2025:Robot IO Map: Difference between revisions

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== CAN ID Assignments ==
== CAN ID Assignments ==


{| style="width: 1100px; height: 1382px;" border="1" cellspacing="1" cellpadding="2"
{| style="width: 996px; height: 750px;" border="1" cellspacing="1" cellpadding="2"
|- style="height: 80px;"
|- style="height: 80px;"
| style="text-align: center; height: 80px; width: 22.05px;" | '''ID'''
| style="text-align: center; height: 80px; width: 20.075px;" | '''ID'''
| style="text-align: center; height: 80px; width: 105.213px;" | '''Subsystem'''
| style="text-align: center; height: 80px; width: 99.325px;" | '''Subsystem'''
| style="height: 80px; width: 106.213px;" | <p style="text-align: center">'''Component'''</p>
| style="height: 80px; width: 100.338px;" | <p style="text-align: center">'''Component'''</p>
<p style="text-align: center">'''Type'''</p>
<p style="text-align: center">'''Type'''</p>
| style="text-align: center; width: 112.225px; height: 80px;" | '''Model #'''
| style="text-align: center; width: 99.325px; height: 80px;" | '''Model #'''
| style="width: 70.15px; text-align: center; height: 80px;" | '''Brake or Coast?'''
| style="width: 66.225px; text-align: center; height: 80px;" | '''Brake or Coast?'''
| style="width: 110.225px; text-align: center; height: 80px;" | '''Description'''<br>(brief)
| style="width: 104.35px; text-align: center; height: 80px;" | '''Description'''<br>(brief)
| style="width: 224.45px; text-align: center; height: 80px;" | '''Operation'''
| style="width: 194.637px; text-align: center; height: 80px;" | '''Operation'''
| style="width: 175.15px; text-align: center; height: 80px;" colspan="2" |
| style="width: 151.288px; text-align: center; height: 80px;" colspan="2" |
'''PD Board Info'''
'''PD Board Info'''


'''(8) max. 40A &nbsp; &nbsp; &nbsp; &nbsp; PDB #'''
'''(8) max. 40A &nbsp; &nbsp; &nbsp; &nbsp; PDB #'''
| style="height: 80px; width: 130.325px;" | '''General Notes'''
| style="height: 80px; width: 116.438px;" | '''General Notes'''
|- style="height: 74px;"
|- style="height: 75px;"
| style="text-align: center; height: 74px; width: 22.05px;" | 0
| style="text-align: center; height: 75px; width: 20.075px;" | 0
| style="text-align: center; height: 74px; width: 105.213px;" | Electrica'''l'''
| style="text-align: center; height: 75px; width: 99.325px;" | Electrica'''l'''
| style="height: 74px; width: 106.213px;" | <p style="text-align: center">PD Module</p>
| style="height: 75px; width: 100.338px;" | <p style="text-align: center">PD Module</p>
| style="text-align: center; width: 112.225px; height: 74px;" | &nbsp;
| style="text-align: center; width: 99.325px; height: 75px;" | &nbsp;
| style="width: 70.15px; text-align: center; height: 74px;" | &nbsp;
| style="width: 66.225px; text-align: center; height: 75px;" | &nbsp;
| style="width: 110.225px; text-align: center; height: 74px;" | Power Distribution Module feedback
| style="width: 104.35px; text-align: center; height: 75px;" | Power Distribution Module feedback
| style="width: 224.45px; text-align: center; height: 74px;" | monitor PD
| style="width: 194.637px; text-align: center; height: 75px;" | monitor PD
| style="width: 115.238px; height: 74px;" | <p style="text-align: center">must be CAN 0</p>
| style="width: 99.325px; height: 75px;" | <p style="text-align: center">must be CAN 0</p>
| style="width: 55.1125px; height: 74px;" | &nbsp;
| style="width: 47.1625px; height: 75px;" | &nbsp;
| style="height: 74px; width: 130.325px;" |
| style="height: 75px; width: 116.438px;" |
<br>
<br>
|- style="height: 120px;"
|- style="height: 12px;"
| style="text-align: center; height: 120px; width: 22.05px;" | 1
| style="text-align: center; height: 12px; width: 20.075px;" | 1
| style="text-align: center; height: 120px; width: 105.213px;" | '''RESERVED'''
| style="text-align: center; height: 12px; width: 99.325px;" | '''Drive'''
| style="text-align: center; height: 120px; width: 106.213px;" | n/a
| style="text-align: center; height: 12px; width: 100.338px;" | Motor
| style="text-align: center; width: 112.225px; height: 120px;" | &nbsp;
| style="text-align: center; width: 99.325px; height: 12px;" | Kraken X60&nbsp;
| style="width: 70.15px; text-align: center; height: 120px;" | &nbsp;
| style="width: 66.225px; text-align: center; height: 12px;" | Brake
| style="width: 110.225px; text-align: center; height: 120px;" | Factory-default<br>allows for adding new device quickly and re-assign its ID
| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left
| style="width: 224.45px; text-align: center; height: 120px;" | &nbsp;
| style="width: 194.637px; text-align: center; height: 12px;" |
| style="width: 115.238px; text-align: center; height: 120px;" | don't use please
| style="width: 55.1125px; text-align: center; height: 120px;" | &nbsp;
| style="height: 120px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
| style="width: 99.325px; text-align: center; height: 12px;" |
| style="text-align: center; height: 28px; width: 22.05px;" | 2
| style="text-align: center; height: 28px; width: 105.213px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="width: 47.1625px; text-align: center; height: 12px;" | &nbsp;
| style="height: 12px; width: 116.438px;" |
<br>
<br>
| style="text-align: center; width: 112.225px; height: 28px;" |
|- style="height: 28px;"
<br>
| style="text-align: center; height: 28px; width: 20.075px;" | 2
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Drive
| style="text-align: center; height: 28px; width: 100.338px;" |
Motor
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="width: 104.35px; text-align: center; height: 28px;" |
Rotation Motor Front Left
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
| style="height: 28px; width: 116.438px; text-align: center;" |
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
<br>
| style="height: 28px; width: 130.325px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 3
| style="text-align: center; height: 28px; width: 20.075px;" | 3
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Drive
| style="text-align: center; height: 28px; width: 100.338px;" |
Cancoder
| style="text-align: center; width: 99.325px; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
Cancoder Front Left&nbsp;
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="height: 28px; width: 116.438px; text-align: center;" |
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
<br>
| style="height: 28px; width: 130.325px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 4
| style="text-align: center; height: 28px; width: 20.075px;" | 4
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
<br>
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 104.35px;" |
Drive Motor Front Right
| style="height: 28px; width: 194.637px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 47.1625px; text-align: center;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="height: 28px; width: 55.1125px; text-align: center;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 5
| style="text-align: center; height: 28px; width: 20.075px;" | 5
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Drive
| style="text-align: center; height: 28px; width: 100.338px;" |
Motor
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="text-align: center; height: 28px; width: 104.35px;" |
Rotation Motor Front Right
| style="height: 28px; width: 194.637px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="height: 28px; width: 47.1625px; text-align: center;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
<br>
| style="height: 28px; width: 224.45px;" |
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
<br>
| style="height: 28px; width: 55.1125px; text-align: center;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 6
| style="text-align: center; height: 28px; width: 20.075px;" | 6
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Cancoder
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="text-align: center; width: 99.325px; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
Cancoder Front Right
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 7
| style="text-align: center; height: 28px; width: 20.075px;" | 7
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60
<br>
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
<br>
Drive Motor
| style="width: 110.225px; text-align: center; height: 28px;" |
 
