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### BeforeStarting()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_command.html

Decorates this command with another command or a runnable to execute before this command starts. This allows for setup actions or pre-conditions to be met before the main command logic begins.

```APIDOC
## BeforeStarting() [1/2]

### Description
Decorates this command with another command to run before this command starts.

### Parameters
* `before` (`CommandPtr &&`) - the command to run before this one.

### Returns
`CommandPtr` - the decorated command.
```

```APIDOC
## BeforeStarting() [2/2]

### Description
Decorates this command with a runnable to run before this command starts.

### Parameters
* `toRun` (`std::function< void()>`) - the Runnable to run.
* `requirements` (`Requirements`) - the required subsystems (defaults to empty).

### Returns
`CommandPtr` - the decorated command.
```

--------------------------------

### DoStart C++ Example

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_callback_manager_8h_source.html

Starts the underlying thread with provided arguments, using the specified on_start and on_exit functions.

```cpp
template <typename... Args>
void DoStart(Args&&... args) {
  m_owner.Start(m_on_start, m_on_exit, std::forward<Args>(args)...);
}
```

--------------------------------

### BeforeStarting (std::function)

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_command_ptr_8h_source.html

Decorates this command with a runnable to run before this command starts. This allows for setup actions before the main command execution.

```APIDOC
## BeforeStarting (std::function)

### Description
Decorates this command with a runnable to run before this command starts. This allows for setup actions before the main command execution.

### Method
`CommandPtr BeforeStarting(std::function<void()> toRun, Requirements requirements = {}) &&`

### Parameters
#### Path Parameters
- **toRun** (std::function<void()>) - Description: the Runnable to run
- **requirements** (Requirements) - Optional - Description: the required subsystems

### Returns
`CommandPtr` - The decorated command.
```

--------------------------------

### Command.startRun(Runnable start, Runnable run, Subsystem... requirements)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj2/command/Commands.html

Constructs a command that executes a 'start' action once when the command begins, and then continuously executes a 'run' action until the command is interrupted. This is suitable for actions that have an initial setup followed by a continuous process.

```APIDOC
## Command.startRun(Runnable start, Runnable run, Subsystem... requirements)

### Description
Constructs a command that runs an action once, and then runs an action every iteration until interrupted.

### Method
`public static Command startRun(Runnable start, Runnable run, Subsystem... requirements)`

### Parameters
#### Path Parameters
- **start** (Runnable) - The action to run on start.
- **run** (Runnable) - The action to run every iteration.
- **requirements** (Subsystem...) - Subsystems the action requires.

### Returns
A `Command` that executes the start and run actions.
```

--------------------------------

### Start

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1_multicast_service_resolver.html

Starts the multicast service resolver.

```APIDOC
## void Start()

### Description
Starts multicast service resolver.

### Method
void
```

--------------------------------

### Start()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_xbox_controller.html

Constructs an event instance around the start button's digital signal. This event will be true when the start button is pressed.

```APIDOC
## Start()

### Description
Constructs an event instance around the start button's digital signal.

### Method
`const BooleanEvent frc::XboxController::Start(EventLoop* loop)`

### Parameters
#### Path Parameters
- **loop** (EventLoop*) - The event loop instance to attach the event to.

### Returns
An event instance representing the start button's digital signal attached to the given loop.
```

--------------------------------

### Get Start Button Pressed

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_xbox_controller_8h_source.html

Checks if the Start button was pressed since the last check.

```APIDOC
## GetStartButtonPressed

### Description
Whether the start button was pressed since the last check.

### Method
`bool GetStartButtonPressed()`
```

--------------------------------

### HAL_Initialize

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_h_a_l_base_8h.html

Call this to start up HAL.

```APIDOC
## HAL_Initialize

### Description
Call this to start up HAL.

### Signature
```HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode)
```

### Parameters
* **timeout** (int32_t) - The timeout in milliseconds.
* **mode** (int32_t) - The HAL initialization mode.

### Returns
* **HAL_Bool** - True if initialization was successful, false otherwise.
```

--------------------------------

### Start

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1_web_server.html

Creates a web server on the specified port and serves files from the given path.

```APIDOC
## Start(unsigned int port, std::string_view path)

### Description
Create a web server at the given port. Note that local ports less than 1024 won't work as a normal user. Also, many ports are blocked by the FRC robot radio; check the game manual for what is allowed through the radio firewall.

### Parameters
#### Path Parameters
- **port** (unsigned int) - Required - The local port number for the web server.
- **path** (std::string_view) - Required - The local path to the document root for the web server.
```

--------------------------------

### Example: Get Layout

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_shuffleboard_container_8h_source.html

Demonstrates how to get a layout by title and type, and how to retrieve an existing layout later by its title.

```cpp
Shuffleboard::GetTab("Example Tab")->getLayout("My Layout",
&BuiltInLayouts.kList);

// Later...
Shuffleboard::GetTab("Example Tab")->GetLayout("My Layout");
```

--------------------------------

### StartVelocity

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_trajectory_config_8h_source.html

Gets the starting velocity of the trajectory.

```APIDOC
## StartVelocity()

### Description
Returns the starting velocity of the trajectory.

### Method
const units::meters_per_second_t

### Returns
The starting velocity.
```

