repository·main·Indexed 23 days ago
https://github.com/wpilibsuite/allwpilibA collection of core libraries (HAL, Commands, WPIMath, etc.) used to create robot programs for Systemcore, primarily supporting FRC and FTC teams. It includes the DataLog binary logging format, the Epilogue annotation-based telemetry library, and various Python wrappers such as robotpy-apriltag, robotpy-commands-v2, and robotpy-hal.
Epilogue is a Java annotation-based telemetry library designed to simplify interactions with WPILib's telemetry and logging facilities, specifically targeting NetworkTables and DataLog.
While the core library provides the annotations, the epilogue-processor subproject specifically provides the annotation processor responsible for generating the necessary code to automate the publishing and logging of data based on those annotations.
epilogue-runtime, provides the runtime library required to configure and execute the behavior of code generated by the Epilogue annotation processor.The Robot Hardware Interface WebSockets API is a standard interface for transmitting robot hardware interface state over a network. It is designed to allow 3rd party software to interface with a robot program running in a desktop environment.
Typical connection patterns include:
This API provides a text-based network interface to the 'hardware' interface layer, lowering the barrier to entry for developing tools that interact with robot hardware state without requiring custom C++ simulation plugins.
The wpimath package provides a suite of utilities for robot control and motion planning. Key capabilities include:
wpiannotations library provides a collection of annotations designed for use in WPILib and WPILib robot projects. When used in conjunction with the javacPlugin, these annotations enable compile-time static analysis. This allows you to place constraints on your code to prevent common mistakes by having the compiler emit errors when specific error patterns are detected.javacPlugin is a Java compiler plugin designed for use in WPILib and WPILib robot projects. When used in conjunction with wpiannotations, it performs static analysis on source code to enforce constraints defined by specific annotations. Its primary purpose is to reduce user errors by catching violations of these constraints during the compilation process, within the limits of what static analysis can detect.The WPILib repository is organized into several key functional areas depending on whether you are looking for high-level robot logic or low-level hardware abstraction:
hal/cpp: Platform-independent code shared between Systemcore and simulation.hal/sim: Code designed to run on a computer for simulation.hal/systemcore: Code designed to run on the robot's Systemcore.robotpy-romi package provides RobotPy support for the WPILib ROMI vendor library, enabling integration with ROMI hardware within the RobotPy ecosystem.ntcore library using pybind11. It allows developers to access core ntcore functionality directly within Python environments.robotpy-apriltag package provides RobotPy wrappers around the WPILib implementation of the AprilTag library. It is used to detect and localize AprilTags in camera images, typically for robot localization and vision-based navigation.