2020:Robot IO Map: Difference between revisions
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== Digital IO (GPIO) == | == Digital IO (GPIO) == | ||
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| style="width: 193px; text-align: center" | Senses Incoming Power Cells | | style="width: 193px; text-align: center" | Senses Incoming Power Cells | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
1 = Ball not present | |||
0 = Ball Present | |||
| style="width: 231px; text-align: center" | | | style="width: 231px; text-align: center" | | ||
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| style="width: 193px; text-align: center" | Senses balls when ready to shoot | | style="width: 193px; text-align: center" | Senses balls when ready to shoot | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
1 = Ball not present | |||
0 = Ball Present | |||
| style="width: 231px; text-align: center" | | | style="width: 231px; text-align: center" | | ||
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| style="width: 193px; text-align: center" | Senses presence of ready-to-shoot power cels | | style="width: 193px; text-align: center" | Senses presence of ready-to-shoot power cels | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
1 = Ball not present | |||
0 = Ball Present | |||
| style="width: 231px; text-align: center" | | | style="width: 231px; text-align: center" | | ||
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== I2C Registers == | == I2C Registers == | ||
Revision as of 14:58, 26 January 2020
Robot I/O
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Brake or Coast? | Description (brief) |
Operation |
Notes (8) max. 40A PDB # | |
| 0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 |
|||
| 1 | RESERVED | n/a | Factory-default allows for adding new device quickly and re-assign its ID |
don't use | ||||
| 2 | Intake | Spark Max | Neo 550 | Brake |
Pivots intake in/out of robot |
30A Using integrated encoder |
4 | |
| 3 | Intake | Spark max | Neo 550 | Brake |
Spins "beater bars" |
20A | 5 | |
| 4 | Storage | Spark max | Neo 550 | Brake | Agitates balls up the corkscrew | 6 | ||
| 5 | Storage | Spark max | Neo 550 | Brake | Feeds balls into shooter | 7 | ||
| 6 | Shooter | Spark max | Neo | Coast | Spins left shooting motor |
40A |
12 | |
| 7 | Shooter | Spark max | Neo | Coast | Spins right shooting motor |
40A Using integrated encoder. 1 might run in follower mode |
13 | |
| 8 | Turret | Spark max | Neo 550 | Brake | Rotates turret |
|
8 | |
| 9 | WoF | Spark max | Neo 550 | Brake | Rotates Wheel of Fortune | 20A | 9 | |
| 10 | Hang | Spark max | Neo | Brake | Winches robot up |
30A Using integrated encoder |
10 | |
| 11 | ||||||||
| 12 | ||||||||
| 13 | ||||||||
| 14 | ||||||||
| 15 | ||||||||
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
|
0
|
Drive base
|
Speed Controller | Spark Max | Left front drive motor | Moves left side of robot forwards/backwards | Don't know | 40A | 0 |
| Drive Base | Speed Controller | Spark max | Left rear drive motor | Don't know | 40A | 1 | ||
| 1 | Drive Base | Speed Controller | Spark Max | Right front drive motor | Moves right side of robot forwards/backwards | Don't know | 40A | 2 |
| Drive Base | Speed Controller | Spark Max | Right Rear drive Motor | Don't know | 40A | 3 | ||
| 2 | Hang | Servo |
Hs-322HD |
Engages/disingages ratchet |
|
N/A | ||
| 3 | Shooter | Servo |
Hs-785HB |
Moves turret hood to increase/decrease shot angle | N/A | |||
| 4 | Wheel of Fortune | Servo | Swing color sensor outside the frame perimeter | |||||
| 5 | ||||||||
| 6 | ||||||||
| 7 | ||||||||
| 8 | ||||||||
| 9 | ||||||||
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 | ||||||
| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 |
More Board Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 |
Digital IO (GPIO)
RoboRio IO
| ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 | IN | Intake | Banner Opto | Q10RN6R | Senses Incoming Power Cells |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
| 1 | IN | Storage | Banner Opto | Q10RN6R | Senses balls when ready to shoot |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
| 2 | IN | Storage/Shooter | Banner Opto | Q10RN6R | Senses presence of ready-to-shoot power cels |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
| 3 | IN | Drive base | Phase A Left Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 4 | IN | Drive base | Phase B Left Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 5 | IN | Drive base | Phase A Right Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 6 | IN | Drive base | Phase B right encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 7 | IN | ||||||
| 8 | IN | ||||||
| 9 | IN |
Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 | IN | ||||||
| 1 | IN | ||||||
| 2 | IN | ||||||
| 3 | IN | ||||||
| 4 | IN | ||||||
| 5 | IN | ||||||
| 6 | IN | ||||||
| 7 | IN | ||||||
| 8 | IN | ||||||
| 9 | |||||||
| 10 | |||||||
| 11 | |||||||
| 12 | |||||||
| 13 | |||||||
| 14 | |||||||
| 15 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0x52 | Wheel of Fortune | Color Sensor | REV-31-1557 | Reads colors of wheel | Provides these channels: Red, Green, Blue, Alpha, and Proximity | ||
SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 | ||||||
| 1 |
Pneumatics Control Modules
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 | |||||||
| 1 | ||||||||
| 2 | ||||||||
| 3 | ||||||||
| 4 | ||||||||
| 5 | ||||||||
| 6 | ||||||||
| 7 | ||||||||
| 2 | 0 | |||||||
| 1 | ||||||||
| 2 | ||||||||
| 3 | ||||||||
| 4 | ||||||||
| 5 |
Operator Controls
Controller 1 - Primary Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | Left Joystick Y | ||
| A-1 | Left Joystick X | ||
| A-4 | Right Joystick Y | ||
| A-4 | Right Joystick X | ||
| B-6 | Right Bumper | ||
| B-5 | Left Bumper | ||
| A-3 | Right Trigger | ||
| A-2 | Left Trigger | ||
| B-1 | A Button | ||
| B-3 | X Button | ||
| B-4 | Y Button | ||
| B-2 | B Button |
Controller 2 - Aux Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | |||
| B-1 | |||
| B-2 | |||
| B-3 | |||
| B-4 | |||
| B-5 | |||
| B-6 | |||
| B-7 | |||
| B-8 | |||
| B-9 | |||
| B-10 | |||
| B-11 | |||
| B-12 |
Controller 2 - Aux Driver (Continued)
| Button/Axis # | Action/Button | Description | Details |
| B-1 | |||
| B-2 | |||
| B-3 | |||
| B-4 | |||
| B-5 | |||
| B-6 | |||
| B-7 | |||
| B-8 | |||
| B-9 | |||
| B-10 | |||
| B-11 | |||
| B-12 |
Dashboard
| Key | Data Type | Value | Description |
| thunderdashboard_green | number |
0 - do NOT have a game piece 1 - have a game piece |
Background of dashboard goes green. |
| thunderdashboard_max | number |
0 = show normal 1 = fill screen |
fills screen or not |