--------------------------------

### Get Program Started Status in HAL Simulation

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_mock_hooks_8h_source.html

Retrieves the status of the program started flag in the HAL simulation environment.

```c++
HAL_Bool HALSIM_GetProgramStarted(void);
```

--------------------------------

### start()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1_network_acceptor.html

Starts the network acceptor. This method is pure virtual and must be implemented by derived classes.

```APIDOC
## Function wpi::NetworkAcceptor::start

```cpp
virtual int start() = 0;
```

Starts the network acceptor.

### Return Value

- `0` on success.
- A negative value on error.
```

--------------------------------

### uv_setup_args

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h.html

Sets up the arguments for process spawning. This is typically used internally by libuv.

```APIDOC
## uv_setup_args()

### Description
Sets up the arguments for process spawning. This is typically used internally by libuv.

### Method
`UV_EXTERN char ** uv_setup_args(int argc, char **argv)`

### Parameters
* `argc` (int) - The argument count.
* `argv` (char **) - The argument vector.
```

--------------------------------

### Start Automatic Capture

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/cscore__cpp_8h_source.html

Starts capturing video from a camera and automatically provides it to the server. Use this for standard camera setups.

```cpp
cs::UsbCamera usbCamera = frc::CameraServer::GetInstance()->StartAutomaticCapture(0);
```

--------------------------------

### startWebServer

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/net/WPINetJNI.html

Creates a web server at the specified port and path.

```APIDOC
## startWebServer

### Description
Create a web server at the given port.

### Method
static void

### Parameters
- **port** (int) - Description: The port for the web server.
- **path** (String) - Description: The path for the web server.
```

--------------------------------

### getLog

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/DataLogManager.html

Gets the managed data log object, allowing for custom logging operations. If the data log manager has not been started, it will be started automatically.

```APIDOC
## getLog

### Description
Gets the managed data log object, allowing for custom logging operations. If the data log manager has not been started, it will be started automatically.

### Method
`public static synchronized DataLog getLog()`

### Parameters
None

### Request Example
```java
DataLog log = DataLogManager.getLog();
log.addDouble("MyValue", 3.14);
```

### Response
#### Success Response
* **data log** (DataLog) - The managed DataLog object.
```

--------------------------------

### startServer(String persistFilename, String listenAddress)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/networktables/NetworkTableInstance.html

Starts a server using the specified filename and listening address, with the default port.

```APIDOC
## startServer(String persistFilename, String listenAddress)

### Description
Starts a server using the specified filename and listening address, using the default port.

### Parameters
#### Path Parameters
- **persistFilename** (String) - The name of the persist file to use.
- **listenAddress** (String) - The address to listen on, or empty to listen on any address.
```

--------------------------------

### start

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/Timer.html

Starts the timer. This sets an internal flag, causing subsequent calls to `get()` to measure time relative to the current system clock.

```APIDOC
## start()

### Description
Start the timer running. Just set the running flag to true indicating that all time requests should be relative to the system clock. Note that this method is a no-op if the timer is already running.

### Method
```java
public void start()
```
```

--------------------------------

### StartServer()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/group__ntcore__network__func.html

Starts a server using the specified filename, listening address, and port.

```APIDOC
## StartServer()

### Description
Starts a server using the specified filename, listening address, and port.

### Parameters
- **inst** (NT_Inst) - instance handle
- **persist_filename** (std::string_view) - the name of the persist file to use (UTF-8 string, null terminated)
- **listen_address** (std::string_view) - the address to listen on, or null to listen on any address. (UTF-8 string)
- **port3** (unsigned int) - port to communicate over (NT3)
- **port4** (unsigned int) - port to communicate over (NT4)
```

--------------------------------

### Get DataLog Instance

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/DataLogManager.html

Retrieves the managed DataLog object, which can be used for custom logging. If the data log manager has not been started, this method will start it.

```java
DataLog log = DataLogManager.getLog();
```

--------------------------------

### startServer(String persistFilename, String listenAddress, int port3, int port4)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/networktables/NetworkTableInstance.html

Starts a server using the specified filename, listening address, and NT3/NT4 ports.

```APIDOC
## startServer(String persistFilename, String listenAddress, int port3, int port4)

### Description
Starts a server using the specified filename, listening address, and port.

### Parameters
#### Path Parameters
- **persistFilename** (String) - The name of the persist file to use.
- **listenAddress** (String) - The address to listen on, or empty to listen on any address.
- **port3** (int) - Port to communicate over (NT3).
- **port4** (int) - Port to communicate over (NT4).
```

--------------------------------

### Get Start Velocity of Trajectory

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_trajectory_config_8h_source.html

Returns the starting velocity of the trajectory. This value is used to initialize the robot's movement along the path.

```cpp
units::meters_per_second_t StartVelocity() const { return m_startVelocity; }
```

--------------------------------

### StartServer

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classnt_1_1_network_table_instance-members.html

Starts the NetworkTableInstance as a server.

```APIDOC
## StartServer(std::string_view persist_filename="networktables.json", const char *listen_address="", unsigned int port3=kDefaultPort3, unsigned int port4=kDefaultPort4)

### Description
Starts the NetworkTableInstance as a server, with options for persistence, listen address, and ports for different protocol versions.

### Method
N/A (This is a method signature)

### Endpoint
N/A
```

