Got a stripped down HAL / wpilib running on an AtomicPi and got the driverstation to connect.
Why did I do this? I wanted a couple of cheap bots for summer programming and challenges using “real” wpilib programming. AtomicPis are powerful enough, have builtin ethernet and wifi, have a built in IMU (Gyro) and have some limited GPIO.
Also, most importantly, they are available on Amazon for $40.
It’s just running and the HAL is completely stripped. All it can do is report system time and versions to the driver station.
Get PWM outputs working so I can get a bot to drive around with some cheap BTS7960 controllers or regular sparks.
Get the Gyro to work and mimic the “AnalogGyro”
Get an I/O board to work based on an Arduino 2560+a sensor shield (https://www.amazon.com/KEYESTUDIO-MEGA-Sensor-Shield-Arduino/dp/B0169YXYEY)
I also may create some mqtt/copa/ipv6/mdns/arduino based encoders/sensors to work with the system.