<br>
Back Right
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="height: 28px; width: 130.325px; text-align: center;" |
| style="height: 28px; width: 116.438px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 8
| style="text-align: center; height: 28px; width: 20.075px;" | 8
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
Motor
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="text-align: center; height: 28px; width: 104.35px;" |
Rotation Motor Back Right
| style="text-align: center; height: 28px; width: 194.637px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 47.1625px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="height: 28px; width: 116.438px; text-align: center;" |
<br>
| style="text-align: center; height: 28px; width: 224.45px;" |
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
<br>
| style="text-align: center; height: 28px; width: 55.1125px;" |
<br>
| style="height: 28px; width: 130.325px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" |
| style="text-align: center; height: 28px; width: 20.075px;" |
9
9
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Drive
| style="text-align: center; height: 28px; width: 100.338px;" |
Cancoder
| style="text-align: center; width: 99.325px; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
Cancoder Back Right
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 10
| style="text-align: center; height: 28px; width: 20.075px;" | 10
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
<br>
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
<br>
Drive Motor
| style="width: 110.225px; text-align: center; height: 28px;" |
 
<br>
Back Left
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
<br>
| style="text-align: center; height: 28px; width: 55.1125px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 11
| style="text-align: center; height: 28px; width: 105.213px;" |
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
<br>
| style="text-align: center; width: 112.225px; height: 28px;" |
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 55.1125px;" |
| style="text-align: center; height: 28px; width: 47.1625px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 12
| style="text-align: center; height: 28px; width: 20.075px;" | 11
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
| style="width: 66.225px; text-align: center; height: 28px;" | Brake
| style="width: 104.35px; text-align: center; height: 28px;" |
Rotation Motor Back Left
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 47.1625px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
<br>
| style="text-align: center; height: 28px; width: 55.1125px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 22.05px;" | 13
| style="text-align: center; height: 28px; width: 20.075px;" | 12
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Drive
| style="text-align: center; height: 28px; width: 100.338px;" |
Cancoder
| style="text-align: center; width: 99.325px; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; width: 112.225px; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
Cancoder Back Left
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 47.1625px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="text-align: center; height: 28px; width: 115.238px;" |
<br>
| style="text-align: center; height: 28px; width: 55.1125px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 14
| style="text-align: center; height: 28px; width: 20.075px;" | 14
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Drive
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Pigeon
| style="width: 112.225px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
Pigeon
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
IMU
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 15
| style="text-align: center; height: 28px; width: 20.075px;" | 15
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Elevator
| style="text-align: center; height: 28px; width: 100.338px;" |
Motor
| style="width: 99.325px; text-align: center; height: 28px;" |
Neo
| style="width: 66.225px; text-align: center; height: 28px;" |
Brake
| style="width: 104.35px; text-align: center; height: 28px;" |
Elevator Motor Right
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 112.225px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
| style="width: 110.225px; text-align: center; height: 28px;" |
<br>
| style="width: 224.45px; text-align: center; height: 28px;" |
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 16
| style="text-align: center; height: 28px; width: 20.075px;" | 16
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Elevator
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="width: 112.225px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
Neo
| style="width: 70.15px; text-align: center; height: 28px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
Brake
| style="width: 110.225px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
<br>
Elevator Motor Left
| style="width: 224.45px; text-align: center; height: 28px;" |
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 115.238px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 55.1125px; text-align: center; height: 28px;" |
| style="width: 47.1625px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
| style="text-align: center; height: 28px; width: 116.438px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 17
| style="text-align: center; height: 28px; width: 20.075px;" | 17
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Cage
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
Neo
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 66.225px;" |
<br>
?
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 104.35px;" |
<br>
Hang winch
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 194.637px;" |
<br>
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 99.325px;" |
<br>
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 47.1625px;" |
<br>
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 116.438px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 18
| style="text-align: center; height: 28px; width: 20.075px;" | 18
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 66.225px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 104.35px;" |
<br>
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 194.637px;" |
<br>
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 99.325px;" |
<br>
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 47.1625px;" |
<br>
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 116.438px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 19
| style="text-align: center; height: 28px; width: 20.075px;" | 19
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 66.225px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 104.35px;" |
<br>
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 194.637px;" |
<br>
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 99.325px;" |
<br>
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 47.1625px;" |
<br>
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 116.438px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 20
| style="text-align: center; height: 28px; width: 20.075px;" | 20
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 66.225px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 104.35px;" |
<br>
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 194.637px;" |
<br>
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 99.325px;" |
<br>
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 47.1625px;" |
<br>
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 116.438px;" |
<br>
<br>
|- style="height: 51px;"
|- style="height: 51px;"
| style="text-align: center; width: 22.05px; height: 51px;" | 21
| style="text-align: center; width: 20.075px; height: 51px;" | 21
| style="text-align: center; width: 105.213px; height: 51px;" |
| style="text-align: center; width: 99.325px; height: 51px;" |
<br>
<br>
| style="text-align: center; width: 106.213px; height: 51px;" |
| style="text-align: center; width: 100.338px; height: 51px;" |
<br>
<br>
| style="text-align: center; width: 112.225px; height: 51px;" |
| style="text-align: center; width: 99.325px; height: 51px;" |
<br>
<br>
| style="text-align: center; width: 70.15px; height: 51px;" |
| style="text-align: center; width: 66.225px; height: 51px;" |
<br>
<br>
| style="text-align: center; width: 110.225px; height: 51px;" |
| style="text-align: center; width: 104.35px; height: 51px;" |
<br>
<br>
| style="width: 224.45px; height: 51px;" |
| style="width: 194.637px; height: 51px;" |
<br>
<br>
| style="width: 115.238px; height: 51px;" |
| style="width: 99.325px; height: 51px;" |
<br>
<br>
| style="width: 55.1125px; height: 51px;" |
| style="width: 47.1625px; height: 51px;" |
<br>
<br>
| style="width: 130.325px; height: 51px;" |
| style="width: 116.438px; height: 51px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; width: 22.05px; height: 28px;" | 22
| style="text-align: center; width: 20.075px; height: 28px;" | 22
| style="text-align: center; width: 105.213px; height: 28px;" | <br>
| style="text-align: center; width: 99.325px; height: 28px;" | <br>
| style="text-align: center; width: 106.213px; height: 28px;" |
| style="text-align: center; width: 100.338px; height: 28px;" |
<br>
<br>
| style="text-align: center; width: 112.225px; height: 28px;" | <br>
| style="text-align: center; width: 99.325px; height: 28px;" | <br>
| style="text-align: center; width: 70.15px; height: 28px;" | <br>
| style="text-align: center; width: 66.225px; height: 28px;" | <br>
| style="text-align: center; width: 110.225px; height: 28px;" | <br>
| style="text-align: center; width: 104.35px; height: 28px;" | <br>
| style="width: 224.45px; height: 28px;" | <br>
| style="width: 194.637px; height: 28px;" | <br>
| style="width: 115.238px; height: 28px;" | <br>
| style="width: 99.325px; height: 28px;" | <br>
| style="width: 55.1125px; height: 28px;" | <br>
| style="width: 47.1625px; height: 28px;" | <br>
| style="width: 130.325px; height: 28px;" | <br>
| style="width: 116.438px; height: 28px;" | <br>
|}
|}


