Nicholas

Full Coprocessor support has been added and verified to be working!

This now allows RP5 devices (Raspberry Pi 5s or Orange Pis) to run a JAR file on startup and automatically connect to the radio. With the correct static IP address, you can easily offload tasks to the coprocessor, which reduces CPU usage on the RIO. CPU usage on the RIO is very easy to max out, and when it is maxed, it can cause the robot to stop functioning properly as the command scheduler becomes overloaded and starts lagging significantly.

We now communicate with the RIO over TCP instead of using the default NT4. FRC NT4 is a great solution for things that do not require instant data, such as dashboards, but trajectory calculations need the lowest latency possible, so TCP was the only real option. We should see around a sub-100 ms delay, which is a huge improvement compared to NetworkTables. I’ve seen around 40 ms on a good day.

I also made some minor changes to the trajectory calculator to allow tuning points to be added. This lets real-world data update the slip ratio, improving accuracy in real-life conditions.

• Fixed the static document website’s navbar redirecting to the wrong destination

New features:
Re-optimized the RK4 Integration for trajectories so it can natively run on the RoboRio v2, also added further support for generating look-up tables to precompute every shot, which allows for quick shots to be made on the fly.

Added Support for the library to run on a co-processor, so you can run the trajectory calculations and simulation at their full potential, where before running it on the Rio, you had to lower the time interval steps, which provides a worse trajectory. My team will likely be using a co-processor, which allows for super high-quality trajectories to be made. This is extremely overkill, and almost every good team just uses a lookup table, but we gotta stand out somehow

Fixed other minor bugs from subsystems like the LED wrapper, which had minor loop overruns due to periodic tasks not being scheduled properly in WPILIB.

Also, the library is much less dependent on external libraries now, so it can run smoothly on co-processors.

Added almost everything to this library, made in collaboration with my FRC team
Some of these new features include

A full Trajectory calculator, which will be used in the 2026 Season for REBUILT This took the most amount of time to create and is updated quite frequently with bug fixes, as the code is still experimental.

Another large feature is easy-to-use subsystems, also known as absolute subsystems.
These are pre-made subsystems which can easily be extended for future bots and serve as a great foundation for newer subsystems.
Current supported Subsystems are: Arm, Pivot and Elevator. These are the primary ones used in FRC.

This library also adds useful math helpers and commonly used/copied code from previous years to reduce lines of code on the main codebase, such as the LED wrapper, which comes with around 20 preset patterns which are used in 2025/2026 and 2024/2025. Lastly, a remade version of the WPILIB Xbox wrapper to simplify it for our controller, which has more binds than normal WPILIB supports.