Getting Started with XRP

The XRP (Experiential Robotics Platform), powered by Worcester Polytechnic Institute, is a small, low-cost robot designed for learning WPILib programming without full FRC hardware. Practice the WPILib tools and programming patterns used by FRC robots and FTC robots running Systemcore.

Why Use the XRP?

Learn

Real WPILib Code

Practice Java, C++, or Python with WPILib. XRP-specific classes provide access to its motors, servos, and gyro.

Practice

No Control System Required

No roboRIO, no PDH, no radio programming. Just the XRP, a USB cable for initial setup, and your laptop.

Pre-season

Off-Season Programming

Learn command-based programming, encoders, PID, and odometry before build season starts, right on a desk.

FTC with Systemcore

FTC Prep

Systemcore teams use the same WPILib toolchain. XRP skills transfer directly to FTC robot programming.

How It Works

Tip

XRP code runs on your laptop as a simulation, communicating with the XRP hardware over Wi-Fi. Use WPILib VS Code to launch the program and the simulation GUI to control robot state and joystick inputs. The simulated robot drives real XRP motors.

Create an XRP project

Use the WPILib VS Code extension you already installed. XRP projects use the same project structure as FRC.

Run as simulation

Launch with Simulate Robot Code instead of Deploy. The simulation connects to the XRP over Wi-Fi.

Drive with the simulation GUI

Assign your joystick and select Teleoperated in the simulation GUI. See Simulation GUI for robot state and joystick controls.

Hardware Specifications

Component

Details

Processor

RP2350 on the XRP Controller; RP2040 on the Beta controller

Wireless

Wi-Fi 802.11 b/g/n (2.4 GHz) for host communication

Drive motors

2 brushed DC gear motors with integrated quadrature encoders

IMU

Built-in gyro and accelerometer; component varies by board version

Servo ports

Connector count varies by board version; see the hardware overview

User I/O

Reflectance sensor, ultrasonic distance sensor port

Power

4 AA battery pack; USB connection for setup

See the SparkFun hardware overview to identify your board, and XRP Hardware Support for devices supported by WPILib.

XRP vs Full FRC Robot

Feature

XRP

FRC Robot

WPILib API

Supported WPILib classes plus XRP-specific hardware classes

✓ Full API

Command-based

✓ Yes

✓ Yes

Encoders

✓ Integrated

External (per motor controller)

IMU / gyro

✓ Built-in

✓ Built into Systemcore

Robot control

Simulation GUI

Driver Station

Deploy method

Simulate (Wi-Fi to laptop)

Deploy to Systemcore

CAN bus

✗ Not available

✓ Full CAN support

Vendor libraries

XRP vendordep provides hardware support

REVLib, Phoenix 6, etc.

Prerequisites

Software (all platforms)
Hardware

  • XRP robot kit (assembled)

  • USB data cable: USB-C for XRP, Micro-USB for Beta XRP

  • 4 AA batteries

  • 2.4 GHz Wi-Fi on your laptop

Getting Started

01

Set Up Hardware

Flash XRP firmware, insert batteries, and connect to the XRP Wi-Fi network.

XRP Hardware, Assembly, and Imaging

02

Get to Know the XRP

Sensor locations, motor wiring, the web UI, and what each I/O port is for.

Getting to know your XRP

03

Write and Run Code

Create an XRP project in WPILib VS Code, run the simulation, and drive your robot.

Programming the XRP

Examples and Hardware Support

XRP Arcade Drive

Basic teleop drive using a joystick. Good first project.

Programming the XRP
Sensors and Encoders

Check supported devices and the XRP-specific classes used to access them.

XRP Hardware Support

Tip

WPI XRP Curriculum available. WPI XRP Curriculum covers setup, programming, and hands-on activities for the XRP robot.