WPILib API

NTCore API

CSCore API

Apriltag API

robotpy_apriltag Package

WPIMath API

WPIMath provides a comprehensive set of mathematical functions and utilities tailored to the needs of robotics applications.

WPILog API

wpilog Package

WPINet API

wpinet Package

WPIUtil API

The C++ version of the WPIUtil library contains various utilities that user code and WPILib can use to accomplish common tasks that aren’t necessarily provided by the C++ standard library.

Much of the content in WPIUtil is not useful for Python teams, so we don’t provide access to most of WPIUtil directly. Luckily, RobotPy teams have access to the full Python standard library, which has many of the same types of things in it.

HAL API

The WPILib Hardware Abstraction Layer (HAL) is used by WPILib to interact with robot devices in a platform independent way.

Generally, RobotPy users should avoid interacting with the HAL directly.

ROMI API

These are special devices for use with the ROMI product.

romi Package

XRP API

These are special devices for use with the XRP product.

xrp Package

Commands V2 API

Objects in this package allow you to implement a robot using the latest version of WPILib’s Command-based programming. Command based programming is a design pattern to help you organize your robot programs, by organizing your robot program into components based on Command and Subsystem

Each one of the objects in the Command framework has detailed documentation available. If you need more information, for examples, tutorials, and other detailed information on programming your robot using this pattern, we recommend that you consult the Java version of the FRC Control System documentation