From 3a49ba218722f4f06e0920054a20cc254e4cca8e Mon Sep 17 00:00:00 2001 From: Amanda Bessette Date: Thu, 4 Jun 2026 15:24:55 -0400 Subject: [PATCH 01/30] Major changes to homepage and getting started, trying to keep one page for all. I don't like pages that FRC comes before FTC, might be worth moving FTC to appear first. I had help from Claude, so wording may be wrong still. Draft open for discussion: we can keep all, parts, or none of it. --- source/_templates/sidebar/brand.html | 2 +- source/conf.py | 9 +- source/docs/ftc/index.rst | 101 ++ .../hardware-basics/hardware-overview.rst | 326 ++++++ source/docs/software/what-is-wpilib.rst | 535 ++++++++- source/docs/xrp-robot/index.rst | 288 ++++- source/docs/zero-to-robot/introduction.rst | 236 +++- source/docs/zero-to-robot/step-1/index.rst | 169 ++- source/docs/zero-to-robot/step-2/index.rst | 210 +++- source/docs/zero-to-robot/step-3/index.rst | 176 ++- source/docs/zero-to-robot/step-4/index.rst | 273 ++++- source/index.rst | 1010 ++++++++++------- 12 files changed, 2874 insertions(+), 461 deletions(-) create mode 100644 source/docs/ftc/index.rst create mode 100644 source/docs/hardware/hardware-basics/hardware-overview.rst diff --git a/source/_templates/sidebar/brand.html b/source/_templates/sidebar/brand.html index 117560d969..40cabeaf8d 100644 --- a/source/_templates/sidebar/brand.html +++ b/source/_templates/sidebar/brand.html @@ -3,7 +3,7 @@ {% block brand_content %} {% if not theme_sidebar_hide_name %} {{ project }}{{ project }}{% endif %} {%- if logo_url %}
diff --git a/source/conf.py b/source/conf.py index a9c57c5683..bfc6ff71ff 100644 --- a/source/conf.py +++ b/source/conf.py @@ -23,7 +23,7 @@ # -- Project information ----------------------------------------------------- -project = "WPILib Documentation" +project = "FIRST Robotics" copyright = "2026, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License" author = "WPILib" version = "2027" @@ -118,7 +118,7 @@ # Configure OpenGraph support ogp_site_url = "https://docs.wpilib.org/en/stable/" -ogp_site_name = "WPILib Documentation" +ogp_site_name = "FIRST Robotics Documentation" ogp_image = "https://raw.githubusercontent.com/wpilibsuite/branding/main/export/png/wpilib-icon-256.png" # Configure photofinish ci mode @@ -142,7 +142,7 @@ todo_emit_warnings = False # TODO Directives are shown in output -todo_include_todos = True +todo_include_todos = False # Disable following anchors in URLS for linkcheck linkcheck_anchors = True @@ -254,6 +254,7 @@ html_baseurl = "https://docs.wpilib.org/en/stable/" html_theme_options = { + "announcement": "⚠️ DRAFT — This site is a work in progress and does not reflect final 2027 documentation. Content may be incomplete or inaccurate.", "light_css_variables": { "color-sidebar-background": "#003974", "color-sidebar-brand-text": "#ffffffcc", @@ -261,7 +262,7 @@ "color-background-hover": "#023160", "color-sidebar-link-text": "#acb1b9", "color-sidebar-caption-text": "#81868d", - } + }, } html_sidebars = { diff --git a/source/docs/ftc/index.rst b/source/docs/ftc/index.rst new file mode 100644 index 0000000000..d6284d0dfd --- /dev/null +++ b/source/docs/ftc/index.rst @@ -0,0 +1,101 @@ +# FTC with WPILib + +.. raw:: html + + + +
+
🚧
+
FTC Documentation Coming Soon
+

+ Full WPILib support for FIRST Tech Challenge arrives with the + Systemcore and Motioncore controllers. + Documentation will be published here ahead of the 2027-2028 FTC season. +

+ Follow the WPILib blog for updates → +
+ +

What to Expect

+ +
+
+
FTC 2027-2028+
+
Systemcore + Motioncore
+
+ New controllers bringing full WPILib support to FTC. + Same Java, Python, and Blockly toolchain as FRC. +
+
+
+
FTC 2027-2028+
+
OnBot Programming
+
+ Java, Python, Blockly, and LabVIEW available directly in the + browser — no local installation required. +
+
+
+ +

Get a Head Start Today

+ +
+ +
Available Now
+
Practice with the XRP
+
+ Learn WPILib programming on the $75 XRP desktop robot. + The same skills transfer directly to Systemcore. +
+ + +
Available Now
+
What is WPILib?
+
+ Overview of WPILib tools, languages, and how FTC fits into + the broader WPILib ecosystem. +
+ +
+ +
+ Currently using REV Duo? + Continue programming with the FTC SDK as normal. + Full documentation at + + ftc-docs.firstinspires.org. +
diff --git a/source/docs/hardware/hardware-basics/hardware-overview.rst b/source/docs/hardware/hardware-basics/hardware-overview.rst new file mode 100644 index 0000000000..76954ac34c --- /dev/null +++ b/source/docs/hardware/hardware-basics/hardware-overview.rst @@ -0,0 +1,326 @@ +.. include:: + +# FRC Control System Hardware Overview + +This page summarizes every major hardware component in the FRC\ |reg| control system. +Use it as a reference when wiring or troubleshooting your robot. + +.. raw:: html + + + +
+ FRC + FTC: This page covers the FRC control system. + FTC teams using Systemcore and Motioncore (2027-2028+) share the same + WPILib programming model — see the + FTC section for hardware specifics. +
+ + +

Main Controller

+ +
+
FRC 2027+ / FTC 2027-2028+
+
Systemcore
+
+ The primary robot controller for FRC (2027+) and FTC (2027-2028+). + Runs robot code in Java, C++, or Python. Supports CAN, PWM, DIO, + and analog I/O. Connects over Ethernet or USB for deployment and + supports the full WPILib simulation framework. +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
SpecSystemcore
LanguagesJava, C++, Python
CAN busYes
PWM outputsYes
DIOYes
Analog inputsYes
ConnectivityEthernet, USB
Deploy methodUSB or Wi-Fi via VS Code / OnBot
SimulationFull desktop simulation support
ProgramsFRC (2027+) and FTC via Motioncore (2027-2028+)
+ + +

Power Distribution

+ +
+
+
REV Robotics
+
Power Distribution Hub (PDH)
+
+ 20 switchable high-current ports (40 A max each), 3 low-current + ports, and a main breaker slot. CAN-connected for per-channel + current monitoring. Rectangular form factor. +
+
+
+
CTRE
+
Power Distribution Panel (PDP)
+
+ 16 high-current ports (40 A max each) plus 8 lower-current ports. + CAN-connected for current monitoring. Oval form factor. + Legal but older; PDH is preferred for new builds. +
+
+
+ + + + + + + + + + + + + + + + +
FeaturePDH (REV)PDP (CTRE)
High-current ports20 (40 A each)16 (40 A each)
Low-current ports3 (20 A each)8 (20 A each)
Main breaker slotYes (120 A SB)Yes (120 A SB)
CAN monitoringYes (per channel)Yes (aggregate)
Switchable outputsYes (software)No
+ + +

Robot Radio

+ +
+
+
FRC Standard
+
Vivid VH109
+
+ The standard FRC robot radio. Must be programmed annually with the + FRC Radio Configuration Utility to set team number, SSID, and firmware. + Powered via VRM barrel connector. +
+
+
+
FRC Legal
+
OpenMesh OM5P-AC
+
+ Updated version of the OM5P-AN with the same FRC configuration + process. 802.11ac support. Preferred for new builds. +
+
+
+ + +

Motor Controllers

+ + + + + + + + + + + + + + + + + + + + + + +
ControllerVendorInterfaceMax currentNotes
SPARK MAXREVCAN or PWM40 ABrushed and brushless (NEO). Most common for new teams.
SPARK FlexREVCAN or PWM60 AHigher current; NEO Vortex motor.
Talon FXCTRECAN120 A peakIntegrated with Falcon 500 and Kraken X60 motors.
Victor SPXCTRECAN or PWM40 ALower cost. Brushed only.
+ +
+
+
CAN bus (recommended)
+
+ Two-wire daisy-chain. Enables telemetry (current, temperature, + velocity), firmware updates over the wire, and advanced + closed-loop control on the controller itself. Requires correct + termination at both ends of the chain. +
+
+
+
PWM (simpler fallback)
+
+ Three-wire (signal, +5 V, GND) from roboRIO PWM port. + No telemetry. Easier to debug. Acceptable for rookie builds + or when CAN is not supported. +
+
+
+ + +

