2022:Robot IO Map: Difference between revisions
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= Robot I/O = | |||
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== CAN ID Assignments == | |||
= | {| border="1" cellpadding="2" cellspacing="1" style="width: 855px" | ||
*[[2020: | |- | ||
*[[2019: | | style="text-align: center" | '''ID''' | ||
*[[2018: | | style="text-align: center" | '''Subsystem''' | ||
*[[2017: | | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p> | ||
*[[2016: | | style="text-align: center; width: 112px" | '''Model #''' | ||
*[[2015: | | style="width: 70px; text-align: center" | '''Brake or Coast?''' | ||
*[[2014: | | style="width: 110px; text-align: center" | '''Description'''<br/> (brief) | ||
*[[2013: | | style="width: 224px; text-align: center" | '''Operation''' | ||
*[[2012: | | colspan="2" rowspan="1" style="width: 175px; text-align: center" | | ||
*[[2011: | '''Notes''' | ||
*[[2010: | |||
*[[2009: | '''(8) max. 40A PDB #''' | ||
|- | |||
| style="text-align: center" | 0 | |||
| style="text-align: center" | Electrica'''l''' | |||
| <p style="text-align: center">PD Module</p> | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | Power Distribution Module feedback | |||
| style="width: 224px; text-align: center" | monitor PD | |||
| style="width: 115px" | <p style="text-align: center">must be CAN 0</p> | |||
| style="width: 55px" | | |||
|- | |||
| style="text-align: center" | 1 | |||
| style="text-align: center" | '''RESERVED''' | |||
| style="text-align: center" | n/a | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | don't use | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 2 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 3 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 4 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 5 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 6 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 7 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | 2 | |||
|- | |||
| style="text-align: center" | 8 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 9 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 10 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 11 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| 12 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="text-align: center; width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px; text-align: center" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| 13 | |||
| style="text-align: center" | | |||
| style="text-align: center" | | |||
| style="width: 112px" | | |||
| style="width: 70px; text-align: center" | | |||
| style="width: 110px; text-align: center" | | |||
| style="width: 224px" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| 14 | |||
| | |||
| style="text-align: center" | | |||
| style="width: 112px" | | |||
| style="width: 70px" | | |||
| style="width: 110px" | | |||
| style="width: 224px" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|- | |||
| 15 | |||
| | |||
| style="text-align: center" | | |||
| style="width: 112px" | | |||
| style="width: 70px" | | |||
| style="width: 110px" | | |||
| style="width: 224px" | | |||
| style="width: 115px; text-align: center" | | |||
| style="width: 55px; text-align: center" | | |||
|} | |||
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== PWM Outputs == | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 902px" | |||
|- | |||
| style="width: 15px" | '''ID''' | |||
| style="width: 70px; text-align: center" | '''Subsystem''' | |||
| style="width: 76px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p> | |||
| style="text-align: center; width: 94px" | '''Model #''' | |||
| style="text-align: center; width: 167px" | '''Description<br/> (brief)''' | |||
| style="text-align: center; width: 148px" | | |||
'''Operation''' | |||
| |||
| style="text-align: center; width: 280px" | '''Brake/Coast''' | |||
| colspan="2" rowspan="1" style="width: 198px; text-align: center" | | |||
'''Notes''' | |||
'''(8) max. 40A PDB # ''' | |||
|- | |||
| style="width: 15px" | 0 | |||
| style="width: 70px" | Hang | |||
| style="width: 76px" | Servo | |||
| style="width: 94px" | | |||
| |||
Hs-322HD | |||
| style="width: 167px; text-align: center" | Engages/disingages ratchet | |||
| style="width: 148px" | | |||
| |||
| style="width: 280px" | N/A | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|- | |||
| style="width: 15px" | 1 | |||
| style="width: 70px" | Shooter | |||
| style="width: 76px" | Servo | |||
| style="width: 94px" | | |||
Hs-785HB | |||
| style="width: 167px; text-align: center" | Moves turret hood to increase/decrease shot angle | |||
| style="width: 148px" | | |||
| style="width: 280px" | N/A | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|- | |||
| style="width: 15px" | 2 | |||
| style="width: 70px" | | |||
| style="width: 76px" | | |||
| style="width: 94px" | | |||
| style="width: 167px; text-align: center" | | |||
| style="width: 148px" | | |||
| style="width: 280px" | | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|- | |||
| style="width: 15px" | 3 | |||
| style="width: 70px" | | |||
| style="width: 76px" | | |||
| style="width: 94px" | | |||
| style="width: 167px; text-align: center" | | |||
| style="width: 148px" | | |||
| style="width: 280px" | | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|- | |||
| style="width: 15px" | 4 | |||
| style="width: 70px" | Driver LEDs | |||
| style="width: 76px" | LED | |||
| style="width: 94px" | LED | |||
| style="width: 167px; text-align: center" | Gives connection to Driver Interface LEDs | |||
| style="width: 148px" | Allows drivers to see power cell count from the front/back of robot | |||
| style="width: 280px" | N/A | |||
| style="width: 125px" | 20A (via voltage regulator) | |||
| style="width: 72px" | 10 | |||
|- | |||
| style="width: 15px" | 5 | |||
| style="width: 70px" | Wheel of Fortune | |||
| style="width: 76px" | Servo | |||
| style="width: 94px" | | |||
| style="width: 167px" | Swing color sensor outside the frame perimeter | |||
| style="width: 148px" | | |||
| style="width: 280px" | | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|- | |||