<div class="mw-parser-output"></div>
<div class="mw-parser-output"></div>


= &nbsp; =
<br>
== CAN Physical Chain Layout ==
&lt;td colspan="2" "="" &gt;'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br>
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 391px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span>
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Next Device'''</span>
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Robo Rio
| style="width: 50%; height: 23px;" | Elevator Left
|-
| style="width: 50%;" | Elevator Left
| style="width: 50%;" | Rear Left Rotational
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Rear Left Rotational
| style="width: 50%; height: 23px;" | Rear Left Drive
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Rear Left Drive
| style="width: 50%; height: 23px;" | Rear Left Cancoder
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Rear Left Cancoder
| style="width: 50%; height: 23px;" | Front Left Rotational
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Front Left Rotational
| style="width: 50%; height: 23px;" | Front Left Drive
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Front Left Drive
| style="width: 50%; height: 23px;" | Front Left Cancoder
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Front Left Cancoder
| style="width: 50%; height: 23px;" | Front Right Cancoder
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Front Right Cancoder
| style="width: 50%; height: 23px;" | Front Right Drive
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Front Right Drive
| style="width: 50%; height: 23px;" | Front Right Rotational
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Front Right Rotational
| style="width: 50%; height: 23px;" | Rear Right Rotational
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Rear Right Rotational
| style="width: 50%; height: 23px;" | Rear Right Drive
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Rear Right Drive
| style="width: 50%; height: 23px;" | Rear Right Cancoder
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Rear Right Cancoder
| style="width: 50%; height: 23px;" | Pigeon
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Pigeon
| style="width: 50%; height: 23px;" | Elevator Right
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Elevator Right
| style="width: 50%; height: 23px;" | Hang
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | Hang
| style="width: 50%; height: 23px;" | PDH (Termination)
|-
|}


== PDB Assignments ==


{| class="wikitable" style="height: 1198px; width: 1089px;" width="920"  
 
|+ PDB Assignments
{| class="wikitable" style="height: 1198px; width: 1012px;" width="920"
! style="height: 28px; width: 177.788px;" | Port #
! style="height: 28px; width: 177px;" | Port #
! style="height: 28px; width: 222.488px;" | Device (Subteam)
! style="height: 28px; width: 222px;" | Device (Subteam)
! style="height: 28px; width: 145.05px;" | Breaker Value
! style="height: 28px; width: 145px;" | Breaker Value
! style="height: 28px; width: 181.062px;" | Max Channel Current
! style="height: 28px; width: 181px;" | Max Channel Current
! style="width: 116.7px;" | Motor Type
! style="width: 116px;" | Motor Type
! style="height: 28px; width: 171.312px;" | Note
! style="height: 28px; width: 171px;" | Note
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 0
| style="height: 28px; width: 177px; text-align: center;" | 0
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Front Right Drive (Drivebase)
Front Right Drive (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 1
| style="height: 28px; width: 177px; text-align: center;" | 1
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Front Right Rotation (Drivebase)
Front Right Rotation (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 2
| style="height: 28px; width: 177px; text-align: center;" | 2
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Front Left Drive (Drivebase)
Front Left Drive (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 3
| style="height: 28px; width: 177px; text-align: center;" | 3
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Front Left Rotation (Drivebase)
Front Left Rotation (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 4
| style="height: 28px; width: 222.488px; text-align: center;" |
Rear Right Drive (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 5
| style="height: 28px; width: 177px; text-align: center;" | 4
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Rear Right Rotation (Drivebase)
Rear Left Drive (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 6
| style="height: 28px; width: 222.488px; text-align: center;" |
Rear Left Drive (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 7
| style="height: 28px; width: 177px; text-align: center;" | 5
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Rear Left Rotation (Drivebase)
Rear Left Rotation (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 8
| style="height: 28px; width: 177px; text-align: center;" | 6
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Cage Lift 1 (Cage)
Wrist
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
30A?
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Neo
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Neo?
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 9
| style="height: 28px; width: 177px; text-align: center;" | 7
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Cage Lift 2 (Cage)
Intake Left Motor
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A
30A?
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Neo 550
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | Neo?
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 10
| style="height: 28px; width: 177px; text-align: center;" | 8
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Elevator Drive 1 (Gamepiece)
Intake Right Motor
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A?
30A?
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Neo 550
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 11
| style="height: 28px; width: 177px; text-align: center;" | 9
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Elevator Drive 2 (Gamepiece)?
Both Limelight Devices
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
40A?
5A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" |
| style="height: 28px; width: 171.312px; text-align: center;" |
<br>
Port is subject to change.&nbsp; Not sure if we need multiple motors for elevator.
| style="height: 28px; width: 171px; text-align: center;" |
Y break in wire that transfers power to both Limelights
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 12
| style="height: 28px; width: 177px; text-align: center;" | 10
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Wrist (Gamepiece)
Rear Right Drive (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
30A?
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 13
| style="height: 28px; width: 177px; text-align: center;" | 11
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Intake (Gamepiece)
Rear Right Rotation (Drivebase)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
30A?
40A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" | Kraken 60
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
Port is subject to change
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 14
| style="height: 28px; width: 177px; text-align: center;" | 12
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Elevator Drive Left (Gamepiece)
| style="height: 28px; width: 145px; text-align: center;" |
40A
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="width: 116px; text-align: center;" | Neo
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 13
| style="height: 28px; width: 222px; text-align: center;" |
Elevator Drive Right (Gamepiece)
| style="height: 28px; width: 145px; text-align: center;" |
40A
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | Neo
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 15
| style="height: 28px; width: 177px; text-align: center;" | 14
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Cage Solenoid
| style="height: 28px; width: 145px; text-align: center;" |
20A
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="width: 116px; text-align: center;" | Spike Relay
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 15
| style="height: 28px; width: 222px; text-align: center;" |
Cage Winch
| style="height: 28px; width: 145px; text-align: center;" |
40A
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | Neo
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 16
| style="height: 28px; width: 177px; text-align: center;" | 16
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" |
| style="height: 28px; width: 171.312px; text-align: center;" |
<br>
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 17
| style="height: 28px; width: 177px; text-align: center;" | 17
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
<br>
| style="height: 28px; width: 145px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="width: 116px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 171.312px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 18
| style="height: 28px; width: 177px; text-align: center;" | 18
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 19
| style="height: 28px; width: 177px; text-align: center;" | 19
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 20
| style="height: 28px; width: 177px; text-align: center;" | 20
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
Radio (RCS)
Radio (RCS)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
15A
10A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
Fused Port
Fused Port
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 21
| style="height: 28px; width: 177px; text-align: center;" | 21
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
RoboRio (RCS)
RoboRio (RCS)
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
15A
10A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
Fused Port
Fused Port
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 22
| style="height: 28px; width: 177px; text-align: center;" | 22
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
<br>
VRM
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
<br>
10A
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" | <br>
| style="height: 28px; width: 171px; text-align: center;" |
Fused Port
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177.788px; text-align: center;" | 23 (Switchable)
| style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable)
| style="height: 28px; width: 222.488px; text-align: center;" |
| style="height: 28px; width: 222px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145.05px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181.062px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
| style="width: 116.7px; text-align: center;" | <br>
| style="width: 116px; text-align: center;" | <br>
| style="height: 28px; width: 171.312px; text-align: center;" |
| style="height: 28px; width: 171px; text-align: center;" |
<br>
<br>
|}
|}


