Namespaces
namespace	cs
	CameraServer (cscore) namespace.
namespace	net
namespace	math
namespace	hal
	WPILib Hardware Abstraction Layer (HAL) namespace.
namespace	util
namespace	xrp
namespace	cmd
namespace	sim
namespace	nt
	NetworkTables (ntcore) namespace.
namespace	romi
namespace	log
namespace	vision
namespace	err
namespace	warn
namespace	filesystem
	WPILib FileSystem namespace.
namespace	detail
namespace	internal
namespace	sysid
namespace	impl
namespace	apriltag

Classes
class	RobotDriveBase
	Common base class for drive platforms. More...
class	EventLoop
	A declarative way to bind a set of actions to a loop and execute them when the loop is polled. More...
class	I2C
	I2C bus interface class. More...
class	FieldObject2d
	Game field object on a Field2d. More...
class	ExpansionHubMotor
	This class controls a specific motor and encoder hooked up to an ExpansionHub. More...
class	MotorSafety
	The Motor Safety feature acts as a watchdog timer for an individual motor. More...
class	SensorUtil
	Stores most recent status information as well as containing utility functions for checking channels and error processing. More...
class	NetworkBooleanEvent
	A Button that uses a NetworkTable boolean field. More...
class	AddressableLED
	A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels. More...
class	Field2d
	2D representation of game field for dashboards. More...
struct	CANStatus
class	RobotController
class	Timer
	A timer class. More...
class	SmartDashboard
class	Solenoid
	Solenoid class for running high voltage Digital Output on a pneumatics module. More...
class	SendableBuilderImpl
	Implementation detail for SendableBuilder. More...
class	ScopedTracer
	A class for keeping track of how much time it takes for different parts of code to execute. More...
class	DoubleSolenoid
	DoubleSolenoid class for running 2 channels of high voltage Digital Output on a pneumatics module. More...
class	BooleanEvent
	This class provides an easy way to link actions to active high logic signals. More...
class	ExpansionHubPidConstants
	This class contains PID constants for an ExpansionHub motor. More...
class	PWMSparkFlex
	REV Robotics SPARK Flex Motor Controller with PWM control. More...
class	Gamepad
	Handle input from Gamepad controllers connected to the Driver Station. More...
class	RuntimeError
	Runtime error exception. More...
class	Compressor
	Class for operating a compressor connected to a pneumatics module. More...
class	SharpIR
class	SerialPort
	Driver for the RS-232 serial port on the roboRIO. More...
class	NiDsPS5Controller
	Handle input from NiDsPS5 controllers connected to the Driver Station. More...
class	AnalogPotentiometer
	Class for reading analog potentiometers. More...
class	PWMTalonFX
	Cross the Road Electronics (CTRE) Talon FX Motor Controller with PWM control. More...
class	Mechanism2d
	Visual 2D representation of arms, elevators, and general mechanisms through a node-based API. More...
class	DigitalInput
	Class to read a digital input. More...
class	IterativeRobotBase
	IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class. More...
class	SparkMini
	REV Robotics SPARKMini Motor Controller with PWM control. More...
class	DigitalOutput
	Class to write to digital outputs. More...
class	MechanismLigament2d
	Ligament node on a Mechanism2d. More...
class	VictorSP
	Vex Robotics Victor SP Motor Controller with PWM control. More...
class	RobotBase
	Implement a Robot Program framework. More...
class	SharpIRSim
	Simulation class for Sharp IR sensors. More...
class	CAN
	High level class for interfacing with CAN devices conforming to the standard CAN spec. More...
class	Watchdog
	A class that's a wrapper around a watchdog timer. More...
class	Koors40
	AndyMark Koors40 Motor Controller with PWM control. More...
class	Spark
	REV Robotics SPARK Motor Controller with PWM control. More...
class	UpDownCounter
	Up Down Counter. More...
class	SendableChooserBase
	This class is a non-template base class for SendableChooser. More...
class	ADXL345_I2C
	ADXL345 Accelerometer on I2C. More...
class	AnalogInput
	Analog input class. More...
class	NiDsStadiaController
	Handle input from NiDsStadia controllers connected to the Driver Station. More...
class	Encoder
	Class to read quad encoders. More...
class	NiDsXboxController
