2024:Robot IO Map

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	Drive	SparkMax	Neo
3	Drive	SparkMax	Neo
4	Drive	SparkMax	Neo
5	Drive	SparkMax	Neo
6	Drive	SparkMax	Neo
7	Drive	SparkMax	Neo
8	Drive	SparkMax	Neo
9	Drive	SparkMax	Neo
10	Drive	Encoder	CANCoder
11	Drive	Encoder	CANCoder
12	Drive	Encoder	CANCoder
13	Drive	Encoder	CANCoder
14
15
16
17
18
19
20

 

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Current	Note
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23 (Switchable)

VRM Assignments

Port #	Device (Subteam)
5V/2A
5V/2A
5V/500mA
5V/500mA
12V/2A
12V/2A
12V/500mA
12V/500mA

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0
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
1	IN
2	IN
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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0

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
	Left Joystick Press
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	Square / A Button
B-3	Cross / X Button
B-4	Triangle / Y Button
B-2	Circle / 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	Square / A Button
B-2	Circle / B button
B-3	Cross / X Button
B-4	Triangle / 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
POV-90	D-pad right
POV-180	D-pad down
POV-270	D-pad left

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_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_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_auto_doing_auto	boolean	true - should do autonomous false - should not do autonomous	Dashboard checkbox in auto selector page. When false, the robot should not do anything in autonomous
thunderdashboard_auto_starting_location	number	0 - barrier side 1 - center 2 - edge side	Dashboard selection of which community zone the robot should start in
thunderdashboard_auto_starting_gamepiece	number	0 - cube 1 - cone	Dashboard selection of which GamePiece the robot is starting with. Also determines the exact starting position of the robotin combination with the general zone as provided by 'thunderdashboard_auto_starting_location'
thunderdashboard_auto_starting_action	number	Depending on the starting location, this value means different things.If starting in the center, 0 - Score preloaded GamePiece and balance on Charge Station 1 - Score preloaded GamePiece, traverse Charge Station, and collect GamePiece 3 from field If starting on either side, Anything - Score preloaded GamePiece and collect field GamePiece 1 or 4	Dashboard selection of what action the robot should do first in autonomous
thunderdashboard_auto_field_gamepiece	number	0 - cube 1 - cone	Dashboard selection of which GamePiece to collect on the field (if the starting action puts the robot in the position to acquire a GamePiece)
thunderdashboard_auto_final_action	number	Depending on the starting location, this value means different things,If starting in the center, 0 - Do nothing 1 - Balance on Charge Station If starting on either side, 0 - Do nothing 1 - Score acquired field GamePiece 2 - Balance on Charge Station	Dashboard selection of what action the robot should do at the end of Autonomous (if the starting action puts the robot in the position for a final action).
thunderdashboard_drive_x_pos	number		Robot current X position on the field (m)
thunderdashboard_drive_y_pos	number		Robot current Y position on the field (m)
thunderdashboard_drive_target_x_pos	number		Robot target X position on the field (m)
thunderdashboard_drive_target_y_pos	number		Robot target Y position on the field (m)
thunderdashboard_drive_x_vel	number		Robot current X velocity (m/s)
thunderdashboard_drive_y_vel	number		Robot current Y velocity (m/s)
thunderdashboard_drive_ang_vel	number		Robot current angular velocity (rad/s)
thunderdashboard_drive_ang	number		Robot current angle (radians)
thunderdashboard_drive_target_ang	number		Robot target angle (radians)
thunderdashboard_lift_pivot_percent	number	0 to 1	Percent of lift pivot
thunderdashboard_lift_extension_percent	number	0 to 1	Percent of lift extension
thunderdashboard_lift_pivot_target_percent	number	0 to 1, -1 if no target	Target percent of lift pivot
thunderdashboard_lift_extension_target_percent	number	0 to 1, -1 if no target	Target percent of lift extension
thunderdashboard_grabber_position	number	0 - open 1 - agape 2 - ajar	State of grabber mechanism
thunderdashboard_gamepiece	number	-1 - no gamepiece 0 - cube 1 - cone	Which GamePiece the robot is currently in possession of
thunderdashboard_match_remaining	number		The time remaining in the current match period
thunderdashboard_airpressure_low	number		Low air pressure on gauge
thunderdashboard_airpressure_high	number		High air pressure on gauge
thunderdashboard_airpressure	number		Current air pressure
thunderdashboard_airpressure_iters	number		Number of ticks on air pressure gauge
thunderdashboard_led_mode	number	0 - Robot State 1 - Alliance Color 2 - Custom Color 3 - Off	The mode of the robot LEDs
thunderdashboard_led_custom_r	number	0-1	Custom LED red value
thunderdashboard_led_custom_g	number	0-1	Custom LED green value
thunderdashboard_led_custom_b	number	0-1	Custom LED blue value
thunderdashboard_score_grid	number	-1 - No grid aligned 0 - Left grid 1 - Center grid 2 - Right grid	Which grid the robot is currently in front of (relative to driver, NOT field or robot)
thunderdashboard_score_grid_column	number	-1 - No Column selected 0 - Left column 1 - Center column 2 - Right column	Which column of the grid the robot is trying to align to (relative to driver, NOT field or robot)

IO Maps for Old Robots

• 2023 IO Map
• 2022 IO Map
• 2020 IO Map (applies to 2021 as well!)
• 2019 IO Map
• 2018 IO Map
• 2017 IO Map
• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots