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[xrp] Update XRP for new SparkFun RP2350 Board (#7880)

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Enables servos 3 and 4 usage on the new XRP board.
This commit is contained in:
jpokornyiii
2025-03-26 10:50:09 -04:00
committed by GitHub
parent 1efaaefd78
commit dcd397e007
3 changed files with 9 additions and 3 deletions
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4
simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
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@@ -142,6 +142,10 @@ void XRP::HandleServoSimValueChanged(const wpi::json& data) {
deviceId = 4;
} else if (data["device"] == "servo2") {
deviceId = 5;
} else if (data["device"] == "servo3") {
deviceId = 6;
} else if (data["device"] == "servo4") {
deviceId = 7;
}
if (deviceId != -1 && servoData.find("<position") != servoData.end()) {

4
xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java
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@@ -21,7 +21,7 @@ public class XRPServo {
private static void checkDeviceAllocation(int deviceNum) {
if (!s_simDeviceNameMap.containsKey(deviceNum)) {
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-5");
throw new IllegalArgumentException("Invalid XRPServo device number. Should be 4-7");
}
if (s_registeredDevices.contains(deviceNum)) {
@@ -34,6 +34,8 @@ public class XRPServo {
static {
s_simDeviceNameMap.put(4, "servo1");
s_simDeviceNameMap.put(5, "servo2");
s_simDeviceNameMap.put(6, "servo3");
s_simDeviceNameMap.put(7, "servo4");
}
private final SimDouble m_simPosition;

4
xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
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@@ -15,8 +15,8 @@
using namespace frc;
std::map<int, std::string> XRPServo::s_simDeviceMap = {{4, "servo1"},
{5, "servo2"}};
std::map<int, std::string> XRPServo::s_simDeviceMap = {
{4, "servo1"}, {5, "servo2"}, {6, "servo3"}, {7, "servo4"}};
std::set<int> XRPServo::s_registeredDevices = {};