An analog trigger is a way to convert an analog signal into a digital signal using resources built into the FPGA. The resulting digital signal can then be used directly or fed into other digital components of the FPGA such as the counter or encoder modules. The analog trigger module works by comparing analog signals to a voltage range set by the code. The specific return types and meanings depend on the analog trigger mode in use.

The Cypress FirstTouch IO module is a board that allows teams to interface to custom IO solutions such as potentiometers, buttons, switches, encoders, and much more. The methods used with the Cypress board in standard (compatible) mode may also be used to interface with virtual IO provided by the DS software if the Cypress board is not attached.

There are two ways to connect and operate pneumatic solenoid valves to trigger pneumatic cylinder movement using the current control system. One option is to hook the solenoids up to a Spike relay; to learn how to utilize solenoids connected in this manner in code see the article on Relays. The second option is to connect the solenoids to a solenoid breakout board on top of a NI 9472 Digital Sourcing module in the cRIO (slot 3). To use these solenoids in code, use the WPILib "Solenoid" and/or "Double Solenoid" classes, detailed below.

Motor Safety is a mechanism in WPILib that takes the concept of a watchdog and breaks it out into one watchdog (Motro Safety timer) for each individual actuator. Note that this protection mechanism is in addition to the System Watchdog which is controlled by the Network Communications code and the FPGA and will disable all actuator outputs if it does not receive a valid data packet for 125ms.

This section discusses the control of motors and pneumatics through speed controllers, relays, and WPILib methods.