<div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
<br><br></div></div>
== VRM Assignments ==


{| class="wikitable" style="height: 252px;"
{| class="wikitable" style="height: 252px;"
|+ VRM Assignments
! style="height: 28px; width: 75.25px;" | Port #
! style="height: 28px; width: 75.25px;" | Port #
! style="height: 28px; width: 120.85px;" | Device (Subteam)
! style="height: 28px; width: 120.85px;" | Device (Subteam)
Line 744: Line 782:
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
<br>
Lights (RCS)
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 75.25px;" | 5V/2A
Line 752: Line 790:
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
<br>
Pigeon (RCS)
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 75.25px;" | 5V/500mA
Line 760: Line 798:
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
<br>
CANCoders (except right rear)
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 75.25px;" | 12V/2A
Line 768: Line 806:
| style="height: 28px; width: 75.25px;" | 12V/500mA
| style="height: 28px; width: 75.25px;" | 12V/500mA
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
<br>
CANCoder - right rear
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 12V/500mA
| style="height: 28px; width: 75.25px;" | 12V/500mA
Line 774: Line 812:
<br>
<br>
|}
|}
</div>
 
<div class="mw-parser-output"></div>
<div class="mw-parser-output"></div>
<div class="mw-parser-output"></div>
<div class="mw-parser-output"></div></div>


== PWM Outputs ==
== PWM Outputs ==
Line 802: Line 840:
| style="width: 16.025px; height: 28px;" | 0
| style="width: 16.025px; height: 28px;" | 0
| style="width: 76.8375px; height: 28px;" |
| style="width: 76.8375px; height: 28px;" |
<br>
Gamepiece
| style="width: 79.9875px; height: 28px;" |
| style="width: 79.9875px; height: 28px;" |
<br>
Motor
| style="width: 75.675px; height: 28px;" |
| style="width: 75.675px; height: 28px;" |
<br>
Neo 550
| style="width: 136.3px; text-align: center; height: 28px;" |
| style="width: 136.3px; text-align: center; height: 28px;" |
<br>
Calgae Motors (Left and Right)
| style="width: 120.025px; height: 28px;" |
| style="width: 120.025px; height: 28px;" |
<br>
<br>
| style="width: 211.488px; height: 28px;" |
| style="width: 211.488px; height: 28px;" |
<br>
Brake
| style="width: 88.725px; height: 28px;" |
| style="width: 88.725px; height: 28px;" |
<br>
<br>
Line 819: Line 857:
| style="width: 16.025px; height: 28px;" | 1
| style="width: 16.025px; height: 28px;" | 1
| style="width: 76.8375px; height: 28px;" |
| style="width: 76.8375px; height: 28px;" |
<br>
N/A
| style="width: 79.9875px; height: 28px;" |
| style="width: 79.9875px; height: 28px;" |
<br>
LED strips
| style="width: 75.675px; height: 28px;" |
| style="width: 75.675px; height: 28px;" |
<br>
<br>
| style="width: 136.3px; text-align: center; height: 28px;" |
| style="width: 136.3px; text-align: center; height: 28px;" |
Addressable LED strips
| style="width: 120.025px; height: 28px;" |
<br>
<br>
| style="width: 120.025px; height: 28px;" | &nbsp;
| style="width: 211.488px; height: 28px;" |
| style="width: 211.488px; height: 28px;" |
<br>
42 total nodes
| style="width: 88.725px; height: 28px;" | &nbsp;
| style="width: 88.725px; height: 28px;" | &nbsp;VRM 5V
| style="width: 52.9375px; height: 28px;" | &nbsp;
| style="width: 52.9375px; height: 28px;" | &nbsp;
|- style="height: 28px;"
|- style="height: 28px;"
| style="width: 16.025px; height: 28px;" | 2
| style="width: 16.025px; height: 28px;" | 2
| style="width: 76.8375px; height: 28px;" |
| style="width: 76.8375px; height: 28px;" |
<br>
Gamepiece
| style="width: 79.9875px; height: 28px;" |
| style="width: 79.9875px; height: 28px;" |
<br>
Motor
| style="width: 75.675px; height: 28px;" |
| style="width: 75.675px; height: 28px;" |
<br>
Neo
| style="width: 136.3px; text-align: center; height: 28px;" |
| style="width: 136.3px; text-align: center; height: 28px;" |
<br>
Calgae Wrist
| style="width: 120.025px; height: 28px;" | &nbsp;
| style="width: 120.025px; height: 28px;" | &nbsp;
| style="width: 211.488px; height: 28px;" | &nbsp;
| style="width: 211.488px; height: 28px;" | &nbsp;Brake
| style="width: 88.725px; height: 28px;" | &nbsp;
| style="width: 88.725px; height: 28px;" | &nbsp;
| style="width: 52.9375px; height: 28px;" | &nbsp;
| style="width: 52.9375px; height: 28px;" | &nbsp;
Line 981: Line 1,020:
| style="width: 52.9375px; height: 28px;" | &nbsp;
| style="width: 52.9375px; height: 28px;" | &nbsp;
|}
|}
=== LED Strip Layout and Function ===


