Romi Web Service 1.0.4

About Romi Web Service

This NodeJS package works in conjunction with the WPILibPi Raspberry Pi Image and WPILib WebSocket extensions (available in 2021 and up) to support writing WPILib robot programs and running them on low cost Pololu Romi robots.

WPILib Hardware Support

• Onboard LEDs and pushbuttons exposed as DIO channels 0-3
• 2 motors (left/right) exposed as PWM channels 0/1
• 2 encoders (left/right) exposed as Encoders with channels 4/5 and 6/7
• 3-axis gyro exposed as a SimDevice
• 3-axis accelerometer exposed as a BuiltInAccelerometer
• Battery voltage reporting

Getting Started

See https://docs.wpilib.org/en/stable/docs/romi-robot/index.html for information on how to assemble the Romi kit and image both the Raspberry Pi and Romi control board.

What's Changed In This Release (since 1.0.3)

• [breaking] IMU axes have been updated to follow NED + Right Hand Rule conventions
• [bugfix] Fixed a bug in gyro calibration which resulted in incorrect offsets being calculated and saved
• [feature] Gyro rate smoothing to help with accuracy

Romi Web Service 1.0.3

About Romi Web Service

This NodeJS package works in conjunction with the WPILibPi Raspberry Pi Image and WPILib WebSocket extensions (available in 2021 and up) to support writing WPILib robot programs and running them on low cost Pololu Romi robots.

WPILib Hardware Support

• Onboard LEDs and pushbuttons exposed as DIO channels 0-3
• 2 motors (left/right) exposed as PWM channels 0/1
• 2 encoders (left/right) exposed as Encoders with channels 4/5 and 6/7
• 3-axis gyro exposed as a SimDevice
• 3-axis accelerometer exposed as a BuiltInAccelerometer
• Battery voltage reporting

Getting Started

See https://docs.wpilib.org/en/stable/docs/romi-robot/index.html for information on how to assemble the Romi kit and image both the Raspberry Pi and Romi control board.

What's Changed In This Release (since 1.0.1)

• [breaking] Motor input signs have been flipped so that positive drive values in DifferentialDrive result in the Romi driving forward (i.e. differentialDrive.arcadeDrive(+ve, 0) results in forward movement).
• [bugfix] Firmware Compatibility status should now be updated correctly after a firmware update

Romi Web Service 1.0.1

About Romi Web Service

This NodeJS package works in conjunction with the WPILibPi Raspberry Pi Image and WPILib WebSocket extensions (available in 2021 and up) to support writing WPILib robot programs and running them on low cost Pololu Romi robots.

WPILib Hardware Support

• Onboard LEDs and pushbuttons exposed as DIO channels 0-3
• 2 motors (left/right) exposed as PWM channels 0/1
• 2 encoders (left/right) exposed as Encoders with channels 4/5 and 6/7
• 3-axis gyro exposed as a SimDevice
• 3-axis accelerometer exposed as a BuiltInAccelerometer
• Battery voltage reporting

Getting Started

See https://docs.wpilib.org/en/stable/docs/romi-robot/index.html for information on how to assemble the Romi kit and image both the Raspberry Pi and Romi control board.

What's Changed In This Release (since 1.0.0)

• Bug fix for incorrect AnalogInput readings

WPILib Romi Web Service 1.0.0

About Romi Web Service

This NodeJS package works in conjunction with the WPILibPi Raspberry Pi Image and WPILib WebSocket extensions (available in 2021 and up) to support writing WPILib robot programs and running them on low cost Pololu Romi robots.

WPILib Hardware Support

• Onboard LEDs and pushbuttons exposed as DIO channels 0-3
• 2 motors (left/right) exposed as PWM channels 0/1
• 2 encoders (left/right) exposed as Encoders with channels 4/5 and 6/7
• 3-axis gyro exposed as a SimDevice
• 3-axis accelerometer exposed as a BuiltInAccelerometer
• Battery voltage reporting

Getting Started

See https://docs.wpilib.org/en/stable/docs/romi-robot/index.html for information on how to assemble the Romi kit and image both the Raspberry Pi and Romi control board.

Release v0.0.11

• Update WS port to 3300

Release v0.0.10

• IMU calibration routine

Release v0.0.7

• REST interface for querying service information/status
• SimDevice support
• Updated Encoder logic