Pneumatics

+ + + + + + + + + + + + + + + + +
ModuleVendorSolenoid channelsPressure switchNotes
Pneumatic Hub (PH)REV16 (CAN)Analog + digitalPreferred for new builds. Analog pressure sensing.
PCMCTRE8 (CAN)Digital onlyOlder module, still legal.
+ + +

Common Sensors

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
SensorInterfaceUse caseFRC + XRP
Quadrature encoderDIO (2 channels)Wheel distance and velocityShared
NavX / Pigeon 2 IMUSPI / CANHeading, gyro, accelerometerFRC
Limit switchDIOHard stop detectionFRC
Ultrasonic (ping-echo)DIO (2 channels)Distance measurementShared
AprilTag cameraUSB / EthernetField localization and pose estimationFRC
Color sensor (REV)I2CGame piece detectionFRC
+ + +

Other Components

+ +
+
+
FRC
+
Voltage Regulator Module (VRM)
+
+ Powers the radio (12 V / 2 A) and other 5 V accessories. + Plugs into a dedicated PDH/PDP port. Required for radio power + on most builds. +
+
+
+
FRC
+
Driver Station Laptop
+
+ Windows 11 required (2027+). Runs the FRC Driver Station + software to communicate with and enable the robot. + Connected to robot radio over Wi-Fi at competition. +
+
+
+ + +

What’s Next

+ +
+ +
Wiring Guide
+
+ Step-by-step control system wiring with diagrams. +
+ + +
Image the roboRIO
+
+ Required every season before deploying code. +
+ + +
Status Light Reference
+
+ Decode LED patterns on the roboRIO, radio, and motor + controllers. +
+ +
diff --git a/source/docs/software/what-is-wpilib.rst b/source/docs/software/what-is-wpilib.rst index 402578a548..3722988257 100644 --- a/source/docs/software/what-is-wpilib.rst +++ b/source/docs/software/what-is-wpilib.rst @@ -3,78 +3,527 @@ # What is WPILib? .. figure:: /assets/wpilib-generic.svg - :alt: The logo for the WPI Robotics Library. + :alt: The WPI Robotics Library logo. :target: http://wpilib.org - :width: 500 + :width: 400 -The WPI Robotics Library ([WPILib](https://wpilib.org)) is the standard :term:`software library` provided for teams to write code for their FRC\ |reg| or FTC\ |reg| robots. WPILib contains a set of useful classes and subroutines for interfacing with various parts of the control system (such as sensors, motor controllers, and the driver station), as well as an assortment of other utility functions. +WPILib is the standard software library for programming +*FIRST*\ |reg| robots. +It provides the classes and tools needed to control motors, read sensors, +communicate with the Driver Station, and run autonomous routines — across +FRC\ |reg| and (from 2027-2028) FTC\ |reg| via Systemcore. .. image:: /assets/wpi-logo.png - :alt: The Worcester Polytechnic Institute (WPI) logo. + :alt: Worcester Polytechnic Institute (WPI) logo. :target: http://wpi.edu - :width: 500 + :width: 300 + :align: center -## Supported languages +WPILib is developed and maintained by a partnership between +`Worcester Polytechnic Institute (WPI) `_, +FIRST\ |reg|, and volunteer developers from the community. -There are three versions of WPILib, one for each of the three officially-supported text-based languages: WPILibJ for Java, and WPILibC for C++, and RobotPy for Python. A considerable effort is made to maintain feature-parity between these languages - library features are not added unless they can be reasonably supported for both Java and C++ (with the C++ able to be wrapped by pybind for Python), and when possible the class and method names are kept identical or highly-similar. Java, C++, and Python were chosen for the officially-supported languages due to their appropriate level-of-abstraction and ubiquity in both industry and high-school computer science classes. +.. raw:: html -In general, C++ offers better high-end performance, at the cost of increased user effort (memory must be handled manually, and the C++ compiler does not do much to ensure user code will not crash at runtime). Java and Python offer lesser performance, but much greater convenience. Python users should take care to test their program to ensure that typos and other issues don't cause robot crashes, as Python is interpreted. New/inexperienced users are encouraged to use Java. + -## Source code and documentation + +

Which path are you on?

-WPILib is an open-source library - the C++ and Java source code is in the [allwpilib](https://github.com/wpilibsuite/allwpilib) mono-repo and python source code is in the [mostrobotpy](https://github.com/robotpy/mostrobotpy) mono-repo. The Java and C++ source code can be found in the WPILibJ and WPILibC source directories: +
-The Java and C++ source code can be found in the WPILibJ and WPILibC source directories: +
+
FRC
+
FIRST Robotics Competition
+
+ Full WPILib support. Java, C++, Python. Deploys to Systemcore. + Driver Station on Windows required for competition. +
+
-- [Java source code](https://github.com/wpilibsuite/allwpilib/tree/v2027.0.0-alpha-6/wpilibj/src/main/java/org/wpilib) +
+
FRC + FTC
+
XRP Practice Robot
+
+ Same WPILib code on a $75 desktop robot. No control system + hardware required. Great for off-season learning and + FTC Systemcore prep. +
+
-- [C++ source code](https://github.com/wpilibsuite/allwpilib/tree/v2027.0.0-alpha-6/wpilibc/src/main/native/cpp) +
+
FTC 2027-2028+
+
FTC Systemcore
+
+ WPILib now supports FTC via Systemcore and Motioncore. + Same Java/C++/Python toolchain as FRC — skills + transfer directly. +
+
-- [Python source code](https://github.com/robotpy/mostrobotpy) +
-While users are strongly encouraged to read the source code to resolve detailed questions about library functionality, more-concise documentation can be found on the official documentation pages for WPILibJ and WPILibC and RobotPy: + +

What WPILib Includes

-- [Java documentation](https://github.wpilib.org/allwpilib/docs/beta/java/) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
ComponentDescriptionFRCFTC
Robot libraryMotor control, sensors, drive classes, kinematics✓✓ (Systemcore)
VS Code extensionProject templates, deploy, build, vendor manager✓✓
Simulation frameworkRun robot code on laptop without hardware✓✓ (XRP)
Glass dashboardReal-time telemetry and field visualization✓✓
Elastic dashboardConfigurable driver dashboard (replaces Shuffleboard)✓Planned
PathPlanner / ChoreoGUI path planning for autonomous✓Planned
OutlineViewerNetworkTables browser✓✓
ShuffleboardOlder dashboard + Removed 2027✗✗
-- [C++ documentation](https://github.wpilib.org/allwpilib/docs/beta/cpp/) + +

Language Comparison

-- [Python documentation](https://robotpy.readthedocs.io/projects/robotpy/en/stable/) + + + + + + + + + + + + + + + + + + + +
LanguageRecommended forPerformanceCommunity examples
Java + + RecommendedNew teams, most teamsGoodMost abundant
C++Teams with C++ experienceBestAbundant
PythonTeams already using PythonGoodGrowing
-## Development Timeline +
+ All three languages share the same API design. + Class names and method names are kept identical or very close across + Java, C++, and Python. Switching languages later is straightforward. +
-WPILib development happens on branches for individual years, as opposed to one main branch. Development and support for both FRC and FTC happen during different periods to support both FRC and FTC needs. These periods overlap with each other between years, so the following timeline visualizes these overlapping periods to make it easy to understand. + +

Development Environments

-.. image:: /assets/dev_timeline.svg - :alt: A timeline showing the different periods of WPILib's development for the next 4 years and how the different periods overlap between different, starting with development from FRC Kickoff to September, FRC beta from September to the next FRC Kickoff, FRC Support from FRC Kickoff to Champs, Updates/FTC Beta from Champs to FTC Kickoff, and FTC Support from FTC Kickoff to the next Champs. +

+ WPILib supports two families of development environment: a full + desktop IDE and browser-based OnBot + environments that run directly on the Systemcore with no local install. +

-For year N, WPILib will create a branch during year N - 1, and actively do development on it until around October of year N - 1, when it enters the beta testing period for FRC, which continues until FRC Kickoff for year N, which is when the first stable release is published. FRC will receive active support until the FIRST Championship ends, which then begins the FTC beta testing period, which lasts until FTC Kickoff in September of year N. FTC will then receive active support until the next FIRST Championship ends of year N + 1, and then the branch will no longer be supported. + +

