# DIO pins on XRP

**URL:** https://xrp.discourse.group/t/dio-pins-on-xrp/692
**Category:** Robot Hardware
**Created:** [April 21, 2025, 2:37am UTC](https://xrp.discourse.group/t/dio-pins-on-xrp/692 "2025-04-21T02:37:41Z")
**Posts on this page:** 2
**Page:** 1

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### Author: ![190518](https://avatars.discourse-cdn.com/v4/letter/1/dc4da7/32.png) [@190518](https://xrp.discourse.group/u/190518)
#### Post date: [April 21, 2025, 2:37am UTC](https://xrp.discourse.group/t/dio-pins-on-xrp/692/1 "2025-04-21T02:37:42Z")

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Are there programmable DIO and PWM pins on the XRP board that I can address in the WPILib java software? If so, where are they located on the board?

 ![image](https://canada1.discourse-cdn.com/flex011/uploads/xrp/original/1X/3da7ce1d410c332a247a123cd6e36509d8c0c0a7.jpeg)

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### Author: ![Fgrossman](https://avatars.discourse-cdn.com/v4/letter/f/b77776/32.png) [@Fgrossman](https://xrp.discourse.group/u/Fgrossman)
#### Post date: [April 29, 2025, 2:31am UTC](https://xrp.discourse.group/t/dio-pins-on-xrp/692/2 "2025-04-29T02:31:45Z")

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@ZeeQueue are there DIO pins available in WPILib mode?  
As for where to find the pin information you can use this guide.

> **[Introduction - SparkFun XRP Controller Hardware Overview](https://docs.sparkfun.com/SparkFun_XRP_Controller/introduction/)**
>
> A hardware overview for the XRP Robot Controller in the XRP Robotics Kit.