	Handle input from NiDsXbox controllers connected to the Driver Station. More...
class	PWMSparkMax
	REV Robotics SPARK MAX Motor Controller with PWM control. More...
class	MechanismObject2d
	Common base class for all Mechanism2d node types. More...
class	MechanismRoot2d
	Root Mechanism2d node. More...
class	ExpansionHubServo
	This class controls a specific servo hooked up to an ExpansionHub. More...
class	TimesliceRobot
	TimesliceRobot extends the TimedRobot robot program framework to provide timeslice scheduling of periodic functions. More...
class	PWMVictorSPX
	Cross the Road Electronics (CTRE) Victor SPX Motor Controller with PWM control. More...
class	OnboardIMU
	Systemcore onboard IMU. More...
class	Joystick
	Handle input from standard Joysticks connected to the Driver Station. More...
class	PWM
	Class implements the PWM generation in the FPGA. More...
class	PeriodicOpMode
	An opmode structure for periodic operation. More...
class	Tracer
	A class for keeping track of how much time it takes for different parts of code to execute. More...
class	Tachometer
	Tachometer for getting rotational velocity from a device. More...
class	TimedRobot
	TimedRobot implements the IterativeRobotBase robot program framework. More...
class	GenericHID
	Handle input from standard HID devices connected to the Driver Station. More...
class	OpMode
	Top-level interface for opmode classes. More...
class	CounterBase
	Interface for counting the number of ticks on a digital input channel. More...
class	ExpansionHub
	This class controls a REV ExpansionHub plugged in over USB to Systemcore. More...
class	LEDPattern
class	DutyCycle
	Class to read a duty cycle PWM input. More...
class	PneumaticsControlModule
	Module class for controlling a Cross The Road Electronics Pneumatics Control Module. More...
class	Preferences
	The preferences class provides a relatively simple way to save important values to the roboRIO to access the next time the roboRIO is booted. More...
class	AnalogEncoder
	Class for supporting continuous analog encoders, such as the US Digital MA3. More...
class	DutyCycleEncoder
	Class for supporting duty cycle/PWM encoders, such as the US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag Encoder. More...
class	PWMTalonSRX
	Cross the Road Electronics (CTRE) Talon SRX Motor Controller with PWM control. More...
class	NiDsPS4Controller
	Handle input from NiDsPS4 controllers connected to the Driver Station. More...
class	Talon
	Cross the Road Electronics (CTRE) Talon Motor Controller with PWM control. More...
class	Resource
	The Resource class is a convenient way to track allocated resources. More...
class	DataLogManager
	Centralized data log that provides automatic data log file management. More...
class	PWMMotorController
	Common base class for all PWM Motor Controllers. More...
class	PowerDistribution
	Class for getting voltage, current, temperature, power and energy from the CTRE Power Distribution Panel (PDP) or REV Power Distribution Hub (PDH). More...
class	CameraServer
	Singleton class for creating and keeping camera servers. More...
class	OpModeRobotBase
	OpModeRobotBase is the non-templated base class for OpModeRobot. More...
class	OpModeRobot
	OpModeRobot implements the opmode-based robot program framework. More...
class	SystemServer
class	CameraServerShared
class	MecanumDrive
	A class for driving Mecanum drive platforms. More...
class	Notifier
	Notifiers run a user-provided callback function on a separate thread. More...
class	Alert
	Persistent alert to be sent to the driver station. More...
class	DifferentialDrive
	A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive base, "tank drive", or West Coast Drive. More...
class	DriverStation
	Provide access to the network communication data to / from the Driver Station. More...
class	PneumaticHub
	Module class for controlling a REV Robotics Pneumatic Hub. More...
class	PneumaticsBase
	Base class for pneumatics devices. More...
class	AnalogAccelerometer
	Handle operation of an analog accelerometer. More...
class	PWMVenom
	Playing with Fusion Venom Motor Controller with PWM control. More...
class	MotorController
	Interface for motor controlling devices. More...
class	SendableChooser
	The SendableChooser class is a useful tool for presenting a selection of options to the SmartDashboard. More...