+ Desktop Environment — Java, C++, Python +

-## Platform Support +
+
Desktop
+
Visual Studio Code + WPILib Extension
+
+ All three languages use VS Code as the IDE, with the WPILib extension + providing project templates, build tools, simulation, and vendor library + management. Works on Windows, macOS, and Linux. +
+ + + + + + + + + + + + + + + + + + +
FeatureJavaC++Python
IDEVS CodeVS CodeVS Code
Build systemGradleRIOGradleRIO (open to change)More integrated experience
Desktop simulation✓✓✓
Offline install✓✓✓
DeployUSB or Wi-Fi to Systemcore
+
-As a broad rule, WPILib only supports OSes that the OS developer still supports. In general, OS requirements are driven by OS developer support and C++ compiler feature support. Per [the WPILib roadmap](https://static1.squarespace.com/static/5d4b06a67cd3580001ded283/t/6631527dd3db35012eebacb3/1714508413721/WPILib+2024+Long+Term+Roadmap.pdf), we want to closely track future evolution of the supported languages, which often means new C++ features are adopted as soon as all supported platforms have compilers that support it. WPILib *may* continue to build for unsupported platforms, but no official support will be guaranteed, and if newer C++ features are only available in newer OSes, we can choose to adopt them and older OSes with compilers that lack support will no longer be able to build WPILib. +
+ Python install experience: WPILib is actively working to + provide a more integrated Python setup — reducing the number of + separate steps compared to Java/C++. + C++ build system: GradleRIO is the baseline; transitioning + to an alternative build system is possible depending on community contributions. +
-### Windows Support + +

+ OnBot Environments — Java, Python, Blockly, LabVIEW +

-Only 64-bit Windows 11 versions still in support by Microsoft will be supported. +
+
OnBot (Browser-based)
+
VS Code-derived editor hosted on Systemcore
+
+ OnBot environments run entirely in the browser — no local + installation required. Code is written, saved, and deployed directly + on the Systemcore. Supports multiple saved Workspaces with a Deploy + button to choose which one runs. +
+ + + + + + + + + + + + + + + + + + + + + + + + +
FeatureJavaPythonBlocklyLabVIEW
EditorVS Code-derivedVS Code-derivedBlock visual editorGraphical (browser)
Backed byJavaPythonPythonLabVIEW
Beginner friendly——✓ No syntax needed✓ Graphical
Desktop installNone required
Simulation✗ Not planned
Multi-userSingle-user (under investigation)
+
-### macOS Support +
+ C++ is not supported in OnBot environments. + The browser-based toolchain does not provide a good enough C++ experience + to ship. Use the desktop VS Code environment for C++ development. +

+ OnBot notes: Currently planned as single-user access + (multi-user being investigated). Supports multiple saved + Workspaces with a Deploy button to select which one runs on + the Systemcore. Simulation is not planned for OnBot environments. +
-Apple generally keeps the last three macOS versions in support, and releases a new version annually, so WPILib also only supports the last three macOS versions. +

+ FTC REV Duo +

+
+
+
FTC (REV Duo)
+
OnBot Java / Android Studio
+
+ REV Duo teams use the FTC SDK with OnBot Java (browser-based) + or Android Studio. Documented at + + ftc-docs.firstinspires.org. +
+
+
+
FTC (REV Duo)
+
Blocks (FTC SDK)
+
+ Visual block-based programming via the FTC SDK OnBot interface. + Documented at + + ftc-docs.firstinspires.org. +
+
+
-### Linux Support + +

Build and Deploy Comparison

-For Linux, we follow the [Debian release cycle](https://wiki.debian.org/DebianReleases#Release_statistics). Debian releases a new version every two years. The version released two summers before a year's release will become the minimum required OS for that year. This also aligns with Ubuntu LTS releases, so only the last Ubuntu LTS will be supported at a given time. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
FeatureDesktop (VS Code)OnBot (Java / Python / Blockly / LabVIEW)FTC REV Duo
LanguagesJava, C++, PythonJava, Python, Blockly, LabVIEWJava, Blocks
C++ support✓✗ Not supported✗
Build systemGradleRIOOn-device (browser)FTC SDK / Gradle
DeployUSB or Wi-Fi to SystemcoreDeploy button in browser (Workspace-based)ADB over USB or Wi-Fi
Simulation✓ Full desktop sim✗ Not planned✗ None
Offline install✓N/A — runs on Systemcore✓
Multi-userN/ASingle-user (under investigation)N/A
Driver StationFRC DS (Windows)FRC DS (Windows)Driver Hub / phone
-### Minimum required OS versions + +

Dashboards

-+----------+--------+-------------------------+-------+-------+-------+ -| OS | 2027 | 2028 | 2029 | 2030 | 2031 | -+==========+========+=========================+=======+=======+=======+ -| Windows | 11 | 11 | 11 | 11 | 11 | -+----------+--------+-------------------------+-------+-------+-------+ -| Debian | Trixie | Trixie | Forky | Forky | Duke | -+----------+--------+-------------------------+-------+-------+-------+ -| Ubuntu | 26.04 | 26.04 | 28.04 | 28.04 | 30.04 | -+----------+--------+-------------------------+-------+-------+-------+ -| macOS | 15 | 26 (Last Intel release) | 27 | 28 | 29 | -+----------+--------+-------------------------+-------+-------+-------+ + + + + + + + + + + + + + + + + + + + + + + + +
DashboardStatusBest for
Elastic✓ Current — recommendedCompetition driver dashboard. Highly configurable.
AdvantageScope✓ Current — recommendedLog review, 3D field visualization, mechanism replay.
Glass✓ CurrentBuilt-in simulation UI and lightweight telemetry.
SmartDashboardRemoved 2027Use Elastic instead.
ShuffleboardRemoved 2027Use Elastic instead.
+ + +

Vendor Libraries

+ +
+
+
What are vendor libraries?
+
+ Hardware vendors (REV, CTRE, etc.) ship WPILib extension + libraries that add support for their specific motor controllers, + sensors, and accessories. They are installed + per project via the VS Code Dependency Manager + and do not carry over on project import. +
+
+
+
Common libraries
+
    +
  • REVLib — SPARK MAX, SPARK Flex
    • +
  • Phoenix 6 — Talon FX, CANcoder
    • +
  • PathplannerLib — auto trajectories
    • +
  • PhotonLib — PhotonVision cameras
    • +
  • Limelight — Limelight cameras
    • +
+
+
+ + +

Path Planning

+ +
+ +
FRC
+
PathPlanner / Choreo
+
+ GUI tools for drawing autonomous paths. Both generate + trajectory commands that slot into command-based robot programs. + PathPlanner is more beginner-friendly; Choreo optimizes + for time. +
+ +
+
FTC REV Duo
+
Road Runner
+
+ The standard FTC path planning library for REV Duo teams. + Separate from WPILib. FTC Systemcore teams will use + PathPlanner/Choreo (planned for 2028). +
+
+
+ + +

Shared Concepts Across Programs

+

+ These programming concepts are identical whether you are writing FRC, + FTC Systemcore, or XRP code. +

+ +
+
+
PID Control
+
+ Proportional-Integral-Derivative feedback loop for precise + motor velocity and position control. +
+
+
+
Odometry
+
+ Track robot position on the field using encoder and gyro data. + Used for autonomous navigation. +
+
+
+
State Machines
+
+ Command-based programming uses a state machine model: + subsystems, commands, and triggers. +
+
+
+
AprilTags
+
+ WPILib includes built-in AprilTag detection for field + localization and target tracking. +
+
+
+
Motor Control
+
+ DifferentialDrive, MecanumDrive, and swerve kinematics + classes work identically across all platforms. +
+
+
+
Java Fundamentals
+
+ WPILib Java code uses standard Java: classes, interfaces, + lambdas. No framework-specific syntax to learn separately. +
+
+
+ + +

Source Code and API Docs

+ +
+ +
Java API Reference
+
+ Full Javadoc for WPILibJ classes and methods. +
+ + +
C++ API Reference
+
+ Doxygen documentation for WPILibC. +
+ + +
Python API Reference
+
+ RobotPy documentation for Python-based robot programs. +
+ +
diff --git a/source/docs/xrp-robot/index.rst b/source/docs/xrp-robot/index.rst index 49f594ad23..a380d39fd6 100644 --- a/source/docs/xrp-robot/index.rst +++ b/source/docs/xrp-robot/index.rst @@ -2,17 +2,295 @@ # Getting Started with XRP -The XRP, powered by [Worcester Polytechnic Institute](http://wpi.edu), is a small and inexpensive robot designed for learning about programming FIRST robots. All the same tools used for programming full-sized FRC\ |reg| and FTC\ |reg| robots can be used to program the XRP. The XRP comes with two drive motors with integrated wheel encoders. It also includes an :term:`IMU` sensor that can be used for measuring headings and accelerations. Using it is as simple as writing a robot program, and running it on your computer. It will command the XRP to follow the steps in the program. +The XRP (eXperimental Robot Platform), powered by +[Worcester Polytechnic Institute](http://wpi.edu), is a small, low-cost robot +designed for learning WPILib programming without full FRC hardware. +The same tools, language, and code patterns used for full FRC robots work on the XRP. -.. tip:: A course that teaches programming using the XRP Robot is available via [FIRST Training](https://training.firstinspires.org/catalog?labels=%5B%22Topics%22%5D&values=%5B%22Programming%22%5D). [Part 1](https://training.firstinspires.org/courses/java-programming-part-1) takes users through setup of the hardware and software, methods, objects, conditionals, variables, and equations. [Part 2](https://training.firstinspires.org/courses/java-programming-part-2) covers command based programming, driving and inputs, advanced conditionals and logical operators, command groups, arrays and loops, and errors and troubleshooting. +.. raw:: html -The XRP provides a similar use case as the :doc:`Romi ` with similar functionality, albeit using a lower power processor and is overall lower in cost. + -.. image:: images/xrp25.png - :alt: XRP Robot + +

Why Use the XRP?

