Sensors WPI Robotics

The WPI Robotics Library has the sensors that are supplied in the FRC kit of parts, as well as many other commonly used sensors available to FIRST teams through industrial and hobby robotics outlets. The WPILib supported sensors are listed in the chart below. The supported sensors include those that are provided in the FIRST kit of parts, as well as other commonly used sensors.

Types of supported sensors
On the cRIO, the FPGA implements all the high-speed measurements through dedicated hardware ensuring accurate measurements no matter how many sensors and motors are added to the robot. This is an improvement over previous systems, which required complex real-time software routines. Natively the library supports the sensors of the categories shown below.

The WPI Robotics Library has many features that make it easy to implement the sensors that don’t have prewritten classes. For example, general-purpose counters can measure period and count from any device generating the output pulses. Another example is a generalized interrupt facility to catch the high-speed events without polling and potentially missing them.
Digital I/O Subsystem
The digital sidecar of visual representation and the subsystem of digital I/O. The NI 9401 digital I/O module offered in the kit has 32 GPIO lines. Through the circuits in the digital breakout the board, these lines map into 10 PWM outputs, 8 Relay outputs for the driving Spike relays, the signal light output, an I2C port, and 14 bidirectional the GPIO lines.
The PWM lines of basic update rate is a multiple of approximately 5 ms. Jaguar speed controllers update at slightly over 5ms, Victors update at slightly over 10ms, and servos update at slightly over 20ms.