Concepts
concept	ConstructibleOpMode
	Concept indicating a class is derived from OpMode and has either a no-argument constructor or a constructorthat accepts R&.

Typedefs
using	RobotMode = wpi::hal::RobotMode

Enumerations
enum class	CompressorConfigType { Disabled = 0 , Digital = 1 , Analog = 2 , Hybrid = 3 }
	Compressor config type. More...
enum class	EdgeConfiguration { kRisingEdge = 0 , kFallingEdge = 1 }
	Edge configuration. More...
enum class	PneumaticsModuleType { CTREPCM , REVPH }
	Pneumatics module type. More...
enum	RuntimeType { kRoboRIO , kRoboRIO2 , kSimulation , kSystemcore }
	Runtime type. More...
enum class	RobotMode
	The overall robot mode (not including enabled state). More...

Functions
constexpr auto	format_as (AddressableLED::ColorOrder order)
int	GetThreadPriority (std::thread &thread, bool *isRealTime)
	Get the thread priority for the specified thread.
int	GetCurrentThreadPriority (bool *isRealTime)
	Get the thread priority for the current thread.
bool	SetThreadPriority (std::thread &thread, bool realTime, int priority)
	Sets the thread priority for the specified thread.
bool	SetCurrentThreadPriority (bool realTime, int priority)
	Sets the thread priority for the current thread.
void	Wait (wpi::units::second_t seconds)
	Pause the task for a specified time.
wpi::units::second_t	GetTime ()
	Gives real-time clock system time with nanosecond resolution.
const char *	GetErrorMessage (int32_t *code)
	Gets error message string for an error code.
void	ReportErrorV (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, fmt::format_args args)
	Reports an error to the driver station (using HAL_SendError).
template<typename... Args>
void	ReportError (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, Args &&... args)
	Reports an error to the driver station (using HAL_SendError).
RuntimeError	MakeErrorV (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, fmt::format_args args)
	Makes a runtime error exception object.
template<typename... Args>
RuntimeError	MakeError (int32_t status, const char fileName, int lineNumber, const char funcName, fmt::string_view format, Args &&... args)
int	RunHALInitialization ()
template<class Robot>
int	StartRobot ()
CameraServerShared *	GetCameraServerShared ()

Typedef Documentation

◆ RobotMode

using wpi::RobotMode = wpi::hal::RobotMode

Enumeration Type Documentation

◆ CompressorConfigType

enum class wpi::CompressorConfigType

strong

Compressor config type.

Enumerator
Disabled	Disabled.
Digital	Digital.
Analog	Analog.
Hybrid	Hybrid.

◆ EdgeConfiguration

enum class wpi::EdgeConfiguration

strong

Edge configuration.

Enumerator
kRisingEdge	Rising edge configuration.
kFallingEdge	Falling edge configuration.

◆ PneumaticsModuleType

enum class wpi::PneumaticsModuleType

strong

Pneumatics module type.

Enumerator
CTREPCM	CTRE PCM.
REVPH	REV PH.

◆ RobotMode

enum class wpi::hal::RobotMode

strong

The overall robot mode (not including enabled state).

◆ RuntimeType

enum wpi::RuntimeType

Runtime type.

Enumerator
kRoboRIO	roboRIO 1.0.
kRoboRIO2	roboRIO 2.0.
kSimulation	Simulation runtime.
kSystemcore

Function Documentation

◆ format_as()

auto wpi::format_as ( AddressableLED::ColorOrder order )

constexpr

◆ GetCameraServerShared()

CameraServerShared * wpi::GetCameraServerShared ( )

◆ GetCurrentThreadPriority()

int wpi::GetCurrentThreadPriority ( bool * isRealTime )

Get the thread priority for the current thread.

