This repository contains a reference implementation of a XRP robot that can be controlled via the WPILib HALSim WebSocket extension.
The firmware implements (a subset) of the WPILib Robot Hardware Interface WebSockets API spec. It behaves similarly to the WPILib Romi Project (with some functionality removed due to being an embedded system vs a Linux machine).
| DIO Port # | Function |
|---|---|
| 0 | XRP User Button |
| 1 | XRP Onboard LED |
| 2 | RESERVED |
| 3 | RESERVED |
| 4 | Left Encoder A |
| 5 | Left Encoder B |
| 6 | Right Encoder A |
| 7 | Right Encoder B |
| 8 | Motor 3 Encoder A |
| 9 | Motor 3 Encoder B |
| 10 | Motor 4 Encoder A |
| 11 | Motor 4 Encoder B |
| PWM Port # | Function |
|---|---|
| 0 | Left Motor |
| 1 | Right Motor |
| 2 | Motor 3 |
| 3 | Motor 4 |
| 4 | Servo 1 |
| 5 | Servo 2 |