<div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div>
<div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div>
<div class="mw-parser-output">&nbsp;</div>
<div class="mw-parser-output">&nbsp;
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 161px;"
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | '''Node Numbers'''
| style="width: 33.3333%; height: 23px;" | '''Location'''
| style="width: 33.3333%; height: 23px;" | '''Function'''
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | 0 - 18
| style="width: 33.3333%; height: 23px;" | Side of elevator on Robot-left.&nbsp; Node 0 at bottom, 18 at top
| style="width: 33.3333%; height: 23px;" | Strategy-requested features for gameplay, fun stuff
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | 19
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, robot-left
| style="width: 33.3333%; height: 23px;" | Cage raw sensor status.&nbsp; Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | 20
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, 1 node in from robot-left
| style="width: 33.3333%; height: 23px;" | Elevator limit raw sensor status. &nbsp;Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both<br>
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | 21
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, 1 node in from robot-right
| style="width: 33.3333%; height: 23px;" | Coral raw sensor status.&nbsp; Green if coral is sensed, red if not
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | 22
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front,&nbsp; robot-right
| style="width: 33.3333%; height: 23px;" | Algae raw sensor status. Green if algae is sensed, red if not
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | 23 - 42
| style="width: 33.3333%; height: 23px;" | Side of elevator on Robot-right.&nbsp; Node 23 at bottom, 42 at top
| style="width: 33.3333%; height: 23px;" | Strategy-requested features for gameplay, fun stuff
|}
</div>


== Relay Outputs ==
== Relay Outputs ==
Line 1,000: Line 1,074:
| style="height: 28px; width: 27.8906px;" | 0
| style="height: 28px; width: 27.8906px;" | 0
| style="height: 28px; width: 139.875px;" |
| style="height: 28px; width: 139.875px;" |
<br>
Cage
| style="width: 80px; height: 28px;" |
| style="width: 80px; height: 28px;" |
<br>
SPIKE relay
| style="width: 51.2188px; height: 28px;" |
| style="width: 51.2188px; height: 28px;" |
<br>
<br>
| style="width: 166.875px; height: 28px;" |
| style="width: 166.875px; height: 28px;" |
<br>
Controls electric solenoid
| style="width: 217.828px; height: 28px;" |
| style="width: 217.828px; height: 28px;" |
<br>
Power on to disengage pawl from ratchet, power off to engage
| style="width: 182.312px; height: 28px;" |
| style="width: 182.312px; height: 28px;" |
<br>
<br>
Line 1,047: Line 1,121:
=== <u>RoboRIO Analog Inputs</u> ===
=== <u>RoboRIO Analog Inputs</u> ===


{| style="width: 1030px" border="1" cellspacing="1" cellpadding="2"
{| style="width: 1030px; height: 169px;" border="1" cellspacing="1" cellpadding="2"
|-  
|- style="height: 57px;"
| ID
| style="height: 57px; width: 14.4px;" | ID
| style="text-align: center" | Subsystem
| style="text-align: center; height: 57px; width: 73.65px;" | Subsystem
| style="width: 70px" | <p style="text-align: center">Component</p>
| style="width: 89.65px; height: 57px;" | <p style="text-align: center;">Component</p>
<p style="text-align: center">Type</p>
<p style="text-align: center;">Type</p>
| style="width: 54px; text-align: center" | Model #
| style="width: 108.05px; text-align: center; height: 57px;" | Model #
| style="width: 227px; text-align: center" | Description<br>(brief)
| style="width: 200.913px; text-align: center; height: 57px;" | Description<br>(brief)
| style="width: 262px; text-align: center" | Operation
| style="width: 228.538px; text-align: center; height: 57px;" | Operation
| style="width: 132px; text-align: center" |
| style="width: 193.55px; text-align: center; height: 57px;" |
Voltage
Voltage


Range
Range


| style="width: 91px; text-align: center" | Notes
| style="width: 82.05px; text-align: center; height: 57px;" | Notes
|-  
|- style="height: 28px;"
| 0
| style="height: 28px; width: 14.4px;" | 0
|
| style="height: 28px; width: 73.65px;" |
<br>
<br>
| style="width: 70px" |
| style="width: 89.65px; height: 28px;" |
<br>
<br>
| style="width: 54px" |
| style="width: 108.05px; height: 28px;" |
<br>
<br>
| style="width: 227px" |
| style="width: 200.913px; height: 28px;" |
<br>
<br>
| style="width: 262px" |
| style="width: 228.538px; height: 28px;" |
<br>
<br>
| style="width: 132px" |
| style="width: 193.55px; height: 28px;" |
<br>
<br>
| style="width: 91px; text-align: center" |
| style="width: 82.05px; text-align: center; height: 28px;" |
<br>
<br>
|-  
|- style="height: 28px;"
| style="text-align: center" | 1
| style="text-align: center; height: 28px; width: 14.4px;" | 1
| style="text-align: center" |
| style="text-align: center; height: 28px; width: 73.65px;" |
<br>
<br>
| style="width: 69px; text-align: center" |
| style="width: 89.65px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 122px; text-align: center" |
| style="width: 108.05px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 139px; text-align: center" |
| style="width: 200.913px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 193px; text-align: center" |
| style="width: 228.538px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 193.55px; text-align: center; height: 28px;" | &nbsp;
| &nbsp;
| style="height: 28px; width: 82.05px;" | &nbsp;
|-  
|- style="height: 28px;"
| style="text-align: center" | 2
| style="text-align: center; height: 28px; width: 14.4px;" | 2
| style="text-align: center" | &nbsp;
| style="text-align: center; height: 28px; width: 73.65px;" | &nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 89.65px; text-align: center; height: 28px;" | &nbsp;
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 108.05px; text-align: center; height: 28px;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 200.913px; text-align: center; height: 28px;" | &nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 228.538px; text-align: center; height: 28px;" | &nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 193.55px; text-align: center; height: 28px;" | &nbsp;
| &nbsp;
| style="height: 28px; width: 82.05px;" | &nbsp;
|-  
|- style="height: 28px;"
| style="text-align: center" | 3
| style="text-align: center; height: 28px; width: 14.4px;" | 3
| style="text-align: center" | &nbsp;
| style="text-align: center; height: 28px; width: 73.65px;" | &nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 89.65px; text-align: center; height: 28px;" | &nbsp;
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 108.05px; text-align: center; height: 28px;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 200.913px; text-align: center; height: 28px;" | &nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 228.538px; text-align: center; height: 28px;" | &nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 193.55px; text-align: center; height: 28px;" | &nbsp;
| &nbsp;
| style="height: 28px; width: 82.05px;" | &nbsp;
|}
|}
</div>
 
