One library, every device
Install SapphifyLib once. Every SAPPHIFY device you buy afterwards is already supported —
no second vendordep, no second tool, no second set of habits.
SAPPHIFY
Open CAN FD devices for FIRST Robotics Competition. One library, one published protocol, tooling that runs on Linux.
It tells you when it is wrong
Yaw uncertainty from the filter covariance, live bias estimate, vibration level, magnetic disturbance state and calibration age are signals on the bus, surfaced through the WPILib Alert API.
The protocol is published
Every frame, field, scaling and status bit. Write your own driver, replay your own logs, or integrate a non-WPILib stack — no SAPPHIFY software required.
Nothing throws
A device on a CAN bus can legitimately vanish mid-match. Reads return a signal carrying a status code, and every status code documents its remedy.