+ +
+ +
+
Learn
+
Real WPILib Code
+
+ Write the same Java, C++, or Python code you would deploy to + a full FRC robot. No special XRP-only API. +
+
+ +
+
Practice
+
No Control System Required
+
+ No roboRIO, no PDH, no radio programming. Just the XRP, + a USB cable for initial setup, and your laptop. +
+
+ +
+
Pre-season
+
Off-Season Programming
+
+ Learn command-based programming, encoders, PID, and odometry + before build season starts — on a desk. +
+
+ +
+
FTC 2027-2028+
+
FTC Prep
+
+ Systemcore teams use the same WPILib toolchain. XRP skills + transfer directly to FTC robot programming. +
+
+ +
+ + +

How It Works

+ +
+ XRP code runs on your laptop as a simulation, communicating + with the XRP hardware over Wi-Fi. You use the same + WPILib VS Code tools and Driver Station as FRC — + the XRP just appears as a simulated robot that drives real motors. +
+ +
+
+
Write code in VS Code
+
+ Use the WPILib VS Code extension you already installed. + XRP projects use the same project structure as FRC. +
+
+
+
Run as simulation
+
+ Launch with Simulate Robot Code instead of + Deploy. The simulation connects to the XRP over Wi-Fi. +
+
+
+
Drive with Driver Station
+
+ Open the FRC Driver Station (Windows) and enable TeleOp. + Your joystick controls the XRP just like a full robot. +
+
+
+ + +

Hardware Specifications

+ + + + + + + + + + + + + + + + + + + + + + + +
ComponentDetails
ProcessorRaspberry Pi RP2040 dual-core Cortex-M0+ at 133 MHz
WirelessWi-Fi 802.11 b/g/n (2.4 GHz) for host communication
Drive motors2 brushed DC gear motors with integrated quadrature encoders
IMUBuilt-in 6-axis LSM6DS3 (gyro + accelerometer)
Servo ports2 user servo outputs
User I/OReflectance sensor, ultrasonic distance sensor port
PowerUSB-C or 3xAA battery pack
Cost~$75 USD assembled (WPI / SparkFun)
+ + +

XRP vs Full FRC Robot

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
FeatureXRPFRC Robot
WPILib API✓ Same Java/C++/Python API✓ Full API
Command-based✓ Yes✓ Yes
Encoders✓ IntegratedExternal (per motor controller)
IMU / gyro✓ Built-inExternal (NavX, Pigeon 2)
Driver Station✓ Same (Windows)✓ Same (Windows)
Deploy methodSimulate (Wi-Fi to laptop)Deploy to roboRIO/Systemcore
CAN bus✗ Not available✓ Full CAN support
Vendor librariesNot applicableREVLib, Phoenix 6, etc.
Cost~$75$3,000–$10,000+
+ + +

Prerequisites

+ +
+
+
Software (all platforms)
+
    +
  • WPILib installed (see + WPILib setup) +
    • +
  • FRC Driver Station (Windows — for enabling)
    • +
  • XRP firmware flashed on the board
    • +
+
+
+
Hardware
+
    +
  • XRP robot kit (assembled)
    • +
  • USB-C cable (for initial firmware flash)
    • +
  • 3×AA batteries or USB-C power bank
    • +
  • 2.4 GHz Wi-Fi on your laptop
    • +
+
+
+ + +

Getting Started

+ +
+ + + 01 +
Set Up Hardware
+
+ Flash XRP firmware, insert batteries, and connect to the XRP + Wi-Fi network. +
+ + + + 02 +
Get to Know the XRP
+
+ Sensor locations, motor wiring, the web UI, and what each + I/O port is for. +
+ + + + 03 +
Write and Run Code
+
+ Create an XRP project in WPILib VS Code, run the simulation, + and drive your robot. +
+ + +
+ + +

Example Projects

+ +
+ +
XRP Arcade Drive
+
+ Basic teleop drive using a joystick. Good first project. +
+ + +
Sensors and Encoders
+
+ Read encoder distances, gyro heading, and reflectance sensor. +
+ +
+ +
+ FIRST Training courses available. + + Part 1 covers setup, methods, objects, and variables. + + Part 2 covers command-based programming, drive inputs, and arrays. +
.. toctree:: :maxdepth: 1 + :hidden: hardware-and-imaging getting-to-know-xrp diff --git a/source/docs/zero-to-robot/introduction.rst b/source/docs/zero-to-robot/introduction.rst index 0ac584681d..deff369165 100644 --- a/source/docs/zero-to-robot/introduction.rst +++ b/source/docs/zero-to-robot/introduction.rst @@ -1,34 +1,236 @@ .. include:: -# Introduction +# Zero to Robot: Introduction -Welcome to the official documentation home for the *FIRST*\ |reg| Control System and WPILib software packages. This page is the primary resource documenting the use of the FRC\ |reg| & FTC\ |reg| Control System (including wiring, configuration, and software) as well as the WPILib libraries and tools. +Welcome to WPILib — the standard programming library for *FIRST*\ |reg| Robotics Competition +(FRC\ |reg|) and FIRST Tech Challenge (FTC). +This guide walks you through everything you need to start driving a robot. -## New to Programming? +.. raw:: html +<<<<<<< HEAD These pages cover the specifics of the WPILib libraries and the FIRST Control System and do not describe the basics of using the supported programming languages. If you would like resources on learning the supported programming languages check out the recommendations below: +======= + -- [List of various guides to learn Python](http://docs.python-guide.org/en/latest/intro/learning/) + +

Choose Your Programming Language

+

+ WPILib supports multiple languages. Pick one: your tools and steps are the same regardless of choice. +

-## Zero to Robot +
-The remaining pages in this tutorial are designed to be completed in order to go from zero to a working basic robot. The documents will walk you through wiring your robot, installation of all needed software, configuration of hardware, and loading a basic example program that should allow your robot to operate. When you complete a page, simply click **Next** to navigate to the next page and continue with the process. When you're done, you can click **Next** to continue to an overview of WPILib in C++/Java/Python or jump back to the home page using the logo at the top left to explore the rest of the content. +
+
Recommended — FRC + FTC
+
Java
+
Statically typed, and has the most community examples. Best choice if you are unsure.
+
+ +
+
FRC + FTC
+
C++
+
Highest performance. Good choice if your team already knows C++. Memory management adds complexity for beginners.
+
+ +
+
FRC + FTC
+
Python
+
Easiest syntax. Growing community examples. Best if your team already programs in Python and wants a gentle start.
+
+ +
+
FRC + FTC
+
Blockly
+
Graphical interface, runs OnBot, outputs Python. Great for beginners with no prior syntax knowledge.
+
+ +
+
FRC + FTC
+
LabVIEW
+
Graphical dataflow programming, runs OnBot. Familiar to teams with a LabVIEW background.
+
+ +
+ +
+ New to programming entirely? Check out + Codecademy Java or + Python learning guides + before continuing. You can wire and configure your robot first (Steps 1 and 3) while learning to code in parallel. +
+ + +

