/glass/introduction.rst
   docs/software/dashboards/glass/mech2d-widget.rst
   docs/software/dashboards/glass/widgets.rst
   docs/software/examples-tutorials/wpilib-examples.rst
   docs/software/firstdriverstation/first-driver-station-best-practices.rst
   docs/software/firstdriverstation/first-driver-station-debug-graph.rst
   docs/software/firstdriverstation/first-driver-station-errors-warnings.rst
   docs/software/firstdriverstation/first-driver-station-introduction.rst
   docs/software/firstdriverstation/first-driver-station-log-viewer.rst
   docs/software/firstdriverstation/index.rst
   docs/software/firstdriverstation/manually-setting-the-first-driver-station-to-start-custom-dashboard.rst
   docs/software/frc-glossary.rst
   docs/software/hardware-apis/misc/addressable-leds.rst
   docs/software/hardware-apis/motors/servos.rst
   docs/software/hardware-apis/motors/using-motor-controllers.rst
   docs/software/hardware-apis/motors/wpi-drive-classes.rst
   docs/software/hardware-apis/pneumatics/pressure.rst
   docs/software/hardware-apis/sensors/analog-inputs-software.rst
   docs/software/hardware-apis/sensors/analog-potentiometers-software.rst
   docs/software/hardware-apis/sensors/digital-inputs-software.rst
   docs/software/hardware-apis/sensors/gyros-software.rst
   docs/software/hardware-apis/sensors/limit-switch.rst
   docs/software/kinematics-and-odometry/differential-drive-kinematics.rst
   docs/software/kinematics-and-odometry/differential-drive-odometry.rst
   docs/software/kinematics-and-odometry/index.rst
   docs/software/kinematics-and-odometry/intro-and-chassis-velocities.rst
   docs/software/kinematics-and-odometry/mecanum-drive-kinematics.rst
   docs/software/kinematics-and-odometry/mecanum-drive-odometry.rst
   docs/software/kinematics-and-odometry/swerve-drive-kinematics.rst
   docs/software/kinematics-and-odometry/swerve-drive-odometry.rst
   docs/software/networktables/client-side-program.rst
   docs/software/networktables/listening-for-change.rst
   docs/software/networktables/multiple-instances.rst
   docs/software/networktables/networktables-networking.rst
   docs/software/networktables/nt4-migration-guide.rst
   docs/software/networktables/publish-and-subscribe.rst
   docs/software/networktables/reading-array-values-published-by-networktables.rst
   docs/software/networktables/robot-program.rst
   docs/software/networktables/tables-and-topics.rst
   docs/software/programming-snippets.rst
   docs/software/python/index.rst
   docs/software/support/troubleshooting.rst
   docs/software/systemcore-info/index.rst
   docs/software/systemcore-info/systemcore-ssh.rst
   docs/software/telemetry/datalog-download.rst
   docs/software/telemetry/datalog.rst
   docs/software/telemetry/persistent-alerts.rst
   docs/software/vision-processing/apriltag/index.rst
   docs/software/vision-processing/roborio/using-multiple-cameras.rst
   docs/software/vision-processing/wpilibpi/basic-vision-example.rst
   docs/software/vision-processing/wpilibpi/using-cameraserver.rst
   docs/software/vision-processing/wpilibpi/working-with-contours.rst
   docs/software/vscode-overview/3rd-party-libraries.rst
   docs/software/vscode-overview/creating-robot-program.rst
   docs/software/what-is-wpilib.rst
   docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/index.rst
   docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/odometry-simgui.rst
   docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/updating-drivetrain-model.rst
   docs/software/wpilib-tools/robot-simulation/introduction.rst
   docs/software/wpilib-tools/robot-simulation/physics-sim.rst
   docs/software/wpilib-tools/robot-simulation/unit-testing.rst
   docs/software/wpilib-tools/wpical/index.rst
   docs/xrp-robot/index.rst
   docs/xrp-robot/programming-xrp.rst
   docs/yearly-overview/2026-game-data.rst
   docs/yearly-overview/known-issues.rst
   docs/yearly-overview/removed-features.rst
   docs/yearly-overview/returning-quickstart.rst
   docs/yearly-overview/yearly-changelog.rst
   docs/zero-to-robot/introduction.rst
   docs/zero-to-robot/new-to-wpilib.rst
   docs/zero-to-robot/returning.rst
   docs/zero-to-robot/step-1/basic-robot-wiring.rst
   docs/zero-to-robot/step-1/index.rst
   docs/zero-to-robot/step-1/intro-to-frc-robot-wiring.rst
   docs/zero-to-robot/step-1/kitbot-starterbot-assembly.rst
   docs/zero-to-robot/step-2/first-driver-station-installation.rst
   docs/zero-to-robot/step-2/index.rst
   docs/zero-to-robot/step-2/offline-installation-preparations.rst
   docs/zero-to-robot/step-2/python-setup.rst
   docs/zero-to-robot/step-2/wpilib-setup.rst
   docs/zero-to-robot/step-3/imaging-your-systemcore.rst
   docs/zero-to-robot/step-3/index.rst
   docs/zero-to-robot/step-3/openmesh.rst
   docs/zero-to-robot/step-3/radio-programming.rst
   docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst
   docs/zero-to-robot/step-4/index.rst
   docs/zero-to-robot/step-4/running-test-program.rst
   stubs/software-tools-stub.rst


.. todolist::