https://github.com/wpilibsuite/node-wpilib-ws
WebSocket server for interfacing with non-FRC hardware
https://github.com/wpilibsuite/node-wpilib-ws
Last synced: about 1 month ago
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WebSocket server for interfacing with non-FRC hardware
- Host: GitHub
- URL: https://github.com/wpilibsuite/node-wpilib-ws
- Owner: wpilibsuite
- Created: 2020-07-19T15:40:46.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2023-11-10T15:57:56.000Z (over 1 year ago)
- Last Synced: 2025-04-14T12:06:18.433Z (about 1 month ago)
- Language: TypeScript
- Size: 276 KB
- Stars: 3
- Watchers: 6
- Forks: 3
- Open Issues: 3
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Metadata Files:
- Readme: README.md
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README
# node-wpilib-ws: Node.js WPILib WebSocket protocol library
node-wpilib-ws provides both client and server implementations of the WPILib WebSocket protocol, which allows interaction with WPILib-based robot code.
## Installation
```
npm install node-wpilib-ws
```
## Usage Examples
The `src/apps` folder has very simple examples of a client and server.
Additionally, the [wpilib-ws-robot](https://github.com/bb-frc-workshops/wpilib-ws-robot) package shows a concrete example of how to use the client and server classes.
The Client and Server implementations are event based, and will fire off appropriate events whenever certain classes of messages arrive over the websocket.
### Listening for a DIO event
```typescript
const wss = new WPILibWebSocketServer(); // This can also be a WPILibWebSocketClient
wss.start(); // Start the server (or connect to a host in the case of the client)
wss.on("dioEvent", (channel: number, payload: WPILibWSMessages.DIOPayload) => {
// Channel refers to the DIO channel number
// payload contains a subset of the DIOPayload message
});
```
### Writing a PWM value
```typescript
const wss = new WPILibWebSocketServer(); // This can also be a WPILibWebSocketClient
wss.start(); // Start the server (or connect to a host in the case of the client)
wss.pwmUpdateToWpilib(0, {
"<>value": 128
});
```