Programming Snippets

Quick, copy-paste code for common tasks. Each snippet links to the full reference page for more detail.

Motors

Control a PWM motor with a joystick. These excerpts come from the maintained WPILib Motor Controller example and show the imports, hardware objects, and periodic control method together.

Java

import org.wpilib.drivers.motor.PWMSparkMax;
import org.wpilib.driverstation.Joystick;
import org.wpilib.framework.TimedRobot;
  private static final int MOTOR_PORT = 0;
  private static final int JOYSTICK_PORT = 0;
  private static final int ENCODER_PORT_A = 0;
  private static final int ENCODER_PORT_B = 1;

  private final PWMSparkMax motor;
  private final Joystick joystick;
  private final Encoder encoder;

  /** Called once at the beginning of the robot program. */
  public Robot() {
    motor = new PWMSparkMax(MOTOR_PORT);
    joystick = new Joystick(JOYSTICK_PORT);
    encoder = new Encoder(ENCODER_PORT_A, ENCODER_PORT_B);
  /** The teleop periodic function is called every control packet in teleop. */
  @Override
  public void teleopPeriodic() {
    motor.setThrottle(joystick.getY());
  }

Blocks

Coming Soon

A Blocks version of this single-motor snippet will be added here.

Complete Drivetrain Samples

The Blocks interface includes complete drivetrain projects. Select Samples…, choose a project, then select Create New Project From Sample to make an editable copy.

Differential A301

DifferentialDrive301 demonstrates a two-motor A301 drivetrain controlled by a gamepad.

View the DifferentialDrive301 source.

Mecanum A301

MecanumRobot301 demonstrates a four-motor mecanum drivetrain using A301 motor controllers.

View the MecanumRobot301 source.

Mecanum Expansion Hub

MecanumRobotExpansionHub demonstrates a four-motor mecanum drivetrain using motors connected to a REV Expansion Hub.

View the MecanumRobotExpansionHub source.

C++

#include "wpi/drivers/motor/PWMSparkMax.hpp"
#include "wpi/driverstation/Joystick.hpp"
#include "wpi/framework/TimedRobot.hpp"
class Robot : public wpi::TimedRobot {
 public:
  void TeleopPeriodic() override { motor.SetThrottle(stick.GetY()); }
 private:
  wpi::Joystick stick{0};
  wpi::PWMSparkMax motor{0};
  wpi::Encoder encoder{0, 1};
};

Python

import wpilib
import wpilib_drivers
class MyRobot(wpilib.TimedRobot):
    MOTOR_PORT = 0
    JOYSTICK_PORT = 0
    ENCODER_PORT_A = 0
    ENCODER_PORT_B = 1

    def __init__(self):
        """Robot initialization function"""
        super().__init__()

        self.motor = wpilib_drivers.PWMSparkMax(self.MOTOR_PORT)
        self.joystick = wpilib.Joystick(self.JOYSTICK_PORT)
        self.encoder = wpilib.Encoder(self.ENCODER_PORT_A, self.ENCODER_PORT_B)
    def teleop_periodic(self):
        self.motor.set_throttle(self.joystick.get_y())

LabVIEW

Coming Soon

A LabVIEW version of this snippet will be added here.

See Using Motor Controllers for the full guide, including CAN motor controllers and where to put this code in Command-Based vs. TimedRobot programs.

Sensors

Read a digital input (limit switch, beam break, etc.):

Java

  // Initializes a DigitalInput on DIO 0
  DigitalInput input = new DigitalInput(0);
    // Gets the value of the digital input.  Returns true if the circuit is open.
    input.get();

Blocks

Coming Soon

A Blocks (Blockly) version of this snippet will be added here.

C++

    // Gets the value of the digital input.  Returns true if the circuit is
    // open.
    input.Get();
  // Initializes a DigitalInput on DIO 0
  wpi::DigitalInput input{0};

Python

Coming Soon

A Python version of this snippet will be added here.

LabVIEW

Coming Soon

A LabVIEW version of this snippet will be added here.

See Digital Inputs for the full guide, plus analog inputs, encoders, and gyros.

Autonomous & Loops

Coming Soon

Common autonomous and loop patterns (timed sequences, state machines, command groups) will be added here.

More WPILib Examples

Need more than a short snippet? WPILib includes complete example projects in VS Code. Press Ctrl+Shift+P, select WPILib: Create a new project, and choose Example to open one.

Warning

Example projects demonstrate an idea; they are not ready to deploy to every robot unchanged. Check motor ports, controller ports, inversion, dimensions, gains, and other robot-specific constants before running one.

Beginner projects

Start with Driving

Arcade drive, tank drive, mecanum drive, and a simple timed autonomous routine.

Basic Examples

Complete project patterns

Build a Command Robot

Button bindings, subsystems, commands, autonomous movement, and complete Inlined and Traditional Hatchbot projects.

Commands v2 Examples

Focused examples

Add One Feature

LEDs, motor control, solenoids, vision, digital communication, power monitoring, and other single-feature examples.

Snippets

Good next examples for a new team include:

• Motor Controller for joystick-controlled motor movement.

• Encoder and Gyro for reading drivetrain sensors.

• Solenoids for basic pneumatics.

• Addressable LED for robot status and driver feedback.

• Getting Started for a two-second autonomous movement.

• Inlined Hatchbot for a complete command-based robot without a separate command subclass for every action.

See WPILib Example Projects for the complete catalog, including controls, pose estimation, state-space, and simulation examples.