I am designing a revised XRP setup where the pico controller board performs all the interfacing and hardware management, but I would add on an RPi Zero 2 W as a more capable system for running autonomy algorithms. I wanted to connect to the XRP controller using USB serial. Does the WPILib firmware (not micropython) expose the USB as a serial interface to make requests for sensor data or control? If not, what facilities does the firmware provide to add serial communication over the USB?
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Hi there!
I don’t think the WPILib firmware accepts input over USB serial, but you can submit an issue in the GitHub repo to ask about it.
Also, when the WPILib firmware is running on the XRP, it expects to receive special WPILib-defined UDP packets over WiFi from a computer running WPILib. I’m not sure how this could possibly be used with a Pi Zero without heavy modification to the firmware.
What do you want the Pi Zero to actually do? And why is the normal WPILib interface insufficient? It runs in the WPILib simulation layer, so all high-level functionality executes on your computer. The XRP is simply instructed to control actuators and read sensors, it doesn’t do any computing beyond that.
Hope this helps!