| rowspan="1" style="width: 15px" | | |||
6 | |||
| |||
| style="width: 70px" | | |||
Drive base | |||
| |||
| style="width: 76px" | Spark Max | |||
| style="width: 94px" | Neo | |||
| style="width: 167px; text-align: center" | Left front drive motor | |||
| style="width: 148px" | Moves left side of robot forwards/backwards | |||
| style="width: 280px" | Don't know | |||
| style="width: 125px; text-align: center" | 40A | |||
| style="width: 72px; text-align: center" | 14 | |||
|- | |||
| rowspan="1" style="width: 15px" | | |||
7 | |||
| |||
| style="width: 70px" | Drive Base | |||
| style="width: 76px" | Spark Max | |||
| style="width: 94px" | Neo | |||
| style="width: 167px; text-align: center" | Left rear drive motor | |||
| style="width: 148px" | | |||
| style="width: 280px" | Don't know | |||
| style="width: 125px; text-align: center" | 40A | |||
| style="width: 72px; text-align: center" | 15 | |||
|- | |||
| rowspan="1" style="width: 15px" | 8 | |||
| style="width: 70px" | Drive Base | |||
| style="width: 76px" | Spark Max | |||
| style="width: 94px" | Neo | |||
| style="width: 167px; text-align: center" | Right front drive motor | |||
| style="width: 148px" | Moves right side of robot forwards/backwards | |||
| style="width: 280px" | Don't know | |||
| style="width: 125px; text-align: center" | 40A | |||
| style="width: 72px; text-align: center" | 0 | |||
|- | |||
| rowspan="1" style="width: 15px" | | |||
9 | |||
| |||
| style="width: 70px" | Drive Base | |||
| style="width: 76px" | Spark Max | |||
| style="width: 94px" | Neo | |||
| style="width: 167px; text-align: center" | Right Rear drive Motor | |||
| style="width: 148px" | | |||
| style="width: 280px" | Don't know | |||
| style="width: 125px; text-align: center" | 40A | |||
| style="width: 72px; text-align: center" | 1 | |||
|- | |||
| style="width: 15px" | 8 | |||
| style="width: 70px" | | |||
| style="width: 76px" | | |||
| style="width: 94px" | | |||
| style="width: 167px" | | |||
| style="width: 148px" | | |||
| style="width: 280px" | | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|- | |||
| style="width: 15px" | 9 | |||
| style="width: 70px" | | |||
| style="width: 76px" | | |||
| style="width: 94px" | | |||
| style="width: 167px" | | |||
| style="width: 148px" | | |||
| style="width: 280px" | | |||
| style="width: 125px" | | |||
| style="width: 72px" | | |||
|} | |||
| |||
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== Relay Outputs == | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 927px" | |||
|- | |||
| '''ID''' | |||
| style="text-align: center" | '''Subsystem''' | |||
| style="width: 69px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p> | |||
| style="width: 54px; text-align: center" | '''Model #''' | |||
| style="width: 192px; text-align: center" | '''Description<br/> (brief)''' | |||
| style="width: 259px; text-align: center" | '''Operation''' | |||
| style="width: 115px; text-align: center" | '''Notes''' | |||
|- | |||
| 0 | |||
| | |||
| style="width: 69px" | | |||
| style="width: 54px" | | |||
| style="width: 192px" | | |||
| style="width: 259px" | | |||
| style="width: 115px" | | |||
|- | |||
| 1 | |||
| | |||
| style="width: 69px" | | |||
| style="width: 54px" | | |||
| style="width: 192px" | | |||
| style="width: 259px" | | |||
| style="width: 115px" | | |||
|- | |||
| 2 | |||
| | |||
| style="width: 69px" | | |||
| style="width: 54px" | | |||
| style="width: 192px" | | |||
| style="width: 259px" | | |||
| style="width: 115px" | | |||
|- | |||
| 3 | |||
| | |||
| style="width: 69px" | | |||
| style="width: 54px" | | |||
| style="width: 192px" | | |||
| style="width: 259px" | | |||
| style="width: 115px" | | |||
|} | |||
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== Analog IO == | |||
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=== <u>RoboRIO Analog Inputs</u> === | |||
{| style="width: 1030px" cellspacing="1" cellpadding="2" border="1" | |||
|- | |||
| ID | |||
| style="text-align: center" | Subsystem | |||
| style="width: 70px" | <p style="text-align: center">Component</p> <p style="text-align: center">Type</p> | |||
| style="width: 54px; text-align: center" | Model # | |||
| style="width: 227px; text-align: center" | Description<br/> (brief) | |||
| style="width: 262px; text-align: center" | Operation | |||
| style="width: 132px; text-align: center" | | |||
Voltage | |||
Range | |||
| style="width: 91px; text-align: center" | Notes | |||
|- | |||
| 0 | |||
| Drive Base | |||
| style="width: 70px" | Gyro | |||
| style="width: 54px" | ADW22307 | |||
| style="width: 227px" | Located on center axis underneath the helix | |||
| style="width: 262px" | Tells where the drive base is looking by degrees (for autonomous) | |||
| style="width: 132px" | 7mV/degree | |||
| style="width: 91px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 1 | |||
| style="text-align: center" | Shooter | |||
| style="width: 69px; text-align: center" | Potentiometer | |||
| style="width: 122px; text-align: center" | Bournes 3547S-1AA-103A | |||
| style="width: 139px; text-align: center" | Located on the output of the hood servo | |||
| style="width: 193px; text-align: center" | Tells the angle of the hood | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|- | |||
| style="text-align: center" | 2 | |||
| style="text-align: center" | | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|- | |||
| style="text-align: center" | 3 | |||
| style="text-align: center" | | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|} | |||
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=== <u>More Board Analog Inputs</u> === | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 1030px" | |||
|- | |||
| ID | |||
| style="text-align: center" | Subsystem | |||
| style="width: 70px" | <p style="text-align: center">Component</p> <p style="text-align: center">Type</p> | |||
| style="width: 54px; text-align: center" | Model # | |||
| style="width: 227px; text-align: center" | Description<br/> (brief) | |||
| style="width: 262px; text-align: center" | Operation | |||
| style="width: 132px; text-align: center" | | |||
Voltage | |||
Range | |||
| style="width: 91px; text-align: center" | Notes | |||
|- | |||