What You Need

+ +
+ +
+
FRC Hardware
+
FRC Robot Components
+
    +
  • Systemcore controller
    • +
  • Power Distribution Hub (PDH) or Panel (PDP)
    • +
  • Vivid VH-109 Radio
    • +
  • Voltage Regulator Module (VRM) — for radio power
    • +
  • Motor controllers (SPARK MAX, Talon FX, etc.)
    • +
  • Drive motors and wheels
    • +
  • 12 V robot battery and fuse
    • +
  • Ethernet cable and USB-A cable
    • +
+
+ +
+
FTC Hardware
+
FTC Robot Components
+
    +
  • Systemcore + Motioncore controllers
    • +
  • FTC legal motor controllers
    • +
  • Drive motors and wheels
    • +
  • 12 V robot battery
    • +
  • USB-C cable for programming
    • +
  • Wi-Fi for wireless deploy
    • +
+
+ +
+ +
+ +
+
Software — All Teams
+
What Gets Installed
+
    +
  • WPILib — robot programming library + VS Code
    • +
  • FRC Game Tools — Driver Station (Windows only)
    • +
  • RobotPy — Python framework (Python teams only)
    • +
  • Vendor libraries (REVLib, Phoenix 6, etc.) — installed per project
    • +
+
+ OS note: Driver Station requires Windows. + Coding and simulation work on macOS and Linux. +
+
+ +
+
No Full Robot? No Problem.
+
Practice with the XRP
+
+ The XRP is a desktop robot that runs real WPILib code. + Great for learning before build season — and for FTC teams + getting a head start on Systemcore programming. +
+ + XRP docs → + +
+ +
+ + +

The Four Steps

+

+ Complete these in order. You will have a driving robot by the end of Step 4. +

+ +
+ + + 01 +
Build Your Robot
+
Wire the control system: power distribution, roboRIO, motor controllers, and radio.
+ + + + 02 +
Install Your Tools
+
Install WPILib and Driver Station on your laptop.
+ + + + 03 +
Configure Your Control System
+
Configuire your systemcore and the radio. Required every season before you can deploy code.
+ + + + 04 +
Write and Drive
+
Create your first robot project, deploy code to the robot, and enable it with the Driver Station.
+ + +
+ + +

Tips for New Teams

+ +
+ +
+ A tip
+ An example tip +
+ +
+ Another tip
+ This is another tip +
+ + +
diff --git a/source/docs/zero-to-robot/step-1/index.rst b/source/docs/zero-to-robot/step-1/index.rst index 3d0531a1b9..3be7bdae10 100644 --- a/source/docs/zero-to-robot/step-1/index.rst +++ b/source/docs/zero-to-robot/step-1/index.rst @@ -1,8 +1,171 @@ -# Step 1: Building your Robot +# Step 1: Build Your Robot -An overview of the available control system hardware can be found :doc:`here `. +.. raw:: html + + + + +
+ 01 +
+
Build Your Robot
+
Step 1 of 4
+
+
+ +

+ Choose the wiring guide for your program below. +

+ +

+ FRC +

+ +
+ + +
FRC
+
Basic Robot Wiring
+
+ Simplified wiring reference for drivetrain-only builds. + Good starting point for rookie teams. +
+ + + +
FRC
+
FRC Robot Wiring Overview
+
+ Full walkthrough of control system wiring with diagrams: + PDH, Systemcore, radio, motor controllers, and pneumatics. +
+ + +
+ +
+ Not sure which PDH or PDP you have? + The Power Distribution Hub (PDH) is the REV Robotics unit + (rectangular, 20 slots). The older + Power Distribution Panel (PDP) is the Cross The Road + Electronics unit (oval shape, 16 slots). Both are legal — wiring + diagrams for each are in the wiring overview above. +
+ +

+ FTC +

+ +
+ +
+
FTC — Coming Soon
+
Basic FTC Robot Wiring
+
+ Simplified wiring guide for Systemcore and Motioncore. + Good starting point for rookie FTC teams. +
+
+ +
+
FTC — Coming Soon
+
FTC Robot Wiring Overview
+
+ Full walkthrough of FTC control system wiring with diagrams: + Systemcore, Motioncore, motor controllers, and power. +
+
+ +
+ + + + +
+ ← Introduction + + Step 2: Install Your Tools → +
.. toctree:: :maxdepth: 1 + :hidden: - intro-to-frc-robot-wiring + FRC Robot Wiring Overview + Basic Robot Wiring diff --git a/source/docs/zero-to-robot/step-2/index.rst b/source/docs/zero-to-robot/step-2/index.rst index dec134559f..ce51e00320 100644 --- a/source/docs/zero-to-robot/step-2/index.rst +++ b/source/docs/zero-to-robot/step-2/index.rst @@ -1,9 +1,215 @@ -# Step 2: Installing Software +# Step 2: Install Your Tools -An overview of the available control system software can be found :doc:`here `. +.. raw:: html + + + + +
+ 02 +
+
Install Your Tools
+
+ Step 2 of 4 +
+
+
+ + +

System Requirements

+ +
+ +
+
Windows
+
Required for Driver Station
+
    +
  • Windows 11 (required for 2027+)
    • +
  • 8 GB RAM minimum, 16 GB recommended
    • +
  • Driver Station and roboRIO Imaging Tool
    • +
  • All WPILib tools available
    • +
+
+ +
+
macOS / Linux
+
Coding and Simulation Only
+
    +
  • macOS 12+ or modern Linux distro
    • +
  • WPILib + VS Code for writing and simulating code
    • +
  • Cannot run Driver Station or image roboRIO
    • +
  • Deploy code over USB or Wi-Fi (needs network access)
    • +
+
+ +
+ +
+ Windows 10 is no longer supported as of 2027. + Upgrade to Windows 11 before installing FRC Game Tools. +
+ + +

Installation Steps

+ +
+ + +
Part 1
+
WPILib Installer
+
+ Installs Visual Studio Code, WPILib extensions, and all + desktop tools (Glass, Elastic, Shuffleboard, OutlineViewer). + Required for Java, C++, and Python teams. +
+ + + +
Part 2: Windows only
+
FRC Game Tools
+
+ Installs the FRC Driver Station + Required on the laptop that will drive the robot at competition. +
+ + + +
Part 3: Python teams only
+
RobotPy Setup
+
+ Install RobotPy and the required Python packages. + Java and C++ teams can skip this part. +
+ + + +
Optional
+
Offline Installation
+
+ Preparing to install without internet access? + Download the offline installer packages in advance. +
+ + +
+ + +

Verify Your Installation

+

+ After completing all parts above, confirm the installation is working: +

+ +
+ +
+
Open VS Code
+
+ Launch the WPILib VS Code shortcut (not the system VS Code). + You should see the WPILib icon (W) in the activity bar. +
+
+ +
+
Run WPILib Command
+
+ Press Ctrl+Shift+P (or Cmd+Shift+P on Mac) + and type WPILib. You should see WPILib commands in + the palette. +
+
+ +
+
Check Driver Station
+
+ Open the FRC Driver Station (Windows only). It should launch + without errors. Robot Communication will show + “No Robot Communication” - that is expected. +
+
+ +
+ +
+ Vendor libraries are not installed here. + Libraries like REVLib and Phoenix 6 are added per-project in Step 4 + using the WPILib Dependency Manager. You do not need them yet. +
+ + +
+ + ← Step 1: Build Your Robot + + Step 3: Configure Your Control System → +
.. toctree:: :maxdepth: 1 + :hidden: offline-installation-preparations first-driver-station diff --git a/source/docs/zero-to-robot/step-3/index.rst b/source/docs/zero-to-robot/step-3/index.rst index 083aab5faf..6614019f9c 100644 --- a/source/docs/zero-to-robot/step-3/index.rst +++ b/source/docs/zero-to-robot/step-3/index.rst @@ -1,8 +1,180 @@ -# Step 3: Preparing Your Robot +# Step 3: Configure Your Control System + +.. raw:: html + + + + +
+ 03 +
+
Configure Your Control System
+
+ Step 3 of 4 +
+
+
+ +

+ Before you can deploy code, the Systemcore must be configured with the + current season’s software and the radio must be programmed for your + team number. Both tasks require a Windows computer with FRC Game Tools installed. +

+ +
+ Re-configure every season. + The Systemcore image is season-specific. A robot that worked last year will + not accept code deploys until the Systemcore is updated with the current + year’s image. +
+ + +

Part 1: Configure the Systemcore

+

+ Use the FRC Game Tools to flash the current season’s image to your Systemcore. +

+ +
+ + +
Systemcore
+
Configure Systemcore
+
+ Use the FRC Game Tools imaging utility to flash the current + season’s image. Connect via USB or Ethernet. +
+ + +
+
Legacy
+
Using a roboRIO?
+
+ Teams still running a roboRIO should refer to the + 2026 WPILib docs + for imaging instructions. +
+
+ +
+ + +

Part 2 — Configure the Radio

+

+ The Vivid VH109 radio must be programmed with your team number + and the correct firmware before the robot can communicate wirelessly. +

