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零到机器人

  • 简介
  • 第1步：搭建机器人
    • Introduction to FRC Robot Wiring
  • 步骤2：安装软件
    • 离线安装准备
    • Installing the FIRST Driver Station
    • WPILib安装指南
    • Python Installation Guide
    • 下一步
  • 第3步：准备你的机器人
    • Imaging your Systemcore
    • 给你的路由器编程
    • Using the OpenMesh OM5P Radio
  • 第4步：给你的机器人编程
    • Creating your Test Drivetrain Program (Java/C++/Python)
    • Running your Test Program

控制系统概述

  • 硬件组件概述
  • 软件组件概述

编程基础

  • 什么是WPILib？
  • 2027 Overview
    • 已知问题
    • New for 2027
    • Quick Start for Returning Teams
    • 2026 Game Data Details
    • Removed features
  • VS Code 概述
    • VS Code 基础以及WPILib扩展
    • Visual Studio Code中的WPILib命令
    • 创建机器人程序
    • 第三方库
    • 编译并部署机器人代码
    • 查看控制台输出
    • 调试机器人程序
    • Importing Last Year's Robot Code
  • Dashboards
    • Choosing a Dashboard
    • Glass
      • Introduction to Glass
      • 建立网络表连接
      • Glass Widgets
      • Widgets for the Command-Based Framework
      • The Field2d Widget
      • The Mechanism2d Widget
      • Plots
    • AdvantageScope
    • Elastic
    • Troubleshooting Dashboard Connectivity
  • Telemetry
    • Telemetry: Recording and Sending Real-Time Data
    • New for 2025: Robot Telemetry with Annotations (Java Only)
    • Recording Faults with Persistent Alerts
    • On-Robot Telemetry Recording Into Data Logs
    • Downloading & Processing Data Logs
    • Third-Party Telemetry Libraries
  • RobotPy Python Programming
    • Python Installation Guide
    • Installing the FIRST Driver Station
    • pyproject.toml usage
    • RobotPy subcommands
      • Deploy Python program to roboRIO
  • Hardware APIs
    • Motors APIs
      • Using Motor Controllers in Code
      • PWM Motor Controllers in Depth
      • Using the WPILib Classes to Drive your Robot
      • Repeatable Low Power Movement - Controlling Servos with WPILib
    • Pneumatics APIs
      • Operating Pneumatic Cylinders
      • Generating and Storing Pressure
    • Sensors
      • Sensor Overview - Software
      • Accelerometers - Software
      • Gyroscopes - Software
      • Encoders - Software
      • Analog Inputs - Software
      • Analog Potentiometers - Software
      • Digital Inputs - Software
      • Programming Limit Switches
    • Miscellaneous Hardware APIs
      • Addressable LEDs
  • CAN设备
    • 使用CAN设备
    • 气动控制模块
    • Pneumatic Hub
    • Power Distribution Module
    • 第三方CAN设备
    • FIRST CAN Device Specifications
  • 基础编程
    • Git 版本控制介绍
    • C++ 单位库
    • The Java Units Library
    • Joysticks
    • Coordinate System
    • Setting Robot Preferences
    • Robot Project Deploy Directory
    • Reading Stacktraces
    • Treating Functions as Data
    • OpMode Framework
    • Get Alliance Color
    • Java Garbage Collection
    • Using Utility Mode
  • 支持资源
  • FRC词汇表

API文档

  • WPILib Java API文档
  • WPILib C++ API文档
  • WPILib Python API Docs

软件工具

  • FIRST Driver Station
    • FIRST Driver Station Introduction
    • Driver Station (Operator Console) Best Practices
    • Driver Station Log File Viewer
    • Driver Station Errors/Warnings
    • Driver Station Debug Graph
    • Manually Setting the Driver Station to Start Custom Dashboard
  • 机器人模拟
    • 机器人模拟简介
    • 模拟特定的用户界面元素
    • Glass Widgets
    • Widgets for the Command-Based Framework
    • The Field2d Widget
    • Plots
    • 用WPILib进行物理模拟
    • 设备仿真
    • Drivetrain Simulation Tutorial
      • Drivetrain Simulation Overview
      • Step 1: Creating Simulated Instances of Hardware
      • Step 2: Creating a Drivetrain Model
      • Step 3: Updating the Drivetrain Model
      • Step 4: Updating Odometry and Visualizing Robot Position
    • 单元测试
  • OutlineViewer
  • WPIcal

