View source for T-Shirt Bot IO Map

'''A brief description of the system:'''

2 Falcon 500s (one on each side) for actuating pivot

1 Falcon 500 for shooter rotation

4 NEO Drive Base (2 per side) driven over PWM. 

2 REV Through Bore encoders (Shooter Pivot & Shooter Rotation) (ABS Signal to R-Pi) 

== CAN ID Assignments ==
{| class="wikitable"
|+
!ID
!Subsystem Name
!Component Type
!Brake or Coast?
!Description
!PDB #
!Type of Breaker
!General Notes
|-
|CAN 0
|
|
|
|
|
|
|
|-
|CAN 1
|'''RESERVED'''
|
|
|
|
|
|
|-
|CAN 2
|Shooter Pivot Right
|Falcon 500
|Brake
|Pivot the shooter
|
|40A
|
|-
|CAN 3
|Shooter Pivot Left
|Falcon 500
|Brake
|Pivot the shooter
|
|40A
|
|-
|CAN 4
|Shooter Rotation
|Falcon 500
|Brake
|Rotate the shooter
|
|40A
|


|}

== Raspberry Pi Pinout ==
{| class="wikitable"
|+
!ID
!Pin Type
!Subsystem Name
!Component Type
!Description
!General Notes
|-
|1
|'''3V3 Power'''
|
|
|
|
|-
|2
|'''5V Power'''
|
|
|
|
|-
|3
|GPIO 2 (SDA) 
|
|
|
|
|-
|4
|'''5V Power'''
|
|
|
|
|-
|5
|GPIO 3 (SCL)
|
|
|
|
|-
|6
|'''Ground'''
|
|
|
|
|-
|7
|GPIO 4 (GPCLK0) 
|
|
|
|
|-
|8
|GPIO 14 (TXD)
|
|
|
|
|-
|9
|'''Ground'''
|
|
|
|
|-
|10
|GPIO 15 (RXD)
|
|
|
|
|-
|11
|GPIO 17
|
|
|
|
|-
|12
|GPIO 18 (PCM_CLK) 
|
|
|
|
|-
|13
|GPIO 27
|
|
|
|
|-
|14
|'''Ground'''
|
|
|
|
|-
|15
|GPIO 22
|
|
|
|
|-
|16
|GPIO 23
|
|
|
|
|-
|17
|'''3V3 Power'''
|
|
|
|
|-
|18
|GPIO 24
|
|
|
|
|-
|19
|GPIO 10 (MOSI)
|
|
|
|
|-
|20
|'''Ground'''
|
|
|
|
|-
|21
|GPIO 9 (MISO)
|
|
|
|
|-
|22
|GPIO 25
|
|
|
|
|-
|23
|GPIO 11 (SCLK)
|
|
|
|
|-
|24
|GPIO 8 (CE0)
|
|
|
|
|-
|25
|'''Ground'''
|
|
|
|
|-
|26
|GPIO 7 (CE1)
|
|
|
|
|-
|27
|GPIO 0 (ID_SD)
|
|
|
|
|-
|28
|GPIO 1 (ID_SC)
|
|
|
|
|-
|29
|GPIO 5
|
|
|
|
|-
|30
|'''Ground'''
|
|
|
|
|-
|31
|GPIO 6
|
|
|
|
|-
|32
|GPIO 12 (PWM0)
|
|
|
|
|-
|33
|GPIO 13 (PWM1)
|
|
|
|
|-
|34
|'''Ground'''
|
|
|
|
|-
|35
|GPIO 19 (PCM_FS)
|
|
|
|
|-
|36
|GPIO 16
|
|
|
|
|-
|37
|GPIO 26
|
|
|
|
|-
|38
|GPIO 20 (PCM_DIN)
|
|
|
|
|-
|39
|'''Ground'''
|
|
|
|
|-
|40
|GPIO 21 (PCM_DOUT) 
|
|
|
|
|}