| style="text-align: center" | 0 | |||
| style="text-align: center" | | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|- | |||
| style="text-align: center" | 1 | |||
| style="text-align: center" | | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|- | |||
| style="text-align: center" | 2 | |||
| style="text-align: center" | | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|- | |||
| style="text-align: center" | 3 | |||
| style="text-align: center" | | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| | |||
|} | |||
| |||
</div> </div> </div> </div> <div class="mw-parser-output"><div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
== Digital IO (GPIO) == | |||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
=== <u>RoboRio IO</u> === | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 1229px" | |||
|- | |||
| style="text-align: center" | '''ID''' | |||
| style="text-align: center" | '''Direction'''<br/> (IN/OUT) | |||
| style="width: 69px; text-align: center" | '''Subsystem''' | |||
| style="width: 122px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p> | |||
| style="width: 139px; text-align: center" | '''Model #''' | |||
| style="width: 193px; text-align: center" | '''Description<br/> (brief)''' | |||
| style="width: 223px; text-align: center" | '''Operation''' | |||
| style="width: 231px; text-align: center" | '''Notes''' | |||
|- | |||
| style="text-align: center" | 0 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Intake | |||
| style="width: 122px; text-align: center" | Banner Opto | |||
| style="width: 139px; text-align: center" | Q10RN6R | |||
| style="width: 193px; text-align: center" | Senses Incoming Power Cells | |||
| style="width: 223px; text-align: center" | | |||
1 = Ball not present | |||
0 = Ball Present | |||
| style="width: 231px; text-align: center" | | |||
w/Q106E emitter, | |||
sensor open-collector out | |||
|- | |||
| style="text-align: center" | 1 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | | |||
| style="width: 122px; text-align: center" | | |||
| style="width: 139px; text-align: center" | | |||
| style="width: 193px; text-align: center" | | |||
| style="width: 223px; text-align: center" | | |||
| |||
| style="width: 231px; text-align: center" | | |||
| |||
|- | |||
| style="text-align: center" | 2 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Storage | |||
| style="width: 122px; text-align: center" | Allen-Bradley RightSight Prox Sensor | |||
| style="width: 139px; text-align: center" | 42EF-D2MPAK-F4 | |||
| style="width: 193px; text-align: center" | Senses balls when ready to shoot | |||
| style="width: 223px; text-align: center" | | |||
1 = Ball present | |||
0 = Ball not present | |||
| style="width: 231px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 3 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Shooter | |||
| style="width: 122px; text-align: center" | Banner Opto | |||
| style="width: 139px; text-align: center" | Q10RN6R | |||
| style="width: 193px; text-align: center" | Senses when a ball is exiting the shooter | |||
| style="width: 223px; text-align: center" | | |||
1 = Ball not present | |||
0 = Ball Present | |||
| style="width: 231px; text-align: center" | | |||
w/Q106E emitter, | |||
sensor open-collector out | |||
|- | |||
| style="text-align: center" | 4 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Drive base | |||
| style="width: 122px; text-align: center" | Phase A Left Encoder | |||
| style="width: 139px; text-align: center" | REV-11-1271 | |||
| style="width: 193px; text-align: center" | measures rotation of drive wheels | |||
| style="width: 223px; text-align: center" | 2048 cycles per revolution | |||
| style="width: 231px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 5 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Drive base | |||
| style="width: 122px; text-align: center" | Phase B Left Encoder | |||
| style="width: 139px; text-align: center" | REV-11-1271 | |||
| style="width: 193px; text-align: center" | measures rotation of drive wheels | |||
| style="width: 223px; text-align: center" | 2048 cycles per revolution | |||
| style="width: 231px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 6 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Drive base | |||
| style="width: 122px; text-align: center" | Phase A Right Encoder | |||
| style="width: 139px; text-align: center" | REV-11-1271 | |||
| style="width: 193px; text-align: center" | measures rotation of drive wheels | |||
| style="width: 223px; text-align: center" | 2048 cycles per revolution | |||
| style="width: 231px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 7 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Drive base | |||
| style="width: 122px; text-align: center" | Phase B right encoder | |||
| style="width: 139px; text-align: center" | REV-11-1271 | |||
| style="width: 193px; text-align: center" | measures rotation of drive wheels | |||
| style="width: 223px; text-align: center" | 2048 cycles per revolution | |||
| style="width: 231px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 8 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Intake | |||
| style="width: 122px; text-align: center" | Omron Reflective | |||
| style="width: 139px; text-align: center" | EE-SPY415 | |||
| style="width: 193px; text-align: center" | Senses the presence of the intake mechanism to zero the rotation motor encoder | |||
| style="width: 223px; text-align: center" | | |||
1 = not present | |||
0 = present<br/> (Need to double check this) | |||
| style="width: 231px; text-align: center" | | |||
|- | |||
| style="text-align: center" | 9 | |||
| style="text-align: center" | IN | |||
| style="width: 69px; text-align: center" | Hang | |||
| style="width: 122px; text-align: center" | Optical Sensor Through-Beam | |||
| style="width: 139px; text-align: center" | OPB815WZ | |||
| style="width: 193px; text-align: center" | Sense when hanger is all the way retracted | |||
| style="width: 223px; text-align: center" | 1 = hanger sensed (all the way down), 0 = hanger not sensed | |||
| style="width: 231px; text-align: center" | | |||
|} | |||
<div class="mw-parser-output"> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div></div> | |||