进阶编程

  • 视觉处理
    • 视觉介绍
      • 什么是视觉
      • 视觉编程策略
      • 识别和处理目标
      • 读取和处理视频：CameraServer类
    • 带有WPILibPi的视觉
      • 在Raspberry Pi上使用WPILibPi的视频演练
      • 使用协同处理器的视觉处理
      • 在FRC中运用树莓派
      • 你需要哪些东西来让树莓派处理理图像
      • 将图形库安装到MicroSD卡上
      • 树莓派
      • CameraServer的应用
      • 阈值图像
      • 形态学运算
      • 使用轮廓
      • 基本视觉示例
    • AprilTag Introduction
      • What Are AprilTags?
    • 关于RoboRIO的视觉
      • 使用roboRIO上的CameraServer
      • 使用多台相机
      • CameraServer Web Interface
  • 基于指令的编程
    • Commands v2 Programming
      • What Is "Command-Based" Programming?
      • Commands
      • Command Compositions
      • Subsystems
      • Binding Commands to Triggers
      • Structuring a Command-Based Robot Project
      • Organizing Command-Based Robot Projects
      • The Command Scheduler
      • A Technical Discussion on C++ Commands
      • PID Control in Command-based
      • Motion Profiling in Command-based
      • Combining Motion Profiling and PID in Command-Based
    • Commands v3 Programming
      • Creating Commands
      • How the Scheduler Works
      • Using Lambda Functions
      • Making Commands Run
      • Command Mechanisms
      • Migrating from Commands v2
      • Scopes
      • State Machines with Commands
      • Structuring Your Project
      • Telemetry with Commands
      • Command Triggers
      • Troubleshooting Commands
  • 运动学和测距法
    • Introduction to Kinematics and The ChassisVelocities Class
    • 差动驱动运动学
    • 差速驱动测距法
    • 转向驱动运动学
    • 转向驱动测距法
    • 麦克纳姆驱动运动学
    • 麦克纳姆驱动测距法
  • 网络表
    • 什么是网络表
    • NetworkTables Tables and Topics
    • Publishing and Subscribing to a Topic
    • NetworkTables Instances
    • NetworkTables Networking
    • Listening for Changes
    • Writing a Simple NetworkTables Robot Program
    • Creating a Client-side Program
    • Migrating from NetworkTables 3.0 to NetworkTables 4.0
    • Reading Array Values Published by NetworkTables
  • Path Planning
    • Choreo
  • Systemcore
    • Systemcore Introduction
    • Imaging your Systemcore
    • Systemcore Web Dashboard
    • roboRIO FTP
    • Systemcore SSH
    • roboRIO Brownout and Understanding Current Draw
  • 高级GradleRIO
    • 通过机器人代码使用外部库
    • 使用GitHub Actions为机器人代码设置CI
    • 使用代码格式化程序
    • Gradlew Tasks
    • Including Git Data in Deploy
    • Using Compiler Arguments
    • Profiling with VisualVM
    • JVM Runtime error
  • 进阶控制
    • 基于视频的FRC自主验证视频演练
    • 高级控制介绍
      • 控制系统基础
      • Picking a Control Strategy
      • Introduction to DC Motor Feedforward
      • PID简介
      • WPI的PID简介视频
      • Introduction To Controls Tuning Tutorials
      • Tuning a Flywheel Velocity Controller
      • Tuning a Turret Position Controller
      • Tuning a Vertical Arm Position Controller
      • Tuning a Vertical Elevator with Motion Profiling
      • Common Control Loop Tuning Issues
    • 滤波器
      • 过滤器简介
      • 线性滤波器
      • 中值过滤器
      • 回转速率限制器
      • Debouncer
    • 几何类别
      • 平移、旋转和姿态
      • 转变
    • System Identification
      • Introduction to System Identification
      • Creating an Identification Routine
      • Running the Identification Routine
      • Loading Data
      • Viewing Diagnostics
      • Analyzing Data
      • Additional Utilities and Tools
    • 控制器
      • WPILib中的PID控制
      • WPILib中的前馈控制
      • 前馈与PID控制相结合
      • WPILib中的梯形运动轮廓
      • 将运动分析和PID控制与ProfiledPIDController相结合
      • Bang-Bang Control with BangBangController
    • WPILib的轨迹生成和跟踪
      • 轨迹生成
      • 轨迹约束
      • 操纵轨迹
      • 转变轨迹
      • LTV Unicycle Controller
      • 故障排除
    • 使用WPILib进行基于状态空间和模型的控制
      • 空间状态控制简介
      • 状态空间控制器演练
      • 状态观察者和卡尔曼滤波器
      • Pose Estimators
      • 调试状态空间模型和控制器
    • 控制术语表
  • 便捷功能
    • 自定义频率的调度功能
    • Event-Based Programming With EventLoop