--------------------------------

### CameraServer Initialization and USB Camera Setup

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/cameraserver/CameraServer.html

Initializes the CameraServer and starts a USB camera. This is a common starting point for using cameras in a robot project.

```java
UsbCamera camera = CameraServer.startAutomaticCapture();
```

--------------------------------

### start()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1_t_c_p_acceptor.html

Starts the TCP acceptor, beginning to listen for incoming connections.

```APIDOC
## start()

### Description
Starts the TCP acceptor, enabling it to listen for and accept incoming connections.

### Returns
An integer representing the status of the start operation. Typically 0 for success.
```

--------------------------------

### Get Data Log

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_data_log_manager.html

Retrieves the managed data log instance for custom logging. Starts the data log manager if it hasn't been started yet.

```APIDOC
## GetLog

### Description
Get the managed data log (for custom logging). Starts the data log manager if not already started.

### Method
`static wpi::log::DataLog & GetLog()`

### Returns
* **wpi::log::DataLog &** - The managed data log.
```

--------------------------------

### beforeStarting(Runnable, Subsystem...)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html

Decorates a command with a Runnable to be executed before the command starts. The Runnable will be wrapped in an InstantCommand.

```APIDOC
## beforeStarting(Runnable, Subsystem...)

### Description
Decorates this command with another command to run before this command starts. The Runnable will be wrapped in an InstantCommand.

### Method
`public SequentialCommandGroup beforeStarting(Runnable toRun, Subsystem... requirements)`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
- **SequentialCommandGroup** - The decorated command group.
```

--------------------------------

### GetPosition Method

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1structparser_1_1_lexer.html

Gets the starting position of the last lexed token.

```APIDOC
## GetPosition() const

### Description
Gets the starting position of the last lexed token.

### Returns
* **size_t** - The starting position of the last lexed token (0-indexed).
```

--------------------------------

### TimeUnit one Example

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/TimeUnit.html

Gets a measure with a magnitude of 1.0 in the TimeUnit.

```java
public Time one()
```

--------------------------------

### uv_prepare_start

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h_source.html

Starts a prepare watcher.

```APIDOC
## uv_prepare_start

### Description
Starts a prepare watcher. The prepare watcher's callback is called once per loop iteration, before I/O polling.

### Parameters
- **handle** (`uv_prepare_t *`): Pointer to the prepare watcher handle.
```

--------------------------------

### startServer(String persistFilename, String listenAddress, int port3)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/networktables/NetworkTableInstance.html

Starts a server using the specified filename, listening address, and NT3 port, with the default NT4 port.

```APIDOC
## startServer(String persistFilename, String listenAddress, int port3)

### Description
Starts a server using the specified filename and listening address, and port. Uses the default NT4 port.

### Parameters
#### Path Parameters
- **persistFilename** (String) - The name of the persist file to use.
- **listenAddress** (String) - The address to listen on, or empty to listen on any address.
- **port3** (int) - Port to communicate over (NT3).
```

--------------------------------

### TimeUnit zero Example

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/TimeUnit.html

Gets a measure with zero magnitude in the TimeUnit.

```java
public Time zero()
```

--------------------------------

### Get Topics by Prefix

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/networktables/NetworkTableInstance.html

Retrieves published topics that start with a given prefix.

```java
public Topic[] getTopics(String prefix) {
    return topicHandlesToTopics(NetworkTablesJNI.getTopics(m_handle, prefix, 0));
  }
```

--------------------------------

### StartFile

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/functions_func_s.html

Starts logging data to a file. Returns wpi::log::DataLog.

```APIDOC
## StartFile()

### Description
Starts logging data to a file.

### Returns
`void`
```

--------------------------------

### startWebServer

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/net/WPINetJNI.html

Creates a web server at the specified port and serves files from the given local path. Note that local ports less than 1024 may not work as a normal user.

```APIDOC
## startWebServer

### Description
Create a web server at the given port. Note that local ports less than 1024 won't work as a normal user.

### Method
`static void startWebServer(int port, String path)`

### Parameters
* `port` (int) - local port number
* `path` (String) - local path to document root
```

--------------------------------

### Get Base Unit Example

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/AngularMomentumUnit.html

Demonstrates how to get the base unit of measurement for a given unit. Subclasses must override this method to ensure correct return types.

```java
Unit baseUnit = new Unit(null, ...);
baseUnit.getBaseUnit(); // returns baseUnit

Unit derivedUnit = new Unit(baseUnit, ...);
derivedUnit.getBaseUnit(); // returns baseUnit
```

--------------------------------

### Get Current Timestamp

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_loop_8h_source.html

Returns the current timestamp in milliseconds, cached at the start of the event loop tick. The timestamp increases monotonically; do not assume a specific starting point.

```cpp
Time Now() const noexcept { return Time{uv_now(m_loop)}; }
```