+ +
+ + +
Standard
+
Radio Programming
+
+ Program the Vivid VH109 using the FRC Radio Configuration + Utility. Sets team number, SSID, and firmware. +
+ + + +
Reference
+
Legacy OpemMesh Radios
+
+ Hardware specs, indicator LED meanings, and troubleshooting +
+ + +
+ + +

Part 3 — Verify Power-Up

+ +
    +
  • Systemcore boots and status light cycles
    • +
  • Radio powers on
    • +
  • Radio SSID appears as < in Wi-Fi list
    • +
  • Connect laptop to robot Wi-Fi — Driver Station shows + “Robot Communication” in green
    • +
+ + +
+ + ← Step 2: Install Your Tools + + Step 4: Write and Drive → +
.. toctree:: :maxdepth: 1 + :hidden: - imaging-your-systemcore radio-programming openmesh diff --git a/source/docs/zero-to-robot/step-4/index.rst b/source/docs/zero-to-robot/step-4/index.rst index 5384687e96..2165935430 100644 --- a/source/docs/zero-to-robot/step-4/index.rst +++ b/source/docs/zero-to-robot/step-4/index.rst @@ -1,7 +1,272 @@ -# Step 4: Programming your Robot +# Step 4: Write and Drive + +.. raw:: html + + + +
+ 04 +
+
Write and Drive
+
+ Step 4 of 4 — Estimated time: 45 min +
+
+
+ +

Part 1 — Create Your Robot Project

+

+ Open the WPILib VS Code and create a new project from the template. +

+ +
+ +
Java / C++ / Python
+
Create a Drivetrain Program
+
+ Step-by-step guide: new project, vendor libraries, arcade drive + code, and deploy to the robot. +
+ +
+
Quick reference
+
New Project Checklist
+
    +
  • Open WPILib VS Code (not system VS Code)
    • +
  • Press Ctrl+Shift+P → + WPILib: Create a new project
    • +
  • Choose Template → TimedRobot
    • +
  • Set team number and project folder
    • +
  • Add vendor libraries via + Manage Vendor Libraries
    • +
+
+
+ +

Part 2 — Install Vendor Libraries

+

+ Vendor libraries add support for motor controllers and sensors. + They are per-project and must be added each time you create or import a project. +

+ +
+
+
Common Vendor Libraries
+
    +
  • REVLib — SPARK MAX and SPARK Flex
    • +
  • Phoenix 6 — Talon FX, CANcoder, Pigeon 2
    • +
  • PathplannerLib — autonomous trajectories
    • +
  • PhotonLib — PhotonVision camera support
    • +
+
+
+
How to Add a Library
+
    +
  • Ctrl+Shift+P → + WPILib: Manage Vendor Libraries
    • +
  • Select Install new libraries (online)
    • +
  • Paste the vendor JSON URL from their docs
    • +
  • Build the project to download dependencies
    • +
+
+
+ +

Part 3 — Basic Arcade Drive (Java)

+

+ A minimal working drivetrain. Replace + PWMSparkMax with your actual controller class. +

+ +.. code-block:: java + + // In Robot.java — inside teleopPeriodic() + PWMSparkMax leftMotor = new PWMSparkMax(0); + PWMSparkMax rightMotor = new PWMSparkMax(1); + DifferentialDrive drive = new DifferentialDrive(leftMotor, rightMotor); + + @Override + public void teleopPeriodic() { + // left stick Y = speed, right stick X = rotation + drive.arcadeDrive(-m_stick.getY(), m_stick.getX()); + } + +.. raw:: html + + +
Full drivetrain walkthrough →
+
+ Complete guide: project setup, motor controller configuration, + and deploy steps for Java, C++, and Python. +
+ + +

Part 4 — Deploy to the Robot

+ +
+
+
Deploy over Wi-Fi
+
+ Connect to the robot Wi-Fi network (XXXX_Robot), then press + Ctrl+Shift+P → WPILib: Deploy Robot Code. +
+
+
+
Deploy over USB
+
+ Connect USB-A to USB-B from laptop to Systemcore. + WPILib auto-detects USB and deploys without Wi-Fi. +
+
+
+ + +
Running and testing your program →
+
+ Connect Driver Station, plug in joystick, verify robot code + is running, and enable teleop for the first time. +
+ + +

Part 5 — Enable and Drive

+ +
+
+
Pre-enable checklist
+
    +
  • Robot on floor or safely elevated
    • +
  • All team members clear of moving parts
    • +
  • Driver Station shows “Robot Code” (green)
    • +
  • Joystick connected and recognized in DS
    • +
  • Battery voltage above 12.0 V
    • +
+
+
+
Enable steps
+
    +
  • Open FRC Driver Station
    • +
  • Select TeleOperated mode
    • +
  • Click Enable (or press Enter)
    • +
  • Move joystick — robot should respond
    • +
  • Press Disable (or Spacebar) to stop
    • +
+
+
+ +

Troubleshooting

+ +
+
+
“No Robot Communication”
+
Check Wi-Fi connection to robot network. + Verify Systemcore and radio are powered. Try USB deploy cable as a + fallback.
+
+
+
“No Robot Code”
+
Code was not deployed or crashed on startup. + Re-deploy from VS Code. Check the Driver Station log for + exceptions.
+
+
+
Robot does not move
+
Verify joystick axis mapping in Driver + Station USB tab. Confirm motor controller wiring and correct PWM + port numbers in code.
+
+
+
Robot moves in wrong direction
+
Invert one motor controller in code + (motor.setInverted(true)) or flip the motor power + leads on the controller.
+
+
+ +
+
✓ You have a driving robot.
+

+ Explore the + Command-Based + framework for structured programs, + path planning + for autonomous, and + + simulation to test code without hardware. +

+
+ +
+ + ← Step 3: Configure Your Control System +
.. toctree:: - :maxdepth: 1 + :maxdepth: 1 + :hidden: - creating-test-drivetrain-program-cpp-java-python - running-test-program + creating-test-drivetrain-program-cpp-java-python + running-test-program diff --git a/source/index.rst b/source/index.rst index d34fba6d19..0ff9cf4d00 100644 --- a/source/index.rst +++ b/source/index.rst @@ -1,335 +1,603 @@ -.. WPILib Documentation master file, created by - sphinx-quickstart on Fri Apr 5 23:28:43 2019. - You can adapt this file completely to your liking, but it should at least - contain the root `toctree` directive. - .. include:: .. meta:: :google-site-verification: POR_nG8b56eXGxmUIutST7jcA_Vl58ypSdJTzJ1g0zg -# FIRST Control System - -Welcome to the *FIRST*\ |reg| Control System Documentation! This site contains everything you need to know for programming a competition robot using WPILib! - -Community translations can be found in a variety of languages in the menu towards the bottom-right of the screen. - -.. grid:: 1 2 2 2 - :gutter: 3 - - .. grid-item-card:: - :class-header: sd-bg-success sd-text-white - - **Returning Teams** - - ^^^ - - If you are a returning team, please check out the overview of changes for 2027, known issues, and quick start guide for updating. - - +++ - - .. button-ref:: /docs/yearly-overview/yearly-changelog - :color: primary - :shadow: - :align: center - :expand: - :class: mb-1 - :outline: - - Changelog - - .. button-ref:: /docs/yearly-overview/known-issues - :color: primary - :shadow: - :align: center - :expand: - :outline: - - Known Issues - - .. button-ref:: /docs/yearly-overview/returning-quickstart - :color: primary - :shadow: - :align: center - :expand: - :outline: - - Quick Start - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **New Teams** - - ^^^ - - The Zero-to-Robot tutorial will guide you through preparation, wiring, and programming a basic robot! - - +++ - - .. button-ref:: /docs/zero-to-robot/introduction - :color: primary - :shadow: - :align: center - :expand: - :outline: - - Go to Zero-to-Robot - -.. grid:: 1 2 2 2 - :gutter: 3 - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Hardware Overview** - - ^^^ - - An overview of the hardware components available to teams. - - +++ - - .. button-ref:: /docs/controls-overviews/control-system-hardware - :color: primary - :align: center - :expand: - :outline: - - Go to Hardware Overview - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Software Overview** - - ^^^ - - An overview of the software components and tools available to teams. - - +++ - - .. button-ref:: /docs/controls-overviews/control-system-software - :color: primary - :shadow: - :align: center - :expand: - :outline: - - Go to Software Overview - -.. grid:: 1 2 3 3 - :gutter: 3 - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Programming Basics** - - ^^^ - - Documentation that is useful throughout a team's programming process. - - +++ - - .. button-ref:: stubs/programming-basics-stub - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View articles - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Advanced Programming** - - ^^^ - - Documentation that is suited toward veteran teams. This includes content such as Path Planning and Kinematics. - - +++ - - .. button-ref:: stubs/advanced-programming-stub - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View articles - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Hardware** - - ^^^ - - Hardware tutorials and content available for teams. - - +++ - - .. button-ref:: stubs/hardware-stub - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View articles - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Romi and XRP Robots** - - ^^^ - - The Romi and XRP robots are low-cost platforms for practicing WPILib programming. - - +++ - - .. button-ref:: docs/romi-robot/index - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View Romi articles - - .. button-ref:: docs/xrp-robot/index - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View XRP articles - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **API Documentation** - - ^^^ - - Java, C++, and Python class documentation. - - .. button-link:: https://github.wpilib.org/allwpilib/docs/beta/java/index.html - :color: primary - :shadow: - :align: center - :expand: - :outline: - - Java - - .. button-link:: https://github.wpilib.org/allwpilib/docs/beta/cpp/index.html - :color: primary - :shadow: - :align: center - :expand: - :outline: - - C++ - - .. button-link:: https://robotpy.readthedocs.io/projects/robotpy/en/stable/ - :color: primary - :shadow: - :align: center - :expand: - :outline: - - Python - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Software Tools** - - ^^^ - - Essential tooling such as FIRST Driver Station, Dashboards, roboRIO Imaging Tool and more. - - +++ - - .. button-ref:: stubs/software-tools-stub - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View articles - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Example Projects** - - ^^^ - - This section showcases the available example projects that teams can reference in VS Code. - - +++ - - .. button-ref:: docs/software/examples-tutorials/wpilib-examples - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View articles - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **Status Light Quick Reference** - - ^^^ - - Quick reference guide for the status lights on a variety of FRC hardware. - - +++ - - .. button-ref:: docs/hardware/hardware-basics/status-lights-ref - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View article - - .. grid-item-card:: - :class-header: sd-bg-info sd-text-white - - **3rd Party libraries** - - ^^^ - - Tutorial on adding 3rd party libraries such as CTRE and REV to your robot project. - - +++ - - .. button-ref:: docs/software/vscode-overview/3rd-party-libraries - :color: primary - :shadow: - :align: center - :expand: - :outline: - - View article +WPILib Documentation +==================== + +.. raw:: html + +
+

