XRP-WPILib Firmware v1.1.0

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 v1.0.1

• Add feature to Get Encoder Rate (Period)
• Bumped SDK dependency to use new picosdk2 (with support for RP2040 and RP2350 chips)

Known Issues

• None... yet

What's Changed

• Pin to stable framework version by @zhiquanyeo in #37
• Upgrade PlatformIO platform + arduino-pico 3.8 by @zhiquanyeo in #41
• Add Feature to Get Encoder Rate (Period) by @beardedone55 in #40
• [ci] Update actions to node 20 versions by @sciencewhiz in #43
• Bump SDK to use picosdk2 by @zhiquanyeo in #45

New Contributors

• @beardedone55 made their first contribution in #40
• @sciencewhiz made their first contribution in #43

Full Changelog: v1.0.1...v1.1.0