--------------------------------

### startWebServer(int port, String path)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/net/WPINetJNI.html

Initiates a web server on the specified local port, serving files from the given local directory path. Ports below 1024 may require elevated privileges.

```APIDOC
## Method: startWebServer(int port, String path)

### Description
Starts a basic HTTP web server. It will serve files from the specified local `path` on the given `port`.

**Note**: Using local ports less than 1024 may require administrator privileges.

### Signature
`public static native void startWebServer(int port, String path)`

### Parameters

- **port** (int) - Required - The local port number for the web server to listen on.
- **path** (String) - Required - The local file system path to the directory that will serve as the document root for the web server.
```

--------------------------------

### Get()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_timer.html

Gets the current time from the timer. If the timer is running, it returns the time based on the system clock since the timer started. If not running, it returns the time when it was last stopped.

```APIDOC
## Get()

### Description
Get the current time from the timer. If the clock is running, it is derived from the current system clock and the start time stored in the timer class. If the clock is not running, then return the time when it was last stopped.

### Parameters
None

### Returns
Current time value for this timer in seconds.
```

--------------------------------

### start()

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/net/MulticastServiceResolver.html

Starts the multicast service resolver, initiating the service discovery process.

```APIDOC
## start()

### Description
Starts the multicast service resolver.

### Method
POST
```

--------------------------------

### Setup Args Functions

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/globals_func_u.html

Functions for setting up command line arguments for child processes.

```APIDOC
## Setup Args Functions

### Description
Provides functionality to set up command line arguments for child processes.

### Functions
- **uv_setup_args(argc, argv)**: Sets up command line arguments.
```

--------------------------------

### get(int index)

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/DoubleCircularBuffer.html

Retrieves the element at the specified index relative to the start of the buffer.

```APIDOC
## get(int index)

### Description
Get the element at the provided index relative to the start of the buffer.

### Parameters
#### Path Parameters
- **index** (int) - Required - Index into the buffer.

### Returns
- **double** - Element at index starting from front of buffer.
```

--------------------------------

### StartClient

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classnt_1_1_network_table_instance-members.html

Starts the NetworkTableInstance as a client.

```APIDOC
## StartClient3(std::string_view identity)

### Description
Starts the NetworkTableInstance as a client using protocol version 3.

### Method
N/A (This is a method signature)

### Endpoint
N/A

## StartClient4(std::string_view identity)

### Description
Starts the NetworkTableInstance as a client using protocol version 4.

### Method
N/A (This is a method signature)

### Endpoint
N/A
```

--------------------------------

### Get Zero Measurement Example

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/TemperatureUnit.html

Retrieves a measure of zero magnitude in terms of this unit.

```java
Temperature zeroTemp = TemperatureUnit.CELSIUS.zero();
```

--------------------------------

### Get Loop Start Time

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/TimedRobot.html

Retrieves the system clock time in microseconds for the start of the current periodic loop. This time is stable throughout a loop and updated at the beginning of each periodic callback.

```java
/**
 * Return the system clock time in microseconds for the start of the current periodic loop. This
 * is in the same time base as Timer.getFPGATimestamp(), but is stable through a loop. It is
 * updated at the beginning of every periodic callback (including the normal periodic loop).
 *
 * @return Robot running time in microseconds, as of the start of the current periodic function.
 */
public long getLoopStartTime() {
  return m_loopStartTimeUs;
}
```

--------------------------------

### Get Topic Info by Prefix

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/networktables/NetworkTableInstance.html

Retrieves information about published topics that start with a given prefix.

```java
public TopicInfo[] getTopicInfo(String prefix) {
    return NetworkTablesJNI.getTopicInfos(this, m_handle, prefix, 0);
  }
```

--------------------------------

### Get Raw Button

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/GenericHID.html

Checks the current state of a specified button (starting from button 1).

```APIDOC
## getRawButton(int button)

### Description
Get the button value (starting at button 1).

### Method
`boolean getRawButton(int button)`
```

--------------------------------

### BeforeStarting() (Runnable)

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_command_ptr.html

Decorates this command with a runnable to execute before this command starts, optionally specifying requirements.

```APIDOC
## `BeforeStarting()` (2/2)

### Description
Decorates this command with a runnable to run before this command starts.

### Method
`CommandPtr frc2::CommandPtr::BeforeStarting(std::function<void()> toRun, Requirements requirements = {}) &&`

### Parameters
* `toRun` (std::function<void()>) - The Runnable to run.
* `requirements` (Requirements) - The required subsystems.

### Returns
`CommandPtr` - The decorated command.
```

--------------------------------

### uv_prepare_start()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h.html

Starts a prepare handle. The associated callback will be invoked before I/O polling.

```APIDOC
## uv_prepare_start()

### Description
Starts a prepare handle. The associated callback will be invoked before I/O polling.

### Parameters
- `_prepare_` (uv_prepare_t *) - The prepare handle.
- `_cb_` (uv_prepare_cb) - The callback function to be invoked.
```

--------------------------------

### GetFaultCount6V

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_robot_controller.html

Get the count of the total current faults on the 6V rail since the code started.

```APIDOC
## GetFaultCount6V

### Description
Get the count of the total current faults on the 6V rail since the code started.

### Method
static int

### Endpoint
N/A (Static method)

### Returns
- int: The number of current faults on the 6V rail.
```

