https://github.com/wpilibsuite/wpilib-ws-robot
Base library for a WPILib WebSocket robot (Client/Server implementations)
https://github.com/wpilibsuite/wpilib-ws-robot
Last synced: 2 months ago
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Base library for a WPILib WebSocket robot (Client/Server implementations)
- Host: GitHub
- URL: https://github.com/wpilibsuite/wpilib-ws-robot
- Owner: wpilibsuite
- Created: 2020-08-19T21:31:04.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2021-04-16T01:46:26.000Z (about 4 years ago)
- Last Synced: 2025-02-26T11:41:42.139Z (3 months ago)
- Language: TypeScript
- Size: 344 KB
- Stars: 1
- Watchers: 7
- Forks: 3
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# wpilib-ws-robot
Library for creating robots controllable via WPILib's WebSocket protocol
## Installation
```
npm install wpilib-ws-robot
```
## Overview
This package consists of two main units, an abstract class representing a robot (`WPILibWSRobotBase`) and an endpoint (either client or server) that links a provided `WPILibWSRobotBase`-derived class and the protocol implementation from [node-wpilib-ws](https://github.com/bb-frc-workshops/node-wpilib-ws). The endpoint (`WPILibWSRobotEndpoint`) acts as an interface between the WPILib WebSocket protocol implementation and the robot controller.
## Usage
To start, create a robot controller class that extends from `WPILibWSRobotBase`. This abstract base class provides methods to interact with robot "hardware" (this can be actual hardware, or even a simulated robot). See `src/debug-robot.ts` for a simplistic example.
With a concrete robot controller class in hand, you can then create an endpoint, passing in the robot controller as a parameter. Endpoints come in two flavors, a client or a server.
To create a server (which interacts with the halsim_ws_client extension):
```typescript
const endpointServer = WPILibWSRobotEndpoint.createServer(robot, optionalServerConfig);
```
Similarly, to create a client (which interacts with the halsim_ws_server extension):
```typescript
const endpointClient = WPILibWSRobotEndpoint.createClient(robot, optionalClientConfig);
```
Once your endpoint is created, start it up with the `startP()` method, which resolves a promise when the protocol interface and robot are ready.
```typescript
endpoint.startP()
.then(() => {
console.log("System Ready");
});
```
## Example Implementations
This library is designed to make it easy to implement a robot controller interface. For a more feature complete example, look at the [reference robot design](https://github.com/bb-frc-workshops/wpilib-ws-robot-romi)