示例和教程

  • WPILib 示例项目
  • Third Party Example Projects

硬件

  • 硬件-基础
    • 硬件组件概述
    • Introduction to FRC Robot Wiring
    • 连接线路的最佳实践
    • CAN接线基础
    • Wiring Pneumatics - CTRE Pneumatic Control Module
    • Wiring Pneumatics - REV Pneumatic Hub
    • 状态指示灯快速参考
    • 机器人的预防式故障排除
    • 机器人电池基础
  • 硬件教程
    • 机器人电机的应用
    • 传感与传感器
    • 气动组件
    • 动力传递
  • 传感器
    • 传感器概述-硬件
    • 模拟输入 - 硬件
    • 模拟电位器 - 硬件
    • 数字输入 - 硬件
    • 接近开关-硬件
    • 编码器 - 硬件
    • 陀螺仪-硬件
    • 加速度计 - 硬件
    • LIDAR - 硬件
    • 三角测距仪
    • 串行总线

Romi and XRP Support

  • 从Romi开始
    • Romi硬件和装配体
    • 成像你的Romi
    • 了解你的ROMI
    • Romi Hardware Support
    • ROMI Web界面
    • 编程Romi
  • Getting Started with XRP
    • XRP Hardware, Assembly, and Imaging
    • Getting to know your XRP
    • XRP Hardware Support
    • The XRP Web UI
    • Programming the XRP

机器人网络

  • 网络介绍
    • 网络基础
    • IP配置
    • Systemcore Network Troubleshooting
    • Windows防火墙配置
    • 测量带宽使用
  • 网络工具
    • 端口转发

贡献

  • Contributing to wpilib-docs
    • Contribution Guidelines
    • Style Guide
    • Build Instructions
    • Draw.io Saving Instructions
    • Translations
    • Top Contributors
    • Top Translators
    • TODO List
  • 使用allwpilib开发
    • 概述
    • 样式指南和WPI格式
    • 编译和CMake
    • 使用开发者版本
    • Maven Artifacts
    • 开发者指南
    • NetworkTables 4 Protocol Spec

Legal

  • Privacy Policy

问题

  • Report a Documentation Issue
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步骤2：安装软件¶

可用的控制系统软件的概述可在:doc:`此处 </docs/controls-overviews/control-system-software>`找到

  • 离线安装准备
  • Installing the FIRST Driver Station
  • WPILib安装指南
  • Python Installation Guide
  • 下一步
Next
离线安装准备
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Introduction to FRC Robot Wiring
Copyright © 2026, FIRST and other WPILib Contributors. This work is licensed under a Creative Commons Attribution 4.0 International License
Made with Sphinx and @pradyunsg's Furo
Last updated on 2026 年 09 月 19 日