+ Welcome! +

+

+ WPILib is the standard programming library for FIRST Robotics, + supporting teams in + FRC + and + FTC. +

+
+ + FRC — FIRST Robotics Competition + + + FTC — FIRST Tech Challenge + +
+
+ +
+ + +
+

Where are you starting from?

+
+ + +
+
+ + +
+ + +
+
+

Let us help you find the right starting point.

+

WPILib is the standard programming library for FIRST robotics — supporting both FRC and FTC teams. Built through a partnership between WPI, FIRST, and volunteer developers, it has everything you need to write, test, and deploy robot code.

+
+

How familiar are you with programming?

+
+ + +
+
+ + +
+

Here is What the Steps Look Like

+
+
+ 01 +
+
Install and Choose Your Tools
+
WPILib, VS Code, Choose Java, C++, or Python.
+
+
+
+ 02 +
+
Set Up Your Hardware
+
Wire the control system, image the roboRIO, and configure the radio.
+
+
+
+ 03 +
+
Write and Deploy Code
+
Create your first project, write drive code, and deploy it to the robot.
+
+
+
+ 04 +
+
Drive and Test
+
Connect the Driver Station, plug in a joystick, and enable the robot for the first time.
+
+
+
+
+ Want to just focus on code? + The XRP Robot Platform lets you write and test real WPILib code on a low-cost robot. The robot runs off of a Rasberry Pi, so no control system required. +
+
+ + + + + + + + + + +
+ + +
+ +
+

Welcome back. Here is what has changed for 2027.

+

Run through the checklist below before your first practice session. Several tools were removed in 2027 : check the deprecations section if you have not yet migrated.

+
+ +
+ +
+
FRC
+

Pre-Season Checklist

+
    +
  • Download and run the 2027 WPILib installer
    • +
  • Flash your Systemcore using FRC 2027 Game Tools
    • +
  • Use Import Project in VS Code to migrate your 2026 code
    • +
  • Re-add all vendor libraries : they do not carry over on import
    • +
  • Check for vendor library updates in the Dependency Manager
    • +
  • Test with the simulator before deploying to hardware
    • +
+
+ +
+
FRC
+

Removed in 2027 : No Longer Available

+

These tools were removed in the 2027 season. If you have not yet migrated, you need to do so now.

+
    +
  • Shuffleboard : migrate to Elastic or AdvantageScope
    • +
  • SmartDashboard : migrate to Glass or Elastic (uses deprecated NT v3)
    • +
  • PathWeaver : migrate to PathPlanner or Choreo
    • +
  • RobotBuilder : will be removed with control system change in 2027
    • +
+
+ +
+
FRC
+

What is New for 2027

+
    +
  • FRC now uses Systemcore: see the hardware migration guide
    • +
  • 2027 field images and AprilTag layout data included in WPILib
    • +
  • Windows 10 is no longer supported: Windows 11 is required
    • +
  • Vendor library updates required: check the Dependency Manager
    • +
+ Full 2027 changelog +
+ +
+
FRC + FTC
+

Looking Ahead to 2028

+
    +
  • Continued improvements to Systemcore and Motioncore toolchains
    • +
  • Expanded FTC WPILib documentation and library support
    • +
  • Watch the WPILib blog for 2028 season previews
    • +
+ Follow the WPILib blog for previews +
+ +
+
FTC
+

FTC Teams : Your Options Right Now

+

WPILib FTC support is now available with Systemcore. Here is where things stand for the 2027-2028 season:

+
+
+ Using REV Control Hub / Expansion Hub (REV Duo)? +
    +
  • Continue programming with the FTC SDK as normal : Java or Blocks
    • +
  • Full documentation at ftc-docs.firstinspires.org
    • +
  • REV Duo hardware remains legal and fully supported for the current season
    • +
+
+
+ Using Systemcore with WPILib? +
    +
  • Systemcore and Motioncore bring full WPILib support to FTC
    • +
  • Same Java / C++ / Python toolchain as FRC : skills transfer directly
    • +
  • Try the XRP Platform to start learning WPILib today
    • +
  • WPILib FTC overview
    • +
+
+
+
+ +
+
+ +
+ + + + + +.. raw:: html + +
+

Choose Your Program

+ +
+ +
FRC
+
FIRST Robotics Competition
+
Industrial sized robots, Built to play a court sized game. High school program. Now uses Systemcore (as of 2027) and supports Java, C++, or Python.
+ + +
FTC
+
FIRST Tech Challenge
+
WPILib is expanding to FTC via the Systemcore and Motioncore controllers. REV Duo teams can program today using the FTC SDK.
+ +
+ + + XRP + Practicing before build season? The XRP Robot Platform lets you write and test real WPILib code on a low-cost desktop robot : no roboRIO required. + XRP docs → + + +
+

Core Documentation

+

Shared across all supported programs.