=== <u>Rev Robotics More Board IO</u> === | |||
{| border="1" cellpadding="1" cellspacing="1" style="width: 1022px" | |||
|- | |||
| style="width: 16px; text-align: center" | '''ID''' | |||
| style="width: 56px; text-align: center" | '''Direction (IN/OUT)''' | |||
| style="width: 74px; text-align: center" | '''Subsystem''' | |||
| style="width: 74px; text-align: center" | '''Component Type''' | |||
| style="width: 56px; text-align: center" | '''Model #''' | |||
| style="width: 197px; text-align: center" | '''Description (brief)''' | |||
| style="width: 254px; text-align: center" | '''Operation''' | |||
| style="width: 141px; text-align: center" | '''Notes''' | |||
|- | |||
| style="width: 16px" | 0 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 1 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 2 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 3 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 4 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 5 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 6 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 7 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 8 | |||
| style="width: 56px; text-align: center" | IN | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 9 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 10 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 11 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 12 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 13 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 14 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px; text-align: center" | | |||
|- | |||
| style="width: 16px; text-align: center" | 15 | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 74px; text-align: center" | | |||
| style="width: 56px; text-align: center" | | |||
| style="width: 197px; text-align: center" | | |||
| style="width: 254px; text-align: center" | | |||
| style="width: 141px" | | |||
|} | |||
</div> <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div></div></div> | |||
== I2C Registers == | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 1007px" | |||
|- | |||
| style="text-align: center" | '''Address'''<br/> (e.g. 0100111X) | |||
| style="width: 37px; text-align: center" | '''Pin'''<br/> (e.g. GP0) | |||
| style="width: 76px; text-align: center" | '''Subsystem''' | |||
| style="width: 75px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p> | |||
| style="width: 53px; text-align: center" | '''Model #''' | |||
| style="width: 205px; text-align: center" | '''Description<br/> (brief)''' | |||
| style="width: 241px; text-align: center" | '''Operation''' | |||
| style="width: 112px; text-align: center" | '''Notes''' | |||
|- | |||
| style="text-align: center" | 0x52 | |||
| style="width: 37px; text-align: center" | | |||
| style="width: 76px; text-align: center" | Wheel of Fortune | |||
| style="width: 75px; text-align: center" | Color Sensor | |||
| style="width: 53px; text-align: center" | REV-31-1557 | |||
| style="width: 205px; text-align: center" | Reads colors of wheel | |||
| style="width: 241px; text-align: center" | Provides these channels: Red, Green, Blue, Alpha, and Proximity | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 37px" | | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 37px" | | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 37px" | | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 37px" | | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 37px" | | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 37px" | | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|} | |||
</div> </div> | |||
== SPI Devices == | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 1007px" | |||
|- | |||
| style="text-align: center" | '''#''' | |||
| style="width: 76px; text-align: center" | '''Subsystem''' | |||
| style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | |||
| style="width: 53px; text-align: center" | '''Model #''' | |||
| style="width: 205px; text-align: center" | '''Description (brief)''' | |||
| style="width: 241px; text-align: center" | '''Operation''' | |||
| style="width: 112px; text-align: center" | '''Notes''' | |||
|- | |||
| | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
|} | |||
== USB Host Ports == | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 1007px" | |||
|- | |||
| style="text-align: center" | '''Address''' | |||
| style="width: 76px; text-align: center" | '''Subsystem''' | |||
| style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | |||
| style="width: 53px; text-align: center" | '''Model #''' | |||
| style="width: 205px; text-align: center" | '''Description (brief)''' | |||
| style="width: 241px; text-align: center" | '''Operation''' | |||
| style="width: 112px; text-align: center" | '''Notes''' | |||
|- | |||
| 0 | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|- | |||
| 1 | |||
| style="width: 76px" | | |||
| style="width: 75px" | | |||
| style="width: 53px" | | |||
| style="width: 205px" | | |||
| style="width: 241px" | | |||
| style="width: 112px" | | |||
|} | |||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | |||
== Pneumatics Control Modules == | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 931px" | |||
|- | |||
| style="width: 8px" | | |||
'''PCM''' | |||
'''ID''' | |||
| style="width: 1px" | '''#''' | |||
| style="text-align: center" | '''Subsystem''' | |||
| style="width: 75px" | <p style="text-align: center">'''Solenoid is Double or Single?'''</p> | |||
| style="width: 64px" | <p style="text-align: center">'''Solenoid'''</p> <p style="text-align: center">'''Model #'''</p> | |||
| style="width: 183px" | <p style="text-align: center">'''Description'''</p> <p style="text-align: center">'''(brief)'''</p> | |||
| style="width: 290px; text-align: center" | '''Operation''' | |||
| style="width: 118px; text-align: center" | '''Circuit Pressure''' | |||
| style="width: 118px; text-align: center" | '''PDB #''' | |||
|- | |||
| rowspan="8" style="width: 8px" | 1 | |||
| style="width: 1px" | 0 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