--------------------------------

### GetFaultCount5V

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_robot_controller.html

Get the count of the total current faults on the 5V rail since the code started.

```APIDOC
## GetFaultCount5V

### Description
Get the count of the total current faults on the 5V rail since the code started.

### Method
static int

### Endpoint
N/A (Static method)

### Returns
- int: The number of current faults on the 5V rail.
```

--------------------------------

### StartServer

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_network_table_instance_8h_source.html

Initiates a server with a specified persist file, listening address, and ports for NT3 and NT4 communication.

```APIDOC
## StartServer

### Description
Starts a server using the specified filename, listening address, and port.

### Parameters
#### Path Parameters
- **persist_filename** (std::string_view) - Optional - the name of the persist file to use (UTF-8 string, null terminated). Defaults to "networktables.json".
- **listen_address** (const char*) - Optional - the address to listen on, or null to listen on any address (UTF-8 string, null terminated). Defaults to "".
- **port3** (unsigned int) - Optional - port to communicate over (NT3). Defaults to kDefaultPort3.
- **port4** (unsigned int) - Optional - port to communicate over (NT4). Defaults to kDefaultPort4.
```

--------------------------------

### StartClient3()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/group__ntcore__network__func.html

Starts a NT3 client. Use SetServer or SetServerTeam to set the server name and port.

```APIDOC
## StartClient3()

### Description
Starts a NT3 client.
Use SetServer or SetServerTeam to set the server name and port.

### Parameters
- **inst** (NT_Inst) - instance handle
- **identity** (std::string_view) - network identity to advertise (cannot be empty string)
```

--------------------------------

### GetFaultCount3V3

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_robot_controller_8h_source.html

Gets the count of total current faults on the 3.3V rail since the code started.

```APIDOC
## GetFaultCount3V3

### Description
Get the count of the total current faults on the 3.3V rail since the code started.

### Returns
- `int`: The number of faults.
```

--------------------------------

### BeforeStarting (Runnable)

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_command_8h_source.html

Decorates this command with a runnable to run before this command starts. This overload also takes requirements for the runnable.

```APIDOC
## BeforeStarting (Runnable)

### Description
Decorates this command with a runnable to run before this command starts. This overload also takes requirements for the runnable.

### Method
`&&` (Implicitly called on a CommandPtr)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
* **toRun** (`std::function<void()>`) - The Runnable to run.
* **requirements** (`Requirements`) - The required subsystems for the runnable.

### Request Example
```cpp
myCommand.BeforeStarting(myRunnable, myRequirements);
```

### Response
#### Success Response (200)
`CommandPtr` - The decorated command.

#### Response Example
```json
// No specific JSON response example, as this is C++ API usage.
```
```

--------------------------------

### GenericHID::GetRawButton

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_generic_h_i_d_8h_source.html

Gets the value of a specified button on the HID. Button numbering starts at 1.

```APIDOC
## GetRawButton

### Description
Get the button value (starting at button 1).

### Method
bool GetRawButton(int button) const
```

--------------------------------

### startDSClient (no args)

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/networktables/NetworkTableInstance.html

Starts requesting the server address from the Driver Station using the default port. Connects to the Driver Station running on localhost.

```APIDOC
## startDSClient (no args)

### Description
Starts requesting server address from Driver Station. This connects to the Driver Station running on localhost to obtain the server IP address, and connects with the default port.

### Method
public void startDSClient()

### Endpoint
N/A (Method call)

### Parameters
None

### Response
None
```

--------------------------------

### Get Unit Magnitude 1.0 Example

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/TemperatureUnit.html

Retrieves a measure with a magnitude of 1.0 in terms of this unit.

```java
Temperature oneTemp = TemperatureUnit.CELSIUS.one();
```

--------------------------------

### SetOnStart

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/functions_func_s.html

Registers a callback function to be executed when a managed object starts.

```APIDOC
## SetOnStart

### Description
Registers a callback function that will be executed when the managed object associated with the `CallbackManager` starts or is initialized.

### Method
Not specified (likely a member function)

### Endpoint
N/A

### Parameters
None explicitly defined in the source.

### Request Example
N/A

### Response
Applies to `wpi::CallbackManager< Derived, Thread >`.
```

--------------------------------

### Example of getBaseUnit

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/units/AngularVelocityUnit.html

Demonstrates how to get the base unit of measurement. Subclasses must override this method.

```java
Unit baseUnit = new Unit(null, 
    ...);
baseUnit.getBaseUnit(); // returns baseUnit

Unit derivedUnit = new Unit(baseUnit, 
    ...);
derivedUnit.getBaseUnit(); // returns baseUnit
```

--------------------------------

### beforeStarting

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html

Decorates this command with a runnable to run before this command starts.

```APIDOC
## beforeStarting

### Description
Decorates this command with a runnable to run before this command starts.

### Parameters
* `toRun` (Runnable) - the Runnable to run
* `requirements` (Subsystem...) - the required subsystems

### Returns
(SequentialCommandGroup) - the decorated command
```

```APIDOC
## beforeStarting

### Description
Decorates this command with another command to run before this command starts.

### Parameters
* `before` (Command) - the command to run before this one

### Returns
(SequentialCommandGroup) - the decorated command
```

--------------------------------

### ScopedTracer Usage Example

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_scoped_tracer.html

This example demonstrates how to use the ScopedTracer class to measure the execution time of a specific code block. The tracer starts automatically upon instantiation and stops when it goes out of scope.

```APIDOC
## ScopedTracer

### Description
A class for keeping track of how much time it takes for different parts of code to execute.

### Usage
```cpp
#include <frc/ScopedTracer.h>
#include <iostream>

void MyFunction() {
  // Create a ScopedTracer object. Timing starts automatically.
  frc::ScopedTracer tracer("MyFunction");

  // Code block to be timed
  // ... perform some operations ...

