The RobotBuilder program has some default properties that need to be set up so the generated program and other generated files work properly. This setup information is stored in the properties for robot description (the first line).

The Pneumatics Control Module (PCM) is a CAN-based device that provides complete control over the compressor and up to 8 solenoids per module. The PCM is integrated into WPILib through a series of classes that make it simple to use. The examples shown here are for Java programs, the C++ classes have the same names except for the method capitalization, following the same conventions as used throughout the rest of WPILib.

Moving from the old Compressor and Solenoid classes should be fairly easy. The closed loop control of the Compressor and Pressure switch is handled by the PCM hardware and the Solenoids are handled by the upgraded Solenoid class that now controls the solenoid channels on the PCM.

An additional PCM module can be used where the modules corresponding solenoids are differentiated by the module number in the constructors of the Solenoid and Compressor classes.

Create a command-based robot project by using one of the template projects that are provided with the Eclipse plugins.

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