| rowspan="8" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 1 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|- | |||
| style="width: 1px" | 2 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 3 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|- | |||
| style="width: 1px" | 4 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 5 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|- | |||
| style="width: 1px" | 6 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 7 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|- | |||
| colspan="1" rowspan="6" style="width: 8px" | 2 | |||
| style="width: 1px" | 0 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
| colspan="1" rowspan="6" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 1 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|- | |||
| style="width: 1px" | 2 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 3 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|- | |||
| style="width: 1px" | 4 | |||
| colspan="1" rowspan="2" | | |||
| colspan="1" rowspan="2" style="width: 75px" | | |||
| colspan="1" rowspan="2" style="width: 64px" | | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
| colspan="1" rowspan="2" style="width: 118px" | | |||
|- | |||
| style="width: 1px" | 5 | |||
| style="width: 183px" | | |||
| style="width: 290px" | | |||
|} | |||
<div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> | |||
<div class="mw-parser-output"><div class="mw-parser-output"> | |||
= Robot Lights Reference = | |||
* When '''Disabled''': | |||
** Front Lights - Shows status of DIGITAL sensors, one sensor per row. Each row is GREEN for sensor not tripped, RED for when it is tripped. | |||
*** Row 4 (top row): Shooter game piece exit sensor | |||
*** Row 3: Helix-shooter game piece transition sensor | |||
*** Row 2: Intake game piece count sensor | |||
*** Row 1: Intake pivot zeroing sensor | |||
*** Row 0: Hanger zeroing sensor | |||
* When '''Enabled''': | |||
** Red X: Ball count indeterminate | |||
** Otherwise, one row is lit from bottom to top for each game piece in robot | |||
= Operator Controls = | |||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | |||
=== Disable Xbox Controller === | |||
[[Media:DisableXbox.docx|DisableXbox.docx]] | |||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
=== Controller 1 - Primary Driver === | |||
{| style="width: 908px" cellspacing="1" cellpadding="2" border="1" | |||
|- | |||
| style="width: 92px" | ''' Button/Axis #''' | |||
| style="width: 414px" | '''Action/Button''' | |||
| '''Description''' | |||
| '''Details''' | |||
|- | |||
| style="width: 92px; text-align: center" | A-1 | |||
| style="width: 414px" | Left Joystick Y | |||
| | |||
Tank mode: left side drive motors forward/reverse | |||
Arcaded mode: robot moves foward/reverse | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | A-1 | |||
| style="width: 414px" | Left Joystick X | |||
| | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | A-4 | |||
| style="width: 414px" | Right Joystick Y | |||
| Tank mode: right side drive motors foward/reverse | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | A-4 | |||
| style="width: 414px" | Right Joystick X | |||
| Arcade mode: robot moves left/right | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | B-6 | |||
| style="width: 414px" | Right Bumper | |||
| Right side drive motors: Slow | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | B-5 | |||
| style="width: 414px" | Left Bumper | |||
| Left side drive motors: Slow | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | A-3 | |||
| style="width: 414px" | Right Trigger | |||
| Right side drive motors: Turbo | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | A-2 | |||
| style="width: 414px" | Left Trigger | |||
| Left side drive motors: Turbo | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | B-1 | |||
| style="width: 414px" | A Button | |||
| Toggles between tank and arcade mode | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | B-3 | |||
| style="width: 414px" | X Button | |||
| | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | B-4 | |||
| style="width: 414px" | Y Button | |||
| Calibrates Gyro | |||
| | |||
|- | |||
| style="width: 92px; text-align: center" | B-2 | |||
| style="width: 414px" | B Button | |||
| | |||
| | |||
|} | |||
</div> <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div></div> | |||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
=== Controller 2 - Aux Driver === | |||
{| style="width: 908px" cellspacing="1" cellpadding="2" border="1" | |||
|- | |||
| style="text-align: center; width: 91px" | '''Button/Axis #''' | |||
| style="width: 286px" | '''Action/Button''' | |||
| style="width: 361px" | '''Description''' | |||
| style="width: 141px" | '''Details''' | |||
|- | |||
| style="text-align: center; width: 91px" | A-0 | |||
| style="width: 286px" | Left Joystick X-Axis | |||
| style="width: 361px" | | |||
| style="width: 141px" | | |||
|- | |||
| style="text-align: center; width: 91px" | A-1 | |||
| style="width: 286px" | Left Joystick Y-Axis | |||
| style="width: 361px" | Shooter manual speed | |||
| style="width: 141px" | Not position-sensative -- accumulates change to speed slowly in whichever direction is held (up slowly increases speed setting, down slowly decreases it) | |||
|- | |||
| style="width: 91px; text-align: center" | A-2 | |||
| style="width: 286px" | Left Trigger | |||
| style="width: 361px" | Lower and run intake | |||
| style="width: 141px" | Press and hold, release to stop. | |||
|- | |||
| style="width: 91px; text-align: center" | A-3 | |||
| style="width: 286px" | Right Trigger | |||
| style="width: 361px" | Shoot | |||
| style="width: 141px" | Press and hold, release to stop. Shoots when shooter has reached desired speed as long as balls remain in robot. | |||
|- | |||
| style="width: 91px; text-align: center" | A-4 | |||
| style="width: 286px" | Right Joystick X-Axis | |||
| style="width: 361px" | | |||
| style="width: 141px" | | |||
| |||
| |||
|- | |||
| style="width: 91px; text-align: center" | A-5 | |||
| style="width: 286px" | Right Joystick Y-Axis | |||
| style="width: 361px" | | |||
| style="width: 141px" | | |||
|- | |||
