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⚠️ DRAFT — This site is a work in progress and does not reflect final 2027 documentation. Content may be incomplete or inaccurate.

WPILib Documentation documentation

WPILib Documentation

3320

FRC FTC Shared

Start Here

New to WPILib
Returning Teams
Zero to Robot

Reference

2027 Overview
API Reference
Support Resources
Troubleshooting
FRC Glossary

Programming Fundamentals

What is WPILib?
Software Component Overview
Basic Programming
Hardware APIs
Command-Based Programming
- Commands v2 Programming
- Commands v3 Programming
RobotPy Python Programming
Programming Snippets
WPILib Example Projects
Third Party Example Projects

Tools, Dashboards, and Networking

VS Code Overview
3rd Party Libraries
FIRST Driver Station
Dashboards
Telemetry
OutlineViewer
WPIcal
Networking Introduction
Networking Utilities
- Port Forwarding

Robot Behavior and Autonomy

Kinematics and Odometry
Path Planning
- Choreo
Advanced Controls
Robot Simulation

Control Systems

FTC with WPILib
Getting Started with XRP
Getting Started with Romi

Hardware and Wiring

Hardware Component Overview
Control System Hardware Overview
Status Light Quick Reference
CAN Devices

Contributing

Contributing to wpilib-docs
Developing with allwpilib
Privacy Policy
Report an Issue

PR CHANGED FILES

API Reference
Style Guide
Hardware Component Overview
Software Component Overview
FTC Robot Wiring Walkthrough
FTC Robot Wiring Reference
FTC with WPILib
Control System Hardware Overview
Robot Battery Basics
IP Configurations
Port Forwarding
Programming the Romi
Bang-Bang Control with BangBangController
Combining Feedforward and PID Control
Feedforward Control in WPILib
PID Control in WPILib
Combining Motion Profiling and PID Control with ProfiledPIDController
Trapezoidal Motion Profiles in WPILib
Debouncer
Linear Filters
Median Filter
Slew Rate Limiter
Translation, Rotation, and Pose
Transformations
Debugging State-Space Models and Controllers
State-Space Controller Walkthrough
State Observers and Kalman Filters
Creating an Identification Routine
Trajectory Constraints
LTV Unicycle Controller
Trajectory Generation
Transforming Trajectories
Including Git Data in Deploy
Profiling with VisualVM
Get Alliance Color
Coordinate System
The C++ Units Library
Robot Project Deploy Directory
Treating Functions as Data
Basic Programming
Java Garbage Collection
Joysticks
OpMode Framework
Setting Robot Preferences
FIRST CAN Device Specifications
Binding Commands to Triggers
Command Compositions
The Command Scheduler
Commands
A Technical Discussion on C++ Commands
Commands v2 Programming
Organizing Command-Based Robot Projects
PID Control in Command-based
Motion Profiling in Command-based
Combining Motion Profiling and PID in Command-Based
Structuring a Command-Based Robot Project
Subsystems
What Is “Command-Based” Programming?
Creating Commands
How the Scheduler Works
Commands v3 Programming
Using Lambda Functions
Making Commands Run
Command Mechanisms
Migrating from Commands v2
Scopes
State Machines with Commands
Structuring Your Project
Telemetry with Commands
Command Triggers
Troubleshooting Commands
Command-Based Programming
- Commands v2 Programming
- Commands v3 Programming
AdvantageScope
Widgets for the Command-Based Framework
The Field2d Widget
Introduction to Glass
The Mechanism2d Widget
Glass Widgets
WPILib Example Projects
Driver Station (Operator Console) Best Practices
Driver Station Debug Graph
Driver Station Errors/Warnings
FIRST Driver Station Introduction
Driver Station Log File Viewer
FIRST Driver Station
Manually Setting the Driver Station to Start Custom Dashboard
FRC Glossary
Addressable LEDs
Repeatable Low Power Movement - Controlling Servos with WPILib
Using Motor Controllers in Code
Using the WPILib Classes to Drive your Robot
Generating and Storing Pressure
Analog Inputs - Software
Analog Potentiometers - Software
Digital Inputs - Software
Gyroscopes - Software
Programming Limit Switches
Differential Drive Kinematics
Differential Drive Odometry
Kinematics and Odometry
Introduction to Kinematics and The ChassisVelocities Class
Mecanum Drive Kinematics
Mecanum Drive Odometry
Swerve Drive Kinematics
Swerve Drive Odometry
Creating a Client-side Program
Listening for Changes
NetworkTables Instances
NetworkTables Networking
Migrating from NetworkTables 3.0 to NetworkTables 4.0
Publishing and Subscribing to a Topic
Reading Array Values Published by NetworkTables
Writing a Simple NetworkTables Robot Program
NetworkTables Tables and Topics
Programming Snippets
RobotPy Python Programming
Troubleshooting
Systemcore
Systemcore SSH
Downloading & Processing Data Logs
On-Robot Telemetry Recording Into Data Logs
Recording Faults with Persistent Alerts
AprilTag Introduction
- What Are AprilTags?
- WPIcal
Using Multiple Cameras
Basic Vision Example
Using CameraServer
Working with Contours
3rd Party Libraries
Creating a Robot Program
What is WPILib?
Drivetrain Simulation Tutorial
Step 4: Updating Odometry and Visualizing Robot Position
Step 3: Updating the Drivetrain Model
Introduction to Robot Simulation
Physics Simulation with WPILib
Unit Testing
WPIcal
Getting Started with XRP
Programming the XRP
2026 Game Data Details
Known Issues
Removed features
Quick Start for Returning Teams
New for 2027
Zero to Robot
New to WPILib
Returning This Season
FRC Robot Wiring Walkthrough
Step 1: Build and Wire Your Robot
FRC Robot Wiring Reference
Kitbot / Starter Bot Assembly
Installing the FIRST Driver Station
Step 2: Set Up Your Environment
Offline Installation Preparation
Python Installation Guide
WPILib Installation Guide
Imaging your Systemcore
Step 3: Configure Your Control System
Using the OpenMesh OM5P Radio
Programming your Radio
Create Your Test Drivetrain Program
Step 4: Write and Drive
- Create Your Test Drivetrain Program
- Running Your Test Program
Running Your Test Program
Software Tools

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Last updated on May 22, 2026