Struct topics

For WPILib struct types over NetworkTables, use getStructTopic(name, Pose2d). Structs use fixed-size binary serialization and interoperate with WPILib Java and C++ clients. Geometry types (Pose2d, Translation2d, …) and matching Zod schemas are exported from @ntcore-ts/client.

See also Struct vs protobuf.

Built-in struct types

Translation2d, Rotation2d, Pose2d, Transform2d, Twist2d, Translation3d, Quaternion, Rotation3d, Pose3d, Transform3d, Twist3d.

Subscribing

import { NetworkTables, Pose2d } from '@ntcore-ts/client';

const ntcore = NetworkTables.getInstanceByTeam(973);

const poseTopic = ntcore.getStructTopic('/MyTable/PoseStruct', Pose2d);
poseTopic.subscribe((value) => {
  console.log(`Pose: x=${value?.translation.x}, y=${value?.translation.y}`);
});

Publishing with a custom schema

For types that are not built-in:

const customTopic = ntcore.getStructTopic<{ x: number; y: number }>('/MyTable/Custom2d', {
  typeName: 'Custom2d',
  schema: 'double x;double y',
});

await customTopic.publish();
customTopic.setValue({ x: 1.5, y: -2.0 });

Arrays of structs

Use typeName: 'Translation2d[]' (or Pose2d[], etc.) for topics that publish arrays of structs.

React

Use useStructTopic from @ntcore-ts/react. See the React guide.

Precision note

Struct fields using int64 or uint64 are returned as JavaScript number, which has a precision limit of ±2^53. Values beyond Number.MAX_SAFE_INTEGER will lose precision. No built-in WPILib struct types are affected (they all use double).