| style="width: 91px; text-align: center" | B-1 | |||
| style="width: 286px" | A Button | |||
| style="width: 361px" | Retract the hanger | |||
| style="width: 141px" | Press and hold, release to stop | |||
|- | |||
| style="width: 91px; text-align: center" | B-2 | |||
| style="width: 286px" | B button | |||
| style="width: 361px" | Auto-shoot setting: Wall | |||
| style="width: 141px" | Single press | |||
|- | |||
| style="width: 91px; text-align: center" | B-3 | |||
| style="width: 286px" | X Button | |||
| style="width: 361px" | Auto-shoot setting: Initiation Line | |||
| style="width: 141px" | Single press | |||
|- | |||
| style="width: 91px; text-align: center" | B-4 | |||
| style="width: 286px" | Y button | |||
| style="width: 361px" | Extend the hanger | |||
| style="width: 141px" | Press and hold, release to stop | |||
|- | |||
| style="width: 91px; text-align: center" | B-5 | |||
| style="width: 286px" | Left bumper | |||
| style="width: 361px" | Outtake game pieces | |||
| style="width: 141px" | Press and hold, release to stop | |||
|- | |||
| style="width: 91px; text-align: center" | B-6 | |||
| style="width: 286px" | Right bumper | |||
| style="width: 361px" | Pre-heat shooter | |||
| style="width: 141px" | Press and hold, release to stop | |||
|- | |||
| style="width: 91px; text-align: center" | B-7 | |||
| style="width: 286px" | Back Button | |||
| style="width: 361px" | | |||
| style="width: 141px" | | |||
|- | |||
| style="width: 91px; text-align: center" | B-8 | |||
| style="width: 286px" | Start Button | |||
| style="width: 361px" | Auto-shoot setting: Panel | |||
| style="width: 141px" | Single press | |||
|- | |||
| style="width: 91px; text-align: center" | B-9 | |||
| style="width: 286px" | Left Stick Pressed | |||
| style="width: 361px" | | |||
| style="width: 141px" | | |||
|- | |||
| style="width: 91px; text-align: center" | B-10 | |||
| style="width: 286px" | Right Stick Pressed | |||
| style="width: 361px" | | |||
| style="width: 141px" | | |||
|- | |||
| style="width: 91px; text-align: center" | POV-0 | |||
| style="width: 286px" | D-pad up | |||
| style="width: 361px" | Run Control Panel | |||
| style="width: 141px" | Press and hold, release to cancel. Rotatation control, position control, or manual advance based on console switches | |||
|} | |||
<div class="mw-parser-output"> | |||
=== Controller 3 - Switches on console === | |||
{| style="width: 907px" cellspacing="1" cellpadding="1" border="1" | |||
|- | |||
| style="width: 92px" | ''' Button/Axis #''' | |||
| style="width: 112px" | ''' Action/Button''' | |||
| style="width: 521px" | '''Description''' | |||
| style="width: 158px" | '''Details''' | |||
|- | |||
| style="width: 92px; text-align: center" | B-1 | |||
| style="width: 112px" | Control Panel Sensor Broken | |||
| style="width: 521px" | | |||
On = broken, run CP manually | |||
Off = Working, do whatever is in button 1 | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-2 | |||
| style="width: 112px" | Intake Pivot Sensor Broken | |||
| style="width: 521px" | | |||
On = broken, zero pivot based solely on startup position | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-3 | |||
| style="width: 112px" | Intake ball counter Broken | |||
| style="width: 521px" | On = broken, don't use this sensor | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-4 | |||
| style="width: 112px" | Storage-shooter transition counter broken | |||
| style="width: 521px" | On = broken, don't use this sensor | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-5 | |||
| style="width: 112px" | Shooter ball counter broken | |||
| style="width: 521px" | On = broken, don't use this sensor | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-6 | |||
| style="width: 112px" | Control Panel Mode | |||
| style="width: 521px" | | |||
Determines which control panel operation to run | |||
On = rotation | |||
Off = position | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-7 | |||
| style="width: 112px" | Shoot Manual Speed | |||
| style="width: 521px" | On = Manual speed control, off = use presets | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-8 | |||
| style="width: 112px" | Disable drive "backdrive" | |||
| style="width: 521px" | On = Disable backdrive code, off = enable backdrive code | |||
| style="width: 158px" | | |||
|- | |||
| style="width: 92px; text-align: center" | B-9 | |||
| style="width: 112px" | Hanger Speed | |||
| style="width: 521px" | On = Lift speed, Off = slow speed (test if hooked) | |||
| style="width: 158px" | | |||
|} | |||
</div> | |||
</div> | |||
=== Dashboard === | |||
{| border="1" cellpadding="2" cellspacing="1" style="width: 0px" | |||
|- | |||
| '''Key''' | |||
| '''Data Type''' | |||
| '''Value''' | |||
| style="width: 600px" | '''Description''' | |||
|- | |||
| thunderdashboard_wheel | |||
| number | |||
| | |||
0 - do NOT know | |||
1 - Red | |||
2 - Green | |||
3 - Blue | |||
4 - Yellow | |||
| The color the robot's sensor is seeing | |||
|- | |||
| thunderdashboard_wheel_end | |||
| number | |||
| see thunderdashboard_wheel | |||
| The color FMS is asking for in the final stage | |||
|- | |||
| thunderdashboard_shooter_speed | |||
| number | |||
| 0 - 100 | |||
| the speed the shooter is running at: 0 is min and 100 is max | |||
|- | |||
| thunderdashboard_shooter_pos | |||
| number | |||
| 0 - 360 | |||
| the position of the turret, in degrees from home position: 0 is home | |||
|- | |||
| thunderdashboard_shooter_hood | |||
| number | |||
| 0 - 100 | |||
| the position of the hood: 0 is down, 100 is completely up | |||
|- | |||
| thunderdashboard_hang_pos | |||
| number | |||
| | |||
0 - 100 | |||
| the position of the arm, for hang: 0 is full retracted, 100 is full extended | |||
|- | |||
| thunderdashboard_hang_lock | |||
| number | |||
| | |||
0 - hang ratched is not locked | |||
1 - hang ratched is locked | |||
| indicates whether the ratchet, for hang, is engaged or not | |||
|- | |||
| thunderdashboard_intake_pos | |||
| number | |||
| | |||
0 - intake is down (deployed) | |||
1 - intake is up (retracted) | |||
| indicates whether the intake is up or not | |||
|- | |||
| thunderdashboard_ballcount | |||
| number | |||
| -1 - do not know | |||
