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.
EncoderAnalogInputDigitalInputDigitalOutputBuiltInAccelerometer
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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).
XRPGyroXRPMotorXRPServoXRPOnBoardIO