  // When 'tracer' goes out of scope, timing stops and the result is logged.
}
```

### Constructor
`ScopedTracer(const char* name)`
  - **name** (const char*) - The name to associate with this trace. This name will be used when logging the execution time.
```

--------------------------------

### getLogDir

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/DataLogManager.html

Gets the directory where log files are stored. Returns an empty string if logging has not yet been started.

```APIDOC
## getLogDir

### Description
Gets the directory where log files are stored. Returns an empty string if logging has not yet been started.

### Method
`public static synchronized String getLogDir()`

### Parameters
None

### Request Example
```java
String logDirectory = DataLogManager.getLogDir();
System.out.println("Log directory: " + logDirectory);
```

### Response
#### Success Response
* **log directory** (String) - The path to the log directory, or an empty string if logging is not started.
```

--------------------------------

### startServer (no args)

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/networktables/NetworkTableInstance.html

Starts a NetworkTables server using the default configuration, including the default persistent filename, listening address, and ports.

```APIDOC
## startServer

### Description
Starts a server using the networktables.json as the persistent file, using the default listening address and port.
```

--------------------------------

### Get Token Position

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/util/struct/parser/Lexer.html

Returns the starting index of the last scanned token within the input string.

```Java
public int getPosition() {
    return m_tokenStart;
  }
```

--------------------------------

### BeforeStarting (CommandPtr)

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_command_ptr_8h_source.html

Decorates this command with another command to run before this command starts. This allows for pre-execution dependencies.

```APIDOC
## BeforeStarting (CommandPtr)

### Description
Decorates this command with another command to run before this command starts. This allows for pre-execution dependencies.

### Method
`CommandPtr BeforeStarting(CommandPtr&& before) &&`

### Parameters
#### Path Parameters
- **before** (CommandPtr&&) - Description: the command to run before this one

### Returns
`CommandPtr` - The decorated command.
```

--------------------------------

### 6V Rail Fault Count

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/RobotController.html

Get the count of the total current faults on the 6V rail since the code started.

```APIDOC
## getFaultCount6V

### Description
Get the count of the total current faults on the 6V rail since the code started.

### Method
public static int getFaultCount6V()

### Returns
The number of faults
```

--------------------------------

### Start

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc2_1_1_command_xbox_controller-members.html

Returns a command that will be true when the start button is pressed.

```APIDOC
## Start

### Description
Returns a command that will be true when the start button is pressed.

### Method
`const frc2::CommandXboxController::Start`

### Parameters
* `loop` (frc::EventLoop*) - The event loop to use for scheduling commands. Defaults to the instance's default button loop.
```

--------------------------------

### 5V Rail Fault Count

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/RobotController.html

Get the count of the total current faults on the 5V rail since the code started.

```APIDOC
## getFaultCount5V

### Description
Get the count of the total current faults on the 5V rail since the code started.

### Method
public static int getFaultCount5V()

### Returns
The number of faults
```

--------------------------------

### uv_prepare_start

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h_source.html

Starts a prepare watcher. The associated callback will be called on every iteration of the event loop, right before I/O callbacks are made.

```APIDOC
## uv_prepare_start

### Description
Starts a prepare watcher. The associated callback will be called on every iteration of the event loop, right before I/O callbacks are made.

### Method
`UV_EXTERN int uv_prepare_start(uv_prepare_t *prepare, uv_prepare_cb cb)`

### Parameters
- **prepare** (`uv_prepare_t *`): Pointer to the prepare watcher.
- **cb** (`uv_prepare_cb`): The callback function to be executed.
```

--------------------------------

### 3.3V Rail Fault Count

Source: https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/RobotController.html

Get the count of the total current faults on the 3.3V rail since the code started.

```APIDOC
## getFaultCount3V3

### Description
Get the count of the total current faults on the 3.3V rail since the code started.

### Method
public static int getFaultCount3V3()

### Returns
The number of faults
```

--------------------------------

### Start

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_d_m_a.html

Starts DMA Collection. Requires a queue depth parameter.

```APIDOC
## Start()

### Description
Starts DMA Collection.

### Parameters
* **_queueDepth** (int) - The number of objects to be able to queue.
```

--------------------------------

### GetLoopStartTime()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/functions_g.html

Gets the time when the robot's main control loop started. This is useful for timing robot operations.

```APIDOC
## GetLoopStartTime()

### Description
Gets the time when the robot's main control loop started. This is useful for timing robot operations.

### Returns
- `units::second_t`: The start time of the control loop in seconds.
```

