XRP Hardware Support#
The XRP robot, having a different hardware architecture than a roboRIO, is compatible with a subset of commonly used FRC control system components.
Compatible Hardware#
In general, the XRP is compatible with the following:
Hobby DC motors with built-in encoders (6-pin connector)
Standard RC-style PWM output devices (e.g. servos, PWM based motor controllers)
”Ping“ style ultrasonic sensors (only when connected to the RANGE port)
Incompatible Hardware#
Due to hardware limitations, the XRP is not compatible with the following:
Encoders other than those already integrated into hobby motors
Timing based sensors
CAN based devices
Compatible Classes#
All classes listed here are supported by the XRP. If a class is not listed here, assume that it is not supported and will not work.
Encoder
AnalogInput
DigitalInput
DigitalOutput
BuiltInAccelerometer
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The PWM motor controller classes (e.g. Spark
) and Servo
are not supported. The XRP requires use of specialized XRPMotor
and XRPServo
classes.
The following classes are provided by the XRP Vendordep (built-in to WPILib).
XRPGyro
XRPMotor
XRPServo
XRPOnBoardIO