<div class="mw-parser-output">&nbsp;</div></div>
<div class="mw-parser-output">&nbsp;</div>


=== <u>More Board Analog Inputs</u> ===
=== <u>More Board Analog Inputs</u> ===


{| style="width: 1030px" border="1" cellspacing="1" cellpadding="2"
{| style="width: 1030px;" border="1" cellspacing="1" cellpadding="2"
|-  
|-  
| ID
| ID
| style="text-align: center" | Subsystem
| style="text-align: center;" | Subsystem
| style="width: 70px" | <p style="text-align: center">Component</p>
| style="width: 70px;" | <p style="text-align: center;">Component</p>
<p style="text-align: center">Type</p>
<p style="text-align: center;">Type</p>
| style="width: 54px; text-align: center" | Model #
| style="width: 54px; text-align: center;" | Model #
| style="width: 227px; text-align: center" | Description<br>(brief)
| style="width: 227px; text-align: center;" | Description<br>(brief)
| style="width: 262px; text-align: center" | Operation
| style="width: 262px; text-align: center;" | Operation
| style="width: 132px; text-align: center" |
| style="width: 132px; text-align: center;" |
Voltage
Voltage


Range
Range


| style="width: 91px; text-align: center" | Notes
| style="width: 91px; text-align: center;" | Notes
|-  
|-  
| style="text-align: center" | 0
| style="text-align: center;" | 0
| style="text-align: center" | &nbsp;
| style="text-align: center;" | &nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | &nbsp;
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | &nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | &nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | &nbsp;
| &nbsp;
| &nbsp;
|-  
|-  
| style="text-align: center" | 1
| style="text-align: center;" | 1
| style="text-align: center" | &nbsp;
| style="text-align: center;" | &nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | &nbsp;
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | &nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | &nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | &nbsp;
| &nbsp;
| &nbsp;
|-  
|-  
| style="text-align: center" | 2
| style="text-align: center;" | 2
| style="text-align: center" | &nbsp;
| style="text-align: center;" | &nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | &nbsp;
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | &nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | &nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | &nbsp;
| &nbsp;
| &nbsp;
|-  
|-  
| style="text-align: center" | 3
| style="text-align: center;" | 3
| style="text-align: center" | &nbsp;
| style="text-align: center;" | &nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | &nbsp;
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | &nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | &nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | &nbsp;
| &nbsp;
| &nbsp;
|}
|}
Line 1,182: Line 1,256:
=== <u>RoboRio IO</u> ===
=== <u>RoboRio IO</u> ===


{| style="width: 1187px; height: 417px;" border="1" cellspacing="1" cellpadding="2"
{| style="width: 1187px; height: 408px;" border="1" cellspacing="1" cellpadding="2"
|- style="height: 57px;"
|- style="height: 57px;"
| style="text-align: center; height: 57px; width: 44px;" | '''ID'''
| style="text-align: center; height: 57px; width: 41.9844px;" | '''ID'''
| style="text-align: center; height: 57px; width: 159px;" | '''Direction'''<br>(IN/OUT)
| style="text-align: center; height: 57px; width: 153px;" | '''Direction'''<br>(IN/OUT)
| style="width: 76px; text-align: center; height: 57px;" | '''Subsystem'''
| style="width: 76.9375px; text-align: center; height: 57px;" | '''Subsystem'''
| style="width: 122px; height: 57px;" | <p style="text-align: center;">'''Component'''</p>
| style="width: 119.062px; height: 57px;" | <p style="text-align: center;">'''Component'''</p>
<p style="text-align: center;">'''Type'''</p>
<p style="text-align: center;">'''Type'''</p>
| style="width: 139px; text-align: center; height: 57px;" | '''Model #'''
| style="width: 140.016px; text-align: center; height: 57px;" | '''Model #'''
| style="width: 193px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
| style="width: 181.016px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
| style="width: 223px; text-align: center; height: 57px;" | '''Operation'''
| style="width: 213.969px; text-align: center; height: 57px;" | '''Operation'''
| style="width: 231px; text-align: center; height: 57px;" | '''Notes'''
| style="width: 220.016px; text-align: center; height: 57px;" | '''Notes'''
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 0
| style="text-align: center; height: 28px; width: 41.9844px;" | 0
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
Gamepiece
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
Sensor
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
OPB720B-06Z
| style="width: 193px; height: 28px; text-align: left;" |
| style="width: 181.016px; height: 28px; text-align: center;" |
<br>
Algae Sensor
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
Detects when Algae is present in the Calgae Intake.
| style="width: 231px; height: 28px; text-align: left;" |
| style="width: 220.016px; height: 28px; text-align: left;" |
<br>
Sensor should also detect slip and make sure the motors maintain grip on the Algae.
|- style="height: 51px;"
|- style="height: 51px;"
| style="text-align: center; height: 51px; width: 44px;" | 1
| style="text-align: center; height: 51px; width: 41.9844px;" | 1
| style="text-align: center; height: 51px; width: 159px;" | IN
| style="text-align: center; height: 51px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 51px;" |
| style="width: 76.9375px; text-align: center; height: 51px;" |
<br>
Gamepiece
| style="width: 122px; text-align: center; height: 51px;" |
| style="width: 119.062px; text-align: center; height: 51px;" |
<br>
Sensor
| style="width: 139px; text-align: center; height: 51px;" |
| style="width: 140.016px; text-align: center; height: 51px;" |
<br>
OMRON
| style="width: 193px; height: 51px; text-align: left;" |
| style="width: 181.016px; height: 51px; text-align: center;" |
<br>
Coral Sensor
| style="width: 223px; text-align: center; height: 51px;" |
| style="width: 213.969px; text-align: center; height: 51px;" |
<br>
Detects when Coral is present in the Calgae Intake. Then stops the intake motors.
| style="width: 231px; height: 51px; text-align: left;" |
| style="width: 220.016px; height: 51px; text-align: left;" |
<br>
<br>
|- style="height: 57px;"
|- style="height: 57px;"
| style="text-align: center; height: 57px; width: 44px;" | 2
| style="text-align: center; height: 57px; width: 41.9844px;" | 2
| style="text-align: center; height: 57px; width: 159px;" | IN
| style="text-align: center; height: 57px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 57px;" |
Elevator
| style="width: 119.062px; text-align: center; height: 57px;" |
Sensor
| style="width: 140.016px; text-align: center; height: 57px;" |
&nbsp;REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
| style="width: 181.016px; height: 57px; text-align: center;" |
Elevator Top Limit
| style="width: 213.969px; text-align: center; height: 57px;" |
<br>
<br>
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 220.016px; height: 57px; text-align: left;" |
<br>
| style="width: 139px; text-align: center; height: 28px;" |
<br>
| style="width: 193px; height: 28px; text-align: left;" |
<br>
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; height: 28px; text-align: left;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 3
| style="text-align: center; height: 28px; width: 41.9844px;" | 3
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
Elevator
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
Sensor
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
| style="width: 193px; height: 28px; text-align: left;" |
| style="width: 181.016px; height: 28px; text-align: center;" |
Elevator Bottom Limit
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 220.016px; height: 28px; text-align: left;" |
<br>
| style="width: 231px; height: 28px; text-align: left;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 4
| style="text-align: center; height: 28px; width: 41.9844px;" | 4
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
Gamepiece
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
Encoder
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
[https://www.revrobotics.com/rev-11-1271/ REV 11-1271]
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 28px;" |
<br>
Used in absolute position mode to indicate wrist pivot angle.
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 231px; text-align: center; height: 28px;" |
| style="width: 220.016px; text-align: center; height: 28px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 5
| style="text-align: center; height: 28px; width: 41.9844px;" | 5
| style="text-align: center; height: 28px; width: 159px;" |
| style="text-align: center; height: 28px; width: 153px;" |
IN
IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
Hang
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
Sensor
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
| style="width: 193px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 28px;" |
Hang Solenoid Up
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 231px; text-align: center; height: 28px;" |
| style="width: 220.016px; text-align: center; height: 28px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 19px;"
| style="text-align: center; height: 28px; width: 44px;" | 6
| style="text-align: center; height: 19px; width: 41.9844px;" | 6
| style="text-align: center; height: 28px; width: 159px;" |
| style="text-align: center; height: 19px; width: 153px;" |
IN
IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 19px;" |
Hang
| style="width: 119.062px; text-align: center; height: 19px;" |
Sensor
| style="width: 140.016px; text-align: center; height: 19px;" |
<br>
<br>
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 19px;" |
Hang Hung
| style="width: 213.969px; text-align: center; height: 19px;" |
<br>
<br>
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 220.016px; text-align: center; height: 19px;" |
<br>
| style="width: 193px; text-align: center; height: 28px;" |
<br>
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; text-align: center; height: 28px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 7
| style="text-align: center; height: 28px; width: 41.9844px;" | 7
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 8
| style="text-align: center; height: 28px; width: 41.9844px;" | 8
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 9
| style="text-align: center; height: 28px; width: 41.9844px;" | 9
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 10
| style="text-align: center; height: 28px; width: 41.9844px;" | 10
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 153px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76.9375px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 119.062px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 140.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 181.016px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 213.969px; text-align: center; height: 28px;" |
<br>
<br>
| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
|}
|}
&nbsp;<div class="mw-parser-output">&nbsp;</div>
&nbsp;<div class="mw-parser-output">&nbsp;</div>
Line 1,362: Line 1,436:
=== <u>Rev Robotics More Board IO</u> ===
=== <u>Rev Robotics More Board IO</u> ===