0 - 5 | |||
| Number of balls (game pieces) the robot thinks it has | |||
|- | |||
| thunderdashboard_gyro | |||
| number | |||
| | |||
0 - dashboard background not based on this | |||
1 - dashboard background goes red | |||
| used when: gyro is calibrating | |||
|- | |||
| thunderdashboard_yellow | |||
| number | |||
| | |||
0 - dashboard background not based on this | |||
1 - dashboard background goes yellow | |||
| | |||
used when: TBD | |||
NOTE: thunderdashboard_gyro takes precedence | |||
|- | |||
| thunderdashboard_green | |||
| number | |||
| | |||
0 - dashboard background not based on this | |||
1 - dashboard background goes green | |||
| | |||
used when: TBD | |||
NOTE: thunderdashboard_gyro takes precendence | |||
|- | |||
| thunderdashboard_inpitmode | |||
| number | |||
| | |||
0 = dashboard background not based on this | |||
1 = dashboard background is power blue | |||
| | |||
used when: robot is operating in 'pit mode' (for safer operatin in the pits) | |||
NOTE: thunderdashboard_gyro takes precendence | |||
|- | |||
| thunderdashboard_max | |||
| number | |||
| | |||
0 = show normal | |||
1 = fills screen | |||
| whether to fill the laptop screen with the dashboard or not | |||
|- | |||
| thunderdashboard_starting_count | |||
| number | |||
| 0-3 | |||
| editable, set initial count of power cells in robot before auto | |||
|- | |||
| thunderdashboard_auto_list | |||
| string | |||
| a comma seperated list | |||
| the list of auto modes (e.g. "0,1,2,3,4,5") | |||
|- | |||
| thunderdashboard_auto_# | |||
| string | |||
| any text | |||
| one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5) | |||
|- | |||
| Auto_Mode | |||
| number | |||
| a number from thunderdashboard_auto_list | |||
| the auto mode selected on the UI | |||
|- | |||
| thunderdashboard_auto_start_delay | |||
| number | |||
| | |||
| user selected number of seconds, 0 to 15, to delay start of auto mode | |||
|- | |||
| thunderdashboard_drivearcade | |||
| number | |||
| | |||
0 = tank drive | |||
1 = arcade drive | |||
| what mode drive is using. dashboard will show 'Tank Drive' when in that mode, otherwise nothing is shown | |||
|} | |||
</div> </div> </div> </div></div> </div> </div> </div> </div> </div> </div> </div> </div> | |||
</div> | |||
= IO Maps for Old Robots = | |||
*[[2020:Robot_IO_Map|2019 IO Map]] (applies to 2021 as well!) | |||
*[[2019:Robot_IO_Map|2019 IO Map]] | |||
*[[2018:Robot_IO_Map|2018 IO Map]] | |||
*[[2017:Robot_IO_Map|2017 IO Map]] | |||
*[[2016:Robot_IO_Map|2016 IO Map]] | |||
*[[2015:Robot_IO_Map|2015 IO Map]] | |||
*[[2014:Robot_IO_Map|2014 IO Map]] | |||
*[[2013:Robot_IO_Map|2013 IO Map]] | |||
*[[2012:Robot_IO_Map|2012 IO Map]] | |||
*[[2011:Robot_IO_Map|2011 Thunderous Prime IO Map]] | |||
*[[2010:Electrical_Main#IO_Map_2010_Thunderfoot|2010 Thunderfoot IO Map]] | |||
*[[2009:IO_Map|2009 Thunderplucker]] | |||
*[[IO_Pin_Maps_for_Pre-2009_Robots|IO Pin Maps for Pre-2009 Robots]] | |||
</div> </div> </div> </div> </div> </div> | |||
</div> |
Revision as of 15:00, 7 January 2022
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 | ||||||||
3 | ||||||||
4 | ||||||||
5 | ||||||||
6 | ||||||||
7 | 2 | |||||||
8 | ||||||||
9 | ||||||||
10 | ||||||||
11 | ||||||||
12 | ||||||||
13 | ||||||||
14 | ||||||||
15 |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
0 | Hang | Servo |
Hs-322HD |
Engages/disingages ratchet |
|
N/A | ||
1 | Shooter | Servo |
Hs-785HB |
Moves turret hood to increase/decrease shot angle | N/A | |||
2 | ||||||||
3 | ||||||||
4 | Driver LEDs | LED | LED | Gives connection to Driver Interface LEDs | Allows drivers to see power cell count from the front/back of robot | N/A | 20A (via voltage regulator) | 10 |
5 | Wheel of Fortune | Servo | Swing color sensor outside the frame perimeter | |||||
6
|
Drive base
|
Spark Max | Neo | Left front drive motor | Moves left side of robot forwards/backwards | Don't know | 40A | 14 |
7
|
Drive Base | Spark Max | Neo | Left rear drive motor | Don't know | 40A | 15 | |
8 | Drive Base | Spark Max | Neo | Right front drive motor | Moves right side of robot forwards/backwards | Don't know | 40A | 0 |
9
|
Drive Base | Spark Max | Neo | Right Rear drive Motor | Don't know | 40A | 1 | |
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 | Drive Base | Gyro | ADW22307 | Located on center axis underneath the helix | Tells where the drive base is looking by degrees (for autonomous) | 7mV/degree | |
1 | Shooter | Potentiometer | Bournes 3547S-1AA-103A | Located on the output of the hood servo | Tells the angle of the hood | ||
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 |
|
| ||||
2 | IN | Storage | Allen-Bradley RightSight Prox Sensor | 42EF-D2MPAK-F4 | Senses balls when ready to shoot |
1 = Ball present 0 = Ball not present |
|
3 | IN | Shooter | Banner Opto | Q10RN6R | Senses when a ball is exiting the shooter |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
4 | IN | Drive base | Phase A Left Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
5 | IN | Drive base | Phase B Left Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
6 | IN | Drive base | Phase A Right Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
7 | IN | Drive base | Phase B right encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
8 | IN | Intake | Omron Reflective | EE-SPY415 | Senses the presence of the intake mechanism to zero the rotation motor encoder |
1 = not present 0 = present |
|
9 | IN | Hang | Optical Sensor Through-Beam | OPB815WZ | Sense when hanger is all the way retracted | 1 = hanger sensed (all the way down), 0 = hanger not sensed |
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 |
Robot Lights Reference
- When Disabled:
- Front Lights - Shows status of DIGITAL sensors, one sensor per row. Each row is GREEN for sensor not tripped, RED for when it is tripped.
- Row 4 (top row): Shooter game piece exit sensor
- Row 3: Helix-shooter game piece transition sensor
- Row 2: Intake game piece count sensor
- Row 1: Intake pivot zeroing sensor
- Row 0: Hanger zeroing sensor
- Front Lights - Shows status of DIGITAL sensors, one sensor per row. Each row is GREEN for sensor not tripped, RED for when it is tripped.
