Skip to content

WPILibPi 2021.3.1 Release
Compare
Choose a tag to compare
@PeterJohnson PeterJohnson released this 13 Jun 22:41
· 269 commits to main since this release
v2021.3.1
c103e7d
This commit was created on GitHub.com and signed with GitHub’s verified signature. The key has expired.
GPG key ID: 4AEE18F83AFDEB23
Expired
Learn about vigilant mode.

About WPILibPi (formerly FRCVision)

This Raspbian-based Raspberry Pi image includes C++, Java, and Python libraries required for vision coprocessor development for FRC (e.g. opencv, cscore, ntcore, robotpy-cscore, pynetworktables, Java 11, etc). New for 2021, WPILibPi now comes in two variants, the "base" image for vision coprocessors, and an image designed for use with Pololu Romi 32U4 based robots.

The image has been tested with the Raspberry Pi 4 and 3B, but should also work on other models. Note: due to the mechanical mounting configuration of the Romi, there is minimal space for a heatsink on the Pi, so the 3 is recommended for Romi use.

Features

  • Web dashboard for configuring the rPi (e.g. changing network settings), monitoring the vision program (console, restart), changing CameraServer and NetworkTables settings, and uploading vision processing applications, all without the need for SSH
  • Default application that performs simple streaming of multiple cameras as well as camera switching; the image is "plug and play" for FRC dashboard streaming (just set your team number in the rPi web dashboard)
  • Includes example C++, Java, and Python programs to use as a basis for vision processing code
  • Designed for robustness to hard power offs by defaulting the filesystem to read only mode; safe to power directly from the VRM without an external battery
  • Boots (power applied to vision program running) in less than 20 seconds
  • All wireless functionality disabled (both WiFi and Bluetooth), so legal for competition use out of the box.

Romi Features

  • Built-in WebSockets-based interface to robot code running on a desktop computer
  • Web-based configuration of WiFi networking; supports both bridge and AP mode (including DHCP server in AP mode)
  • The Romi image is preconfigured as a WiFi Access Point network with SSID "WPILibPi-########", WPA2 passphrase "WPILib2021!", and default IP of 10.0.0.2
  • 32U4 firmware imaging through web dashboard

Getting Started

See https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html (for the base image) or https://docs.wpilib.org/en/stable/docs/romi-robot/index.html (for the Romi) for visual step-by-step installation instructions and additional documentation.

  1. Download WPILibPi_image-2021.3.1.zip (or WPILibPi_image-2021.3.1-Romi.zip for the Romi image) and use Etcher (https://www.balena.io/etcher/) to image a micro SD card. The micro SD card needs to be at least 8 GB. Note: a micro SD to USB dongle such as https://www.amazon.com/gp/product/B0779V61XB works well for writing to micro SD cards.

  2. Put the micro SD card in a rPi and apply power. The initial boot may take as long as a couple of minutes (depending on SD card size), but later boots will be much faster (20 seconds or less).

Base image: Connect the rPi ethernet to a LAN or PC. Open a web browser and connect to http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

Romi image: Connect to the WiFi SSID "WPILibPi-########" (the number is unique based on the Pi's internal serial number), WPA2 passphrase "WPILib2021!". Open a web browser and connect to either http://10.0.0.2/ or http://wpilibpi.local/ to open the web dashboard. Note the image boots up read-only by default, so it's necessary to click the "writable" button to make changes.

What's Changed In This Release (since 2021.2.1)

Hashes

MD5 Hashes

844bbbc38451490b37b3587e85788139  cpp-multiCameraServer.zip
b159f2f88272b8d7d1a08b74e41d22f1  java-multiCameraServer.zip
585e5059382b87cecb49ec1508f189af  python-multiCameraServer.zip
85c4cd724656977014dd006614ab7d05  WPILibPi_image-v2021.3.1-Romi.zip
e50c0e83e2c2192b56d2be4f31030049  WPILibPi_image-v2021.3.1.zip

SHA256 Hashes

9c9f13bb166768db50ee4716dd79aaa29331e602756e31d2974f645cfbda386b  cpp-multiCameraServer.zip
eaeca9b5c9ffd81290e1e9479e145d697d6eada2caf25eda2e2bc49767d9135a  java-multiCameraServer.zip
9b7e553b940d9495ffbc38933811c19d01bc30ef9d3f2d63d861aea69287e573  python-multiCameraServer.zip
119b0d15bf22a7c73562bf2afc1886e0b4cc320c3eb5cba6c9a713200dbfb943  WPILibPi_image-v2021.3.1-Romi.zip
6771fc9b3962e70b57b847aa4255f5620f39ac49cc15944382ecb4736b0165cc  WPILibPi_image-v2021.3.1.zip
Assets 7
Loading