{| style="width: 1022px" border="1" cellspacing="1" cellpadding="1"
{| style="width: 1022px;" border="1" cellspacing="1" cellpadding="1"
|-  
|-  
| style="width: 16px; text-align: center" | '''ID'''
| style="width: 16px; text-align: center;" | '''ID'''
| style="width: 56px; text-align: center" | '''Direction (IN/OUT)'''
| style="width: 56px; text-align: center;" | '''Direction (IN/OUT)'''
| style="width: 74px; text-align: center" | '''Subsystem'''
| style="width: 74px; text-align: center;" | '''Subsystem'''
| style="width: 74px; text-align: center" | '''Component Type'''
| style="width: 74px; text-align: center;" | '''Component Type'''
| style="width: 56px; text-align: center" | '''Model #'''
| style="width: 56px; text-align: center;" | '''Model #'''
| style="width: 197px; text-align: center" | '''Description (brief)'''
| style="width: 197px; text-align: center;" | '''Description (brief)'''
| style="width: 254px; text-align: center" | '''Operation'''
| style="width: 254px; text-align: center;" | '''Operation'''
| style="width: 141px; text-align: center" | '''Notes'''
| style="width: 141px; text-align: center;" | '''Notes'''
|-  
|-  
| style="width: 16px" | 0
| style="width: 16px;" | 0
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 1
| style="width: 16px; text-align: center;" | 1
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 2
| style="width: 16px; text-align: center;" | 2
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 3
| style="width: 16px; text-align: center;" | 3
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 4
| style="width: 16px; text-align: center;" | 4
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 5
| style="width: 16px; text-align: center;" | 5
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 6
| style="width: 16px; text-align: center;" | 6
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 7
| style="width: 16px; text-align: center;" | 7
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 8
| style="width: 16px; text-align: center;" | 8
| style="width: 56px; text-align: center" | IN
| style="width: 56px; text-align: center;" | IN
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 9
| style="width: 16px; text-align: center;" | 9
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 10
| style="width: 16px; text-align: center;" | 10
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 11
| style="width: 16px; text-align: center;" | 11
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 12
| style="width: 16px; text-align: center;" | 12
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 13
| style="width: 16px; text-align: center;" | 13
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 14
| style="width: 16px; text-align: center;" | 14
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px; text-align: center" | &nbsp;
| style="width: 141px; text-align: center;" | &nbsp;
|-  
|-  
| style="width: 16px; text-align: center" | 15
| style="width: 16px; text-align: center;" | 15
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 74px; text-align: center" | &nbsp;
| style="width: 74px; text-align: center;" | &nbsp;
| style="width: 56px; text-align: center" | &nbsp;
| style="width: 56px; text-align: center;" | &nbsp;
| style="width: 197px; text-align: center" | &nbsp;
| style="width: 197px; text-align: center;" | &nbsp;
| style="width: 254px; text-align: center" | &nbsp;
| style="width: 254px; text-align: center;" | &nbsp;
| style="width: 141px" | &nbsp;
| style="width: 141px;" | &nbsp;
|}
|}
</div>
</div>
<div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div></div></div></div></div></div></div></div></div></div></div></div></div>
<div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div></div></div></div></div></div></div></div></div></div></div></div></div>
== Junction Box For Gamepiece Communication (Base & Carriage)<br> ==
{| class="wikitable" style="border-collapse: collapse; width: 56.7121%; height: 253px;"
|- style="height: 69px;"
| style="width: 9.97904%; text-align: center; height: 69px;" | '''# '''<br>'''(left to right)'''
| style="width: 6.01791%; text-align: center; height: 69px;" | '''Subsystem'''
| style="width: 11.9271%; text-align: center; height: 69px;" | '''Component'''
| style="width: 9.38868%; text-align: center; height: 69px;" | '''Model'''<br>
| style="width: 16.4608%; text-align: center; height: 69px;" | '''Description (brief)'''
| style="width: 32.0989%; text-align: center; height: 69px;" | '''Operation'''
| style="width: 58.0897%; text-align: center; height: 69px;" | '''Notes'''
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 1
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 23px;" | Spark Max
| style="width: 9.38868%; text-align: center; height: 23px;" |
<br>
| style="width: 16.4608%; text-align: center; height: 23px;" | Calgae Motor&nbsp; Controller
PWM Signal
| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Intake
| style="width: 58.0897%; text-align: center; height: 23px;" | After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers.
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 2
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 23px;" | PWM + DIO ground
| style="width: 9.38868%; text-align: center; height: 23px;" |
<br>
| style="width: 16.4608%; text-align: center; height: 23px;" | Shared DIO ground for everything on calgae
| style="width: 32.0989%; text-align: center; height: 23px;" |
<br>
| style="width: 58.0897%; text-align: center; height: 23px;" | Ground for PWM + DIO outputs
'''Sourced from Rio DIO 0'''
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 3
| style="width: 6.01791%; text-align: center; height: 28px;" |
<br>
| style="width: 11.9271%; text-align: center; height: 23px;" | <br>
| style="width: 9.38868%; text-align: center; height: 23px;" |
<br>
| style="width: 16.4608%; text-align: center; height: 23px;" | <br>
| style="width: 32.0989%; text-align: center; height: 23px;" |
<br>
| style="width: 58.0897%; text-align: center; height: 23px;" | <br>
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 4
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 23px;" | Spark Max
| style="width: 9.38868%; text-align: center; height: 23px;" |
<br>
| style="width: 16.4608%; text-align: center; height: 23px;" | Wrist Motor Controller
PWM Signal
| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Wrist
| style="width: 58.0897%; text-align: center; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 5
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 23px;" | +5V Digital power
| style="width: 9.38868%; text-align: center; height: 23px;" |
<br>
| style="width: 16.4608%; text-align: center; height: 23px;" | Shared digital power
| style="width: 32.0989%; text-align: center; height: 23px;" |
<br>
| style="width: 58.0897%; text-align: center; height: 23px;" |
Power to sensors
'''Sourced from Rio DIO 0'''
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 6
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 28px;" |
Encoder
| style="width: 9.38868%; text-align: center; height: 28px;" |
[https://www.revrobotics.com/rev-11-1271/ REV 11-1271]
| style="width: 16.4608%; text-align: center; height: 28px;" |
Bore Encoder
| style="width: 32.0989%; text-align: center; height: 23px;" | Used in absolute position mode to indicate wrist pivot angle.
| style="width: 58.0897%; text-align: center; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 7
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 23px;" | Sensor
| style="width: 9.38868%; text-align: center; height: 23px;" | OMRON
| style="width: 16.4608%; text-align: center; height: 23px;" | Coral Sensor
| style="width: 32.0989%; text-align: center; height: 23px;" | Detects when Coral is present in the Calgae Intake. Then stops the intake motors.&nbsp;
| style="width: 58.0897%; text-align: center; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 9.97904%; text-align: center; height: 23px;" | 8
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
| style="width: 11.9271%; text-align: center; height: 23px;" | Sensor
| style="width: 9.38868%; text-align: center; height: 23px;" | OPB720B-06Z
| style="width: 16.4608%; text-align: center; height: 23px;" | Algae Sensor
| style="width: 32.0989%; text-align: center; height: 23px;" | Detects when Algae is present in the Calgae Intake.
| style="width: 58.0897%; text-align: center; height: 23px;" | Sensor should also detect slip and make sure the motors maintain grip on the Algae.
|}