--------------------------------

### StartEnd(std::function<void()> start, std::function<void()> end, Requirements requirements)

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_commands_8h_source.html

Constructs a command that executes a 'start' action upon initialization and an 'end' action upon interruption. It can also specify required subsystems.

```APIDOC
## StartEnd(std::function<void()> start, std::function<void()> end, Requirements requirements)

### Description
Constructs a command that executes a given 'start' action when initialized and a given 'end' action when the command is interrupted or finishes. This is useful for actions that need a clear beginning and ending.

### Method
N/A (Factory function)

### Endpoint
N/A

### Parameters
#### Query Parameters
- **start** (std::function<void()>) - Required - The action to execute when the command starts.
- **end** (std::function<void()>) - Required - The action to execute when the command ends (interrupted or finished).
- **requirements** (Requirements) - Optional - Subsystems that this command requires.
```

--------------------------------

### NT_StartServer

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/ntcore__c_8h_source.html

Starts a server using the specified filename, listening address, and port.

```APIDOC
## NT_StartServer

### Description
Starts a server using the specified filename, listening address, and port.

### Function Signature
```cpp
void NT_StartServer(NT_Inst inst, const struct WPI_String* persist_filename, const struct WPI_String* listen_address, unsigned int port3, unsigned int port4);
```

### Parameters
* **inst** (NT_Inst) - Instance handle.
* **persist_filename** (const struct WPI_String*) - The name of the persist file to use (UTF-8 string, null terminated).
* **listen_address** (const struct WPI_String*) - The address to listen on, or null to listen on any address. (UTF-8 string, null terminated).
* **port3** (unsigned int) - Port to communicate over (NT3).
* **port4** (unsigned int) - Port to communicate over (NT4).
```

--------------------------------

### getPOV

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/GenericHID.RumbleType.html

Gets the angle of a specified POV (hat switch) on the HID. Angles are in degrees, starting from 0 (up) and increasing clockwise.

```APIDOC
## getPOV(int pov)

### Description
Get the angle in degrees of a POV on the HID. The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, upper-left is 315).

### Method Signature
`public int getPOV(int pov)`

### Parameters
* **pov** (int) - Required - The index of the POV to read (starting at 0).

### Returns
* (int) - The angle of the POV in degrees, or -1 if the POV is not pressed.
```

--------------------------------

### File System Event Functions

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h_source.html

Functions for initializing, starting, stopping, and getting the path of a file system event watcher.

```APIDOC
## uv_fs_event_init

### Description
Initializes a file system event watcher.

### Method
`uv_fs_event_init`

### Parameters
- `loop` (uv_loop_t*) - The event loop.
- `handle` (uv_fs_event_t*) - The file system event handle.

## uv_fs_event_start

### Description
Starts watching a path for file system events.

### Method
`uv_fs_event_start`

### Parameters
- `handle` (uv_fs_event_t*) - The file system event handle.
- `cb` (uv_fs_event_cb) - The callback function to be executed when events occur.
- `path` (const char*) - The path to watch.
- `flags` (unsigned int) - Flags to modify watcher behavior (e.g., UV_FS_EVENT_WATCH_ENTRY, UV_FS_EVENT_STAT, UV_FS_EVENT_RECURSIVE).

## uv_fs_event_stop

### Description
Stops watching a path for file system events.

### Method
`uv_fs_event_stop`

### Parameters
- `handle` (uv_fs_event_t*) - The file system event handle.

## uv_fs_event_getpath

### Description
Gets the path being watched by the file system event watcher.

### Method
`uv_fs_event_getpath`

### Parameters
- `handle` (uv_fs_event_t*) - The file system event handle.
- `buffer` (char*) - Buffer to store the path.
- `size` (size_t*) - Pointer to the size of the buffer.
```

--------------------------------

### File System Poll Functions

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h_source.html

Functions for initializing, starting, stopping, and getting the path of a file system poll watcher.

```APIDOC
## uv_fs_poll_init

### Description
Initializes a file system poll watcher.

### Method
`uv_fs_poll_init`

### Parameters
- `loop` (uv_loop_t*) - The event loop.
- `handle` (uv_fs_poll_t*) - The file system poll handle.

## uv_fs_poll_start

### Description
Starts watching a path for changes.

### Method
`uv_fs_poll_start`

### Parameters
- `handle` (uv_fs_poll_t*) - The file system poll handle.
- `poll_cb` (uv_fs_poll_cb) - The callback function to be executed when changes are detected.
- `path` (const char*) - The path to watch.
- `interval` (unsigned int) - The polling interval in milliseconds.

## uv_fs_poll_stop

### Description
Stops watching a path for changes.

### Method
`uv_fs_poll_stop`

### Parameters
- `handle` (uv_fs_poll_t*) - The file system poll handle.

## uv_fs_poll_getpath

### Description
Gets the path being watched by the file system poll watcher.

### Method
`uv_fs_poll_getpath`

### Parameters
- `handle` (uv_fs_poll_t*) - The file system poll handle.
- `buffer` (char*) - Buffer to store the path.
- `size` (size_t*) - Pointer to the size of the buffer.
```