+ +
+
Hardware Overview
Motors, sensors, pneumatics, cameras, and FRC-legal components.
 +
Software Overview
WPILib tools, VS Code extensions, vendor libraries, and the full software ecosystem.
 +
Robot Programming
Command-based framework, subsystems, triggers, and drive code patterns.
 +
Path Planning
Autonomous trajectories with PathPlanner, Choreo, and WPILib built-in tools.
 +
Dashboards
Elastic, AdvantageScope, Glass, and NetworkTables for real-time telemetry.
 +
Advanced Controls
PID, feedforward, state-space, kinematics, and system identification.
 +
Simulation
Test robot code on your laptop : no hardware required.
 +
API Reference
Java, C++, and Python class and method documentation.
 +
+ +
+ Still using a roboRIO? + This site covers the 2027 Systemcore-based control system. + For roboRIO documentation, visit the + 2026 WPILib docs (docs.wpilib.org). +
+ +---- .. toctree:: :maxdepth: 1 - :titlesonly: - :caption: Zero to Robot + :caption: Getting Started :hidden: docs/zero-to-robot/introduction @@ -340,95 +608,84 @@ Community translations can be found in a variety of languages in the menu toward .. toctree:: :maxdepth: 1 - :caption: Control System Overviews + :caption: FTC and FRC Notes :hidden: - docs/controls-overviews/control-system-hardware - docs/controls-overviews/control-system-software + docs/ftc/index .. toctree:: :maxdepth: 1 - :caption: Programming Basics + :caption: What's New for 2027 :hidden: - docs/software/what-is-wpilib docs/yearly-overview/index - docs/software/vscode-overview/index - docs/software/dashboards/index - docs/software/telemetry/index - docs/software/python/index - docs/software/hardware-apis/index - docs/software/can-devices/index - docs/software/basic-programming/index - docs/software/support/support-resources - docs/software/frc-glossary .. toctree:: :maxdepth: 1 - :caption: API Docs + :caption: FRC Robot Hardware :hidden: - WPILib Java API Docs - WPILib C++ API Docs - WPILib Python API Docs + docs/controls-overviews/control-system-hardware + docs/hardware/hardware-basics/hardware-overview + docs/hardware/hardware-basics/status-lights-ref .. toctree:: :maxdepth: 1 - :caption: Software Tools + :caption: Writing Robot Code :hidden: - docs/software/driverstation/index - docs/software/wpilib-tools/robot-simulation/index - docs/software/wpilib-tools/outlineviewer/index - docs/software/wpilib-tools/wpical/index + docs/controls-overviews/control-system-software + docs/software/what-is-wpilib + docs/software/vscode-overview/index + docs/software/vscode-overview/3rd-party-libraries + docs/software/dashboards/index + docs/software/telemetry/index + docs/software/hardware-apis/index + docs/software/can-devices/index + docs/software/basic-programming/index + docs/software/python/index + docs/software/examples-tutorials/wpilib-examples + docs/software/examples-tutorials/third-party-examples + docs/software/support/support-resources + docs/software/frc-glossary .. toctree:: :maxdepth: 1 - :caption: Advanced Programming + :caption: Controls and Autonomy :hidden: - docs/software/vision-processing/index docs/software/commandbased/index - docs/software/kinematics-and-odometry/index - docs/software/networktables/index docs/software/pathplanning/index - docs/software/systemcore-info/index - docs/software/advanced-gradlerio/index docs/software/advanced-controls/index - docs/software/convenience-features/index - -.. toctree:: - :maxdepth: 1 - :caption: Examples and Tutorials - :hidden: - - docs/software/examples-tutorials/wpilib-examples - docs/software/examples-tutorials/third-party-examples + docs/software/wpilib-tools/robot-simulation/index .. toctree:: :maxdepth: 1 - :caption: Hardware + :caption: Tools and Dashboards :hidden: - docs/hardware/hardware-basics/index - docs/hardware/hardware-tutorials/index - docs/hardware/sensors/index + docs/software/driverstation/index + docs/software/wpilib-tools/outlineviewer/index + docs/software/wpilib-tools/wpical/index + docs/networking/networking-introduction/index + docs/networking/networking-utilities/index .. toctree:: :maxdepth: 1 - :caption: Romi and XRP Support + :caption: Practice with XRP :hidden: - docs/romi-robot/index docs/xrp-robot/index + docs/romi-robot/index .. toctree:: :maxdepth: 1 - :caption: Robot Networking + :caption: API Reference :hidden: - docs/networking/networking-introduction/index - docs/networking/networking-utilities/index + WPILib Java API Docs + WPILib C++ API Docs + WPILib Python API Docs .. toctree:: :maxdepth: 1 @@ -437,18 +694,11 @@ Community translations can be found in a variety of languages in the menu toward docs/contributing/wpilib-docs/index docs/contributing/wpilib/index - -.. toctree:: - :maxdepth: 1 - :caption: Legal - :hidden: - docs/legal/privacy-policy .. toctree:: :maxdepth: 1 - :caption: Issues + :caption: Report an Issue :hidden: - Report a Documentation Issue - + Report an Issue From 3e6b8ca040394b0df95276efc8d023baaa76371e Mon Sep 17 00:00:00 2001 From: Amanda Bessette Date: Thu, 4 Jun 2026 17:26:37 -0400 Subject: [PATCH 02/30] Continue working on CI fixes --- source/conf.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/source/conf.py b/source/conf.py index bfc6ff71ff..a55f440612 100644 --- a/source/conf.py +++ b/source/conf.py @@ -339,6 +339,16 @@ def setup(app): "printindex": r"\footnotesize\raggedright\printindex", } +latex_documents = [ + ( + master_doc, + "firstroboticscompetition.tex", + "FIRST Robotics Documentation", + author, + "manual", + ) +] + suppress_warnings = ["epub.unknown_project_files"] From a7de5d9ef4a45c4eeb84ba4520fbeb5edb6c7a92 Mon Sep 17 00:00:00 2001 From: Amanda Bessette Date: Thu, 4 Jun 2026 17:47:02 -0400 Subject: [PATCH 03/30] Working on CI fixes --- source/docs/zero-to-robot/introduction.rst | 8 ++------ source/docs/zero-to-robot/step-1/index.rst | 2 +- source/redirects.txt | 15 +++++++++++++++ 3 files changed, 18 insertions(+), 7 deletions(-) diff --git a/source/docs/zero-to-robot/introduction.rst b/source/docs/zero-to-robot/introduction.rst index deff369165..71263c35dc 100644 --- a/source/docs/zero-to-robot/introduction.rst +++ b/source/docs/zero-to-robot/introduction.rst @@ -8,12 +8,8 @@ This guide walks you through everything you need to start driving a robot. .. raw:: html -<<<<<<< HEAD -These pages cover the specifics of the WPILib libraries and the FIRST Control System and do not describe the basics of using the supported programming languages. If you would like resources on learning the supported programming languages check out the recommendations below: -=======
🚧
diff --git a/source/docs/hardware/hardware-basics/hardware-overview.rst b/source/docs/hardware/hardware-basics/hardware-overview.rst index 76954ac34c..7d93cd20df 100644 --- a/source/docs/hardware/hardware-basics/hardware-overview.rst +++ b/source/docs/hardware/hardware-basics/hardware-overview.rst @@ -7,56 +7,6 @@ Use it as a reference when wiring or troubleshooting your robot. .. raw:: html -
FRC + FTC: This page covers the FRC control system. diff --git a/source/docs/software/what-is-wpilib.rst b/source/docs/software/what-is-wpilib.rst index 3722988257..8a5a0c25cc 100644 --- a/source/docs/software/what-is-wpilib.rst +++ b/source/docs/software/what-is-wpilib.rst @@ -25,62 +25,6 @@ FIRST\ |reg|, and volunteer developers from the community. .. raw:: html -

Which path are you on?

diff --git a/source/docs/xrp-robot/index.rst b/source/docs/xrp-robot/index.rst index a380d39fd6..cbaae2ee74 100644 --- a/source/docs/xrp-robot/index.rst +++ b/source/docs/xrp-robot/index.rst @@ -9,59 +9,6 @@ The same tools, language, and code patterns used for full FRC robots work on the .. raw:: html -

Why Use the XRP?

diff --git a/source/docs/zero-to-robot/introduction.rst b/source/docs/zero-to-robot/introduction.rst index 71263c35dc..1d03ab4111 100644 --- a/source/docs/zero-to-robot/introduction.rst +++ b/source/docs/zero-to-robot/introduction.rst @@ -8,60 +8,6 @@ This guide walks you through everything you need to start driving a robot. .. raw:: html -

Choose Your Programming Language

diff --git a/source/docs/zero-to-robot/step-1/index.rst b/source/docs/zero-to-robot/step-1/index.rst index 398521b91f..cbd6c09d67 100644 --- a/source/docs/zero-to-robot/step-1/index.rst +++ b/source/docs/zero-to-robot/step-1/index.rst @@ -2,79 +2,6 @@ .. raw:: html -
diff --git a/source/docs/zero-to-robot/step-2/index.rst b/source/docs/zero-to-robot/step-2/index.rst index ce51e00320..242c7a4d01 100644 --- a/source/docs/zero-to-robot/step-2/index.rst +++ b/source/docs/zero-to-robot/step-2/index.rst @@ -2,70 +2,6 @@ .. raw:: html -
diff --git a/source/docs/zero-to-robot/step-3/index.rst b/source/docs/zero-to-robot/step-3/index.rst index 6614019f9c..46274b047b 100644 --- a/source/docs/zero-to-robot/step-3/index.rst +++ b/source/docs/zero-to-robot/step-3/index.rst @@ -2,72 +2,6 @@ .. raw:: html -
diff --git a/source/docs/zero-to-robot/step-4/index.rst b/source/docs/zero-to-robot/step-4/index.rst index 2165935430..5b93613194 100644 --- a/source/docs/zero-to-robot/step-4/index.rst +++ b/source/docs/zero-to-robot/step-4/index.rst @@ -2,66 +2,6 @@ .. raw:: html -
04 diff --git a/source/index.rst b/source/index.rst index 0ff9cf4d00..e0d6ad770b 100644 --- a/source/index.rst +++ b/source/index.rst @@ -312,208 +312,6 @@ WPILib Documentation
-