2023:Robot IO Map: Difference between revisions

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(IO Map updates)
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!Breaker Value
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!Max Current
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!Note
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|Leadscrew Left (Lift)
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Revision as of 13:06, 21 January 2023

CAN ID Assignments

ID Subsystem

Component

Type

 Model # Brake or Coast? Description
(brief) 		Operation

PD Board Info

(8) max. 40A         PDB #

General Notes
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 please  
2 Grabber Spark Max Neo 550 Brake Left intake motor   20A
3 Grabber Spark Max Neo 550 Brake Right intake motor   20A
4 Lift Spark Max Neo Brake Telescoping arm extention 40A Using Integrated Encoder
5 Lift Spark Max Neo 550 Brake Left lift lead screw 20A Using Integrated Encoder
6 Lift Spark Max Neo 550 Brake Right lift lead screw   20A Using Integrated Encoder
7
8
9 Drive Spark Max Neo Brake Front left drive motor 40A 0 Using Integrated Encoder
10 Drive Spark Max Neo Brake Back left drive motor 40A 1 Using Integrated Encoder
11 Drive Spark Max Neo Brake Back right drive motor   40A 14 Using Integrated Encoder
12 Drive Spark Max Neo Brake Front right drive motor 40A 15 Using Integrated Encoder
13 Drive Spark Max Neo 550 Brake Front left turning motor   20A 4 Using Integrated Encoder
14 Drive Spark Max Neo 550 Brake Back left turning motor   20A 5 Using Integrated Encoder
15 Drive Spark Max Neo 550 Brake Back right turning motor   20A 10 Using Integrated Encoder
16 Drive Spark Max Neo 550 Brake Front right turning motor   20A 11 Using Integrated Encoder
17 Drive Encoder CANCoder N/A Front left absolute encoder N/A
18 Drive Encoder CANCoder N/A Back left absolute encoder N/A
19 Drive Encoder CANCoder N/A Back right absolute encoder N/A
20 Drive Encoder CANCoder N/A Front right absolute encoder N/A
 
PDB Assignments
Port # Device (Subteam) Breaker Value Max Current Note
0 Neo (Drive) 40A 40A
1 Neo 550 (Drive) 30A 30A
2 Neo (Drive) 40A 40A
3 Neo 550 (Drive) 30A 30A
4
5
6
7 Grabber Left 20A
8 Leadscrew Left (Lift) 20A
9 Telescoping (Lift) 40A
10 Raspberry Pi VRM 20A 5A
11 Leadscrew Right (Lift) 20A
12 Grabber Right 20A
13
14
15
16 Neo (Drive) 40A 40A
17 Neo 550 (Drive) 30A 30A
18 Neo (Drive) 40A 40A
19 Neo 550 (Drive) 30A 30A
20 RoboRio Fused Port
21 Radio Fused Port
22 Fused Port
23 (Switchable) Fused Port
 
 
 
 
 

PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0 Blinky Blinky LED Strip Illumination & Communication w/ HP Yes 5V 2A on VRM  
1      
2        
3        
4
5          
6
7  
8
9  
10                
11                
 
 

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 Grabber Beam Break Grabber intake sensor Detect acquired game pieces
1 IN Lift Lift home sensor Detect when telescoping arm is fully retracted
2 IN Lift Lift extension sensor Detect when telescoping arm is fully extended
3 IN
4 IN
5
6
7 IN  
8 IN  
9 IN  
10 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    
               
               
               
               
               
               

SPI Devices

# Subsystem

Component Type

 Model # Description (brief) Operation Notes
0 Drive IMU ADIS16470 3-Axis gyro and accelerometer Sense rotation of robot  

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 Grabber Double Long grabber piston Difference between cone intake and cube intake
1
2 Grabber Double Short grabber piston Difference between cone intake and cone transport
3
4
5
6
7
2 0
1
2
3
4
5

Operator Controls

Disable Xbox Controller

DisableXbox.docx

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-0 Left Joystick X-Axis    
A-1 Left Joystick Y-Axis
A-2 Left Trigger
A-3 Right Trigger
A-4 Right Joystick X-Axis

 

 

A-5 Right Joystick Y-Axis    
B-1 A Button
B-2 B button
B-3 X Button
B-4 Y button
B-5 Left bumper
B-6 Right bumper
B-7 Back Button    
B-8 Start Button
B-9 Left Stick Pressed    
B-10 Right Stick Pressed    
POV-0 D-pad up

Controller 3 - Switches on console

 Button/Axis #  Action/Button  Description Details
B-1  
B-2  
B-3  
B-4  
B-5  
B-6  
B-7  
B-8  
B-9  

Dashboard

Key Data Type Value Description
thunderdashboard_alliance number

0 - Red

1 - Blue

Alliance we are one
thunderdashboard_stage1 number 0 - not blocked

1 - blocked

Stage 1 sensor blocked?
thunderdashboard_stage2 number 0 - not blocked

1 - blocked

Stage 2 sensor blocked?
thunderdashboard_ballcount number -1 - don't know

0 to 9 - number of balls

how many balls are in the robot
thunderdashboard_shooter_hood number 0 - 100 the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_bar number

0 - unknown

1 - mid

2 - high

3 - traversal

the bar the robot is on
thunderdashboard_hang_status number

0 - unknown

1 - red

2 - green

3 - yellow

hang status color to show
thunderdashboard_match_length number

0 - no bar

1 to 599 - show bar, max seconds for the match period

Displays countdown progress bar at bottom of dashboard.
thunderdashboard_match_remaining number 0 to 599 Number of seconds left in the match period
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_frontcamera number 0 - LimeLight (mjpeg, roboRIO-1511-FRC.local:5800)

1 - USB camera (mjpeg, 10.15.11.11:1181)

which camera the dashboard should connect to
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

IO Maps for Old Robots

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