Parameters

isRealTime Set to true if thread is real-time, otherwise false.

Returns: The current thread priority. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is 0. See "man 7 sched" for details.

◆ GetErrorMessage()

const char * wpi::GetErrorMessage ( int32_t * code )

Gets error message string for an error code.

◆ GetThreadPriority()

int wpi::GetThreadPriority	(	std::thread &	thread,
		bool *	isRealTime )

Get the thread priority for the specified thread.

Parameters

thread	Reference to the thread to get the priority for.
isRealTime	Set to true if thread is real-time, otherwise false.

Returns: The current thread priority. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is 0. See "man 7 sched" for details.

◆ GetTime()

wpi::units::second_t wpi::GetTime ( )

Gives real-time clock system time with nanosecond resolution.

Returns: The time, just in case you want the robot to start autonomous at 8pm on Saturday.

◆ MakeError()

template<typename... Args>

RuntimeError wpi::MakeError	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		Args &&...	args )

inlinenodiscard

◆ MakeErrorV()

RuntimeError wpi::MakeErrorV	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		fmt::format_args	args )

nodiscard

Makes a runtime error exception object.

This object should be thrown by the caller. Generally the WPILIB_MakeError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

Returns: runtime error object

◆ ReportError()

template<typename... Args>

void wpi::ReportError	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		Args &&...	args )

inline

Reports an error to the driver station (using HAL_SendError).

Generally the WPILIB_ReportError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

◆ ReportErrorV()

void wpi::ReportErrorV	(	int32_t	status,
		const char *	fileName,
		int	lineNumber,
		const char *	funcName,
		fmt::string_view	format,
		fmt::format_args	args )

Reports an error to the driver station (using HAL_SendError).

Generally the WPILIB_ReportError wrapper macro should be used instead.

Parameters

[out]	status	error code
[in]	fileName	source file name
[in]	lineNumber	source line number
[in]	funcName	source function name
[in]	format	error message format
[in]	args	error message format args

◆ RunHALInitialization()

int wpi::RunHALInitialization ( )

◆ SetCurrentThreadPriority()

bool wpi::SetCurrentThreadPriority	(	bool	realTime,
		int	priority )

Sets the thread priority for the current thread.

Parameters

realTime	Set to true to set a real-time priority, false for standard priority.
priority	Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to See "man 7 sched" for more details.

Returns: True on success.

◆ SetThreadPriority()

bool wpi::SetThreadPriority	(	std::thread &	thread,
		bool	realTime,
		int	priority )

Sets the thread priority for the specified thread.

Parameters

thread	Reference to the thread to set the priority of.
realTime	Set to true to set a real-time priority, false for standard priority.
priority	Priority to set the thread to. For real-time, this is 1-99 with 99 being highest. For non-real-time, this is forced to See "man 7 sched" for more details.

Returns: True on success.

◆ StartRobot()

template<class Robot>

int wpi::StartRobot ( )

◆ Wait()

void wpi::Wait ( wpi::units::second_t seconds )

Pause the task for a specified time.

Pause the execution of the program for a specified period of time given in seconds. Motors will continue to run at their last assigned values, and sensors will continue to update. Only the task containing the wait will pause until the wait time is expired.

Parameters

seconds Length of time to pause, in seconds.

Namespaces

Classes

Concepts

Typedefs

Enumerations

Functions

Typedef Documentation

◆ RobotMode

Enumeration Type Documentation

◆ CompressorConfigType

◆ EdgeConfiguration

◆ PneumaticsModuleType

◆ RobotMode

◆ RuntimeType

Function Documentation

◆ format_as()

◆ GetCameraServerShared()

◆ GetCurrentThreadPriority()

◆ GetErrorMessage()

◆ GetThreadPriority()

◆ GetTime()

◆ MakeError()

◆ MakeErrorV()

◆ ReportError()

◆ ReportErrorV()

◆ RunHALInitialization()

◆ SetCurrentThreadPriority()

◆ SetThreadPriority()

◆ StartRobot()

◆ Wait()