The WPI Robotics library (WPILibJ) is a set of Java classes that interfaces
to the hardware in the FRC control system and your robot. There are classes
to handle sensors, motors, the driver station, and a number of other
utility functions like timing and field management. The library is designed
to:
- Deal with all the low level interfacing to these components so you
can concentrate on solving this year's "robot problem". This is a
philosophical decision to let you focus on the higher-level design of
your robot rather than deal with the details of the processor and the
operating system.
- Understand everything at all levels by making the full source code of
the library available. You can study (and modify) the algorithms used by
the gyro class for oversampling and integration of the input signal or
just ask the class for the current robot heading. You can work at any
level.