--------------------------------

### DataLog StartImpl Method

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_data_log_8h_source.html

Internal implementation for starting a log entry. Must be called with the m_mutex held.

```cpp
int StartImpl(std::string_view name, std::string_view type,
                  std::string_view metadata, int64_t timestamp);
```

--------------------------------

### Start Server (Full Configuration)

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/networktables/NetworkTableInstance.NetworkMode.html

Starts a NetworkTables server with a specified filename, listening address, and NT3/NT4 ports.

```java
public void startServer(String persistFilename, String listenAddress, int port3, int port4) {
    NetworkTablesJNI.startServer(m_handle, persistFilename, listenAddress, port3, port4);
  }
```

--------------------------------

### HAL_GetPWMCycleStartTime

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/group__hal__pwm.html

Gets the PWM starting cycle time. This time is relative to the FPGA time and indicates when a PWM cycle begins.

```APIDOC
## HAL_GetPWMCycleStartTime()

### Description
Gets the pwm starting cycle time.
This time is relative to the FPGA time.

### Signature
uint64_t HAL_GetPWMCycleStartTime(int32_t *status)

### Parameters
*   **status** (int32_t *) - Error status variable. 0 on success.

### Returns
The PWM cycle start time.
```

--------------------------------

### Setting an Integer Property

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1_sendable_builder.html

Example of setting an integer property. Similar to other properties, it uses lambdas for getting and setting values.

```cpp
int m_count = 0;
builder.AddIntegerProperty("My Integer",
    [&]() { return m_count; },
    [&](long long value) { m_count = static_cast<int>(value); });
```

--------------------------------

### begin

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_memory_buffer_8h_source.html

Returns a pointer to the beginning of the buffer.

```APIDOC
## begin

### Description
Returns a pointer to the beginning of the buffer.

### Signature
uint8_t * begin()

### Returns
A uint8_t pointer to the start of the buffer.
```

--------------------------------

### Timer Instance Get Elapsed Time

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/Timer.html

Gets the current elapsed time from a Timer instance. If the timer is running, it calculates the time based on the start time and current system clock. If stopped, it returns the accumulated time when it was last stopped.

```java
public double get() {
  if (m_running) {
    return m_accumulatedTime + (getMsClock() - m_startTime) / 1000.0;
  } else {
    return m_accumulatedTime;
  }
}
```

--------------------------------

### Start UV Prepare Handle

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/uv_8h_source.html

Starts a UV prepare handle, scheduling a callback to be executed before I/O polling.

```cpp
UV_EXTERN int uv_prepare_start(uv_prepare_t* prepare, uv_prepare_cb cb);
```

--------------------------------

### BeforeStarting (CommandPtr)

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/_command_8h_source.html

Decorates this command with another command to run before this command starts. This overload transfers ownership of the 'before' command.

```APIDOC
## BeforeStarting (CommandPtr)

### Description
Decorates this command with another command to run before this command starts. This overload transfers ownership of the 'before' command.

### Method
`&&` (Implicitly called on a CommandPtr)

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Parameters
* **before** (`CommandPtr&&`) - The command to run before this one.

### Request Example
```cpp
myCommand.BeforeStarting(anotherCommand);
```

### Response
#### Success Response (200)
`CommandPtr` - The decorated command.

#### Response Example
```json
// No specific JSON response example, as this is C++ API usage.
```
```

--------------------------------

### Get FPGA Timestamp in Seconds

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/Timer.html

Retrieves the system clock time in seconds directly from the FPGA hardware clock since its start.

```java
public static double getFPGATimestamp() {
  return RobotController.getFPGATime() / 1000000.0;
}
```

--------------------------------

### StartClient4()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/group__ntcore__network__func.html

Starts a NT4 client. Use SetServer or SetServerTeam to set the server name and port.

```APIDOC
## StartClient4()

### Description
Starts a NT4 client.
Use SetServer or SetServerTeam to set the server name and port.

### Parameters
- **inst** (NT_Inst) - instance handle
- **identity** (std::string_view) - network identity to advertise (cannot be empty string)
```

--------------------------------

### Get Raw Button State

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/GenericHID.HIDType.html

Reads the current state of a specific button on the HID device. Button indexes start at 1.

```java
public boolean getRawButton(int button) {
    return DriverStation.getStickButton(m_port, (byte) button);
  }
```

--------------------------------

### Start()

Source: https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1uv_1_1_poll.html

Starts polling the file descriptor for specified events.

```APIDOC
## Start()

### Description
Start polling the file descriptor.

### Method
void

### Parameters
- **_events_** (int) - Bitmask of events (UV_READABLE, UV_WRITEABLE, UV_PRIORITIZED, and UV_DISCONNECT).
```

--------------------------------

### Get Primary Camera Feed Server

Source: https://github.wpilib.org/allwpilib/docs/release/java/src-html/edu/wpi/first/cameraserver/CameraServer.html

Retrieves the video sink for the primary camera feed. This method should only be called after a camera has been started.

```java
public static VideoSink getServer() {
    synchronized (CameraServer.class) {
      if (m_primarySourceName == null) {
        throw new VideoException("no camera available");
      }
      return getServer("serve_" + m_primarySourceName);
    }
  }
```
Tokens:
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