| Absolute encoder |
An encoder that reports the shaft's true angle, even right after power-on |
8 |
| Autonomous (auto) |
The first 15 seconds of a match, with no driver input |
11 |
| Branch |
A separate line of work in Git |
15 |
| Brownout |
Battery voltage drops so low the roboRIO disables motor outputs |
4 |
| CAN |
The two-wire bus most motor controllers use to talk to the roboRIO |
4 |
| CI |
Continuous integration: automatically building and testing every change |
16 |
| Clone |
Download a full copy of a Git repository |
1 |
| Closed loop |
Control that measures and corrects (feedback) |
12 |
| Command |
An action that uses one or more subsystems |
7 |
| Command scheduler |
The part of WPILib that runs commands and checks triggers every loop |
7.1 |
| Commit |
A saved snapshot of your code in Git |
1 |
| Composition |
A command built from other commands, like a sequence or parallel group |
11 |
| Constraints |
A motion profile's max velocity and max acceleration |
14 |
| Current limit |
A cap on how many amps a motor can draw, set in code |
4 |
| Deadband |
A small range around zero that's treated as exactly zero |
10 |
| Default command |
The command a subsystem runs when nothing else is using it |
7, 7.1 |
| Elastic |
The drag-and-drop driver dashboard that comes with WPILib |
6.1 |
| Encoder |
A sensor that measures shaft rotation |
8 |
| Error |
Setpoint minus measurement |
12 |
| Feedforward |
Predicting the needed output from a model of the mechanism |
13 |
| Gain |
A tuning constant (kP, kV, etc.) |
12 |
| Goal |
Where a motion profile finally ends up |
14 |
| Gradle |
The build tool WPILib projects use (./gradlew) |
2 |
| Gyro / IMU |
A sensor that measures the robot's rotation and heading |
8 |
| Integral windup |
The I term building up too much while stuck, then causing overshoot |
12 |
| kS, kV, kA, kG |
Feedforward gains for friction, velocity, acceleration, and gravity |
13 |
| Lambda |
A small piece of code passed around to run later: () -> ... |
3 |
| Loop overrun |
The robot's code took longer than its 20 ms loop |
6 |
| Measurement |
The value a sensor reports right now |
12 |
| Merge conflict |
Two changes to the same lines that Git can't combine automatically |
1 |
| Motion profile |
A planned smooth path of position and velocity over time |
14 |
| NetworkTables |
The system that sends values between the robot and dashboards |
6.1, 9 |
| Open loop |
Control without checking a sensor |
12 |
| Publisher |
A NetworkTables object that sends values on one topic |
6.1 |
| Pull request (PR) |
A request to merge a branch, with review |
15 |
| Requirement |
A command declaring that it uses a subsystem |
7.1 |
| roboRIO |
The robot's main computer, which runs your code |
4 |
| Sendable |
A WPILib object (like the command scheduler) that describes itself to a dashboard |
6.1 |
| Setpoint |
The value you want right now (target angle, target speed) |
12, 14 |
| Simulation |
Running robot code on your laptop with fake hardware |
0, 9 |
| Solenoid |
An electrically controlled air valve |
5 |
| Steady-state error |
A small error that's left over after the mechanism settles |
12 |
| Subsystem |
A class representing one robot mechanism and its hardware |
7 |
| SysId |
WPILib tool that measures feedforward constants from real tests |
13.1 |
| Teleop |
The driver-controlled part of a match |
10 |
| Topic |
One named value in NetworkTables, like /Wheel/Position (rot) |
6.1 |
| Trigger |
A condition (like a button) that starts or stops a command |
7, 7.1 |
| Tunable |
A number you can change from the dashboard while the robot runs |
6.1 |
| Unit test |
Code that automatically checks other code |
16 |
