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Download Programming Guide - FIRST Robotics Resource Center
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Contents Contents What is the WPI Robotics Library................................................................. 4 Choosing between C++ and Java................................................................. 7 Sensors............................................................................................... 9 Digital I/O Subsystem............................................................................. 10 Digital Inputs....................................................................................... 11 Digital Outputs..................................................................................... 12 Accelerometer...................................................................................... 13 Gyro.................................................................................................. 14 HiTechnicCompass................................................................................. 17 Ultrasonic rangefinder............................................................................ 18 Counter Subsystem................................................................................ 20 Counter Objects.................................................................................... 21 Encoders............................................................................................. 22 Geartooth Sensor.................................................................................. 23 Quadrature Encoders.............................................................................. 24 Analog Inputs....................................................................................... 26 Analog Triggers..................................................................................... 28 Camera.............................................................................................. 29 Controlling Motors................................................................................. 33 PWM.................................................................................................. 34 Victor................................................................................................ 35 Jaguar............................................................................................... 36 Servo................................................................................................. 37 RobotDrive.......................................................................................... 38 Getting Feedback from the Drivers Station....................................................40 Joysticks............................................................................................. 42 Controlling Pneumatics........................................................................... 44 Compressor......................................................................................... 45 Solenoid (Pneumatics)............................................................................ 47 Vision / Image Processing......................................................................... 48 Color Tracking...................................................................................... 49 2
