WPILib API
NTCore API
CSCore API
Apriltag API
WPIMath API
WPIMath provides a comprehensive set of mathematical functions and utilities tailored to the needs of robotics applications.
- wpimath Package
- wpimath.controller Package
- wpimath.estimator Package
- wpimath.filter Package
- wpimath.geometry Package
- wpimath.interpolation Package
- wpimath.kinematics Package
- wpimath.optimization Package
- wpimath.path Package
- wpimath.spline Package
- wpimath.system Package
- wpimath.system.plant Package
- wpimath.trajectory Package
- wpimath.trajectory.constraint Package
- wpimath.units Package
WPINet API
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.
XRP API
These are special devices for use with the XRP product.