WPILib Architecture

WPILib is the open-source library that powers nearly every FRC robot.
It provides:

• HAL (Hardware Abstraction Layer) – Direct communication with sensors, motors, and the roboRIO.
• Libraries – Drive classes, PID, geometry, and math utilities.
• Command Framework – The modern structure for robot code organization.
• Simulation & Tools – Shuffleboard, SysId, and visual dashboards for testing.

Your code runs on top of these layers — you don’t need to talk to hardware directly; WPILib does it for you.