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.
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)
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
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.
The PWM motor controller classes (e.g.
Servo are not supported. The XRP requires use of specialized
The following classes are provided by the XRP Vendordep (built-in to WPILib).