- When Enabled:
- Red X: Ball count indeterminate
- Otherwise, one row is lit from bottom to top for each game piece in robot
Operator Controls
Disable Xbox Controller
Controller 1 - Primary Driver
Button/Axis # | Action/Button | Description | Details |
A-1 | Left Joystick Y |
Tank mode: left side drive motors forward/reverse Arcaded mode: robot moves foward/reverse |
|
A-1 | Left Joystick X | ||
A-4 | Right Joystick Y | Tank mode: right side drive motors foward/reverse | |
A-4 | Right Joystick X | Arcade mode: robot moves left/right | |
B-6 | Right Bumper | Right side drive motors: Slow | |
B-5 | Left Bumper | Left side drive motors: Slow | |
A-3 | Right Trigger | Right side drive motors: Turbo | |
A-2 | Left Trigger | Left side drive motors: Turbo | |
B-1 | A Button | Toggles between tank and arcade mode | |
B-3 | X Button | ||
B-4 | Y Button | Calibrates Gyro | |
B-2 | B Button |
Controller 2 - Aux Driver
Button/Axis # | Action/Button | Description | Details |
A-0 | Left Joystick X-Axis | ||
A-1 | Left Joystick Y-Axis | Shooter manual speed | Not position-sensative -- accumulates change to speed slowly in whichever direction is held (up slowly increases speed setting, down slowly decreases it) |
A-2 | Left Trigger | Lower and run intake | Press and hold, release to stop. |
A-3 | Right Trigger | Shoot | Press and hold, release to stop. Shoots when shooter has reached desired speed as long as balls remain in robot. |
A-4 | Right Joystick X-Axis |
| |
A-5 | Right Joystick Y-Axis | ||
B-1 | A Button | Retract the hanger | Press and hold, release to stop |
B-2 | B button | Auto-shoot setting: Wall | Single press |
B-3 | X Button | Auto-shoot setting: Initiation Line | Single press |
B-4 | Y button | Extend the hanger | Press and hold, release to stop |
B-5 | Left bumper | Outtake game pieces | Press and hold, release to stop |
B-6 | Right bumper | Pre-heat shooter | Press and hold, release to stop |
B-7 | Back Button | ||
B-8 | Start Button | Auto-shoot setting: Panel | Single press |
B-9 | Left Stick Pressed | ||
B-10 | Right Stick Pressed | ||
POV-0 | D-pad up | Run Control Panel | Press and hold, release to cancel. Rotatation control, position control, or manual advance based on console switches |
Controller 3 - Switches on console
Button/Axis # | Action/Button | Description | Details |
B-1 | Control Panel Sensor Broken |
On = broken, run CP manually Off = Working, do whatever is in button 1 |
|
B-2 | Intake Pivot Sensor Broken |
On = broken, zero pivot based solely on startup position |
|
B-3 | Intake ball counter Broken | On = broken, don't use this sensor | |
B-4 | Storage-shooter transition counter broken | On = broken, don't use this sensor | |
B-5 | Shooter ball counter broken | On = broken, don't use this sensor | |
B-6 | Control Panel Mode |
Determines which control panel operation to run On = rotation Off = position |
|
B-7 | Shoot Manual Speed | On = Manual speed control, off = use presets | |
B-8 | Disable drive "backdrive" | On = Disable backdrive code, off = enable backdrive code | |
B-9 | Hanger Speed | On = Lift speed, Off = slow speed (test if hooked) |
Dashboard
Key | Data Type | Value | Description |
thunderdashboard_wheel | number |
0 - do NOT know 1 - Red 2 - Green 3 - Blue 4 - Yellow |
The color the robot's sensor is seeing |
thunderdashboard_wheel_end | number | see thunderdashboard_wheel | The color FMS is asking for in the final stage |
thunderdashboard_shooter_speed | number | 0 - 100 | the speed the shooter is running at: 0 is min and 100 is max |
thunderdashboard_shooter_pos | number | 0 - 360 | the position of the turret, in degrees from home position: 0 is home |
thunderdashboard_shooter_hood | number | 0 - 100 | the position of the hood: 0 is down, 100 is completely up |
thunderdashboard_hang_pos | number |
0 - 100 |
the position of the arm, for hang: 0 is full retracted, 100 is full extended |
thunderdashboard_hang_lock | number |
0 - hang ratched is not locked 1 - hang ratched is locked |
indicates whether the ratchet, for hang, is engaged or not |
thunderdashboard_intake_pos | number |
0 - intake is down (deployed) 1 - intake is up (retracted) |
indicates whether the intake is up or not |
thunderdashboard_ballcount | number | -1 - do not know
0 - 5 |
Number of balls (game pieces) the robot thinks it has |
thunderdashboard_gyro | number |
0 - dashboard background not based on this 1 - dashboard background goes red |
used when: gyro is calibrating |
thunderdashboard_yellow | number |
0 - dashboard background not based on this 1 - dashboard background goes yellow |
used when: TBD NOTE: thunderdashboard_gyro takes precedence |
thunderdashboard_green | number |
0 - dashboard background not based on this 1 - dashboard background goes green |
used when: TBD NOTE: thunderdashboard_gyro takes precendence |
thunderdashboard_inpitmode | number |
0 = dashboard background not based on this 1 = dashboard background is power blue |
used when: robot is operating in 'pit mode' (for safer operatin in the pits) NOTE: thunderdashboard_gyro takes precendence |
thunderdashboard_max | number |
0 = show normal 1 = fills screen |
whether to fill the laptop screen with the dashboard or not |
thunderdashboard_starting_count | number | 0-3 | editable, set initial count of power cells in robot before auto |
thunderdashboard_auto_list | string | a comma seperated list | the list of auto modes (e.g. "0,1,2,3,4,5") |
thunderdashboard_auto_# | string | any text | one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5) |
Auto_Mode | number | a number from thunderdashboard_auto_list | the auto mode selected on the UI |
thunderdashboard_auto_start_delay | number | user selected number of seconds, 0 to 15, to delay start of auto mode | |
thunderdashboard_drivearcade | number |
0 = tank drive 1 = arcade drive |
what mode drive is using. dashboard will show 'Tank Drive' when in that mode, otherwise nothing is shown |