- FRC Game Manual
- FRC Game Q&A

# 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`

Note

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`