XRP-WPILib Firmware v1.0.0

About XRP-WPILib

This firmware for the XRP robot works in conjunction with the WPILib XRP extention to support writing WPILib robot programs and running them on low cost XRP robots.

WPILib Hardware Support

• Onboard LED and Pushbutton exposed as DIO channels 0 and 1
• 2 motors (left/right) exposed as XRPMotor channels 0/1 (These behave similarly to PWM based motor controllers)
• 2 additional motors (motor3/motor4) exposed as XRPMotor channels 2/3
• 2 servo outputs (servo1/servo2) exposed as XRPServo channels 4/5
• Encoders for each motor (channel 4/5 for Left, channel 6/7 for Right, channel 8/9 for motor3, channel 10/11 for motor4)
• 3-axis gyro exposed as XRPGyro
• 3-axis accelerometer exposed as BuiltInAccel
• Support for XRP reflectance sensor (reporting Left/Right values on Analog 0/1)
• Support for XRP Rangefinder (reporting values on Analog 2)

Difference between XRP and Romi capabilities

For the most part, code written for the Romi and XRP are interchangeable. The main difference being that anywhere a Spark motor controller was used in Romi code should be replaced with a XRPMotor (with same channel numbers) for the XRP. Similarly anywhere a Servo object was used in Romi code should be replaced with a XRPServo.

Additionally, the XRP only has a single pushbutton and LED, compared to the 3 each for the Romi. Thus, DIO channels 3 and 4 are not used on the XRP.

Finally, the XRP requires the use of a XRP specific WPILib HAL Sim extension.

Changes from v0.5.1

• Re-enabled ultrasonic rangefinder support
• Make drive encoders report positive counts when moving forward
• Fixed bug where disconnecting the WPILib UDP connection would not reset the message sequence count, leading to the XRP appearing to not take input
• Added version info to the status file

Known Issues

• None... yet

What's Changed

• Reset the message sequence counter to 0 whenever a disconnect happens by @zhiquanyeo in #24
• Re-add ultrasonic rangefinder support by @zhiquanyeo in #25
• Set hostname to be the default SSID (with unique chip ID) by @zhiquanyeo in #26
• Versioning support by @zhiquanyeo in #27
• Make drive motor encoders report positive count when moving forward by @zhiquanyeo in #29
• Add version info to XRP-Status.txt file by @zhiquanyeo in #30
• Update version to 1.0.0 by @zhiquanyeo in #31

Full Changelog: v0.5.1...v1.0.0