== I2C Registers ==
== I2C Registers ==


{| style="width: 1007px" border="1" cellspacing="1" cellpadding="2"
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2"
|-  
|-  
| style="text-align: center" | '''Address'''<br>(e.g. 0100111X)
| style="text-align: center;" | '''Address'''<br>(e.g. 0100111X)
| style="width: 37px; text-align: center" | '''Pin'''<br>(e.g. GP0)
| style="width: 37px; text-align: center;" | '''Pin'''<br>(e.g. GP0)
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 76px; text-align: center;" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Component'''</p>
| style="width: 75px;" | <p style="text-align: center;">'''Component'''</p>
<p style="text-align: center">'''Type'''</p>
<p style="text-align: center;">'''Type'''</p>
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 53px; text-align: center;" | '''Model #'''
| style="width: 205px; text-align: center" | '''Description<br>(brief)'''
| style="width: 205px; text-align: center;" | '''Description<br>(brief)'''
| style="width: 241px; text-align: center" | '''Operation'''
| style="width: 241px; text-align: center;" | '''Operation'''
| style="width: 112px; text-align: center" | '''Notes'''
| style="width: 112px; text-align: center;" | '''Notes'''
|-  
|-  
| style="text-align: center" |
| style="text-align: center;" |
<br>
<br>
| style="width: 37px; text-align: center" | &nbsp;
| style="width: 37px; text-align: center;" | &nbsp;
| style="width: 76px; text-align: center" |
| style="width: 76px; text-align: center;" |
<br>
<br>
| style="width: 75px; text-align: center" |
| style="width: 75px; text-align: center;" |
<br>
<br>
| style="width: 53px; text-align: center" |
| style="width: 53px; text-align: center;" |
<br>
<br>
| style="width: 205px; text-align: center" |
| style="width: 205px; text-align: center;" |
<br>
<br>
| style="width: 241px; text-align: center" |
| style="width: 241px; text-align: center;" |
<br>
<br>
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| &nbsp;
| &nbsp;
| style="width: 37px" | &nbsp;
| style="width: 37px;" | &nbsp;
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| &nbsp;
| &nbsp;
| style="width: 37px" | &nbsp;
| style="width: 37px;" | &nbsp;
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| &nbsp;
| &nbsp;
| style="width: 37px" | &nbsp;
| style="width: 37px;" | &nbsp;
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| &nbsp;
| &nbsp;
| style="width: 37px" | &nbsp;
| style="width: 37px;" | &nbsp;
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| &nbsp;
| &nbsp;
| style="width: 37px" | &nbsp;
| style="width: 37px;" | &nbsp;
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| &nbsp;
| &nbsp;
| style="width: 37px" | &nbsp;
| style="width: 37px;" | &nbsp;
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|}
|}


== SPI Devices ==
== SPI Devices ==


{| style="width: 1007px" border="1" cellspacing="1" cellpadding="2"
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2"
|-  
|-  
| style="text-align: center" | '''#'''
| style="text-align: center;" | '''#'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 76px; text-align: center;" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>
| style="width: 75px;" | <p style="text-align: center;">'''Component&nbsp;Type'''</p>
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 53px; text-align: center;" | '''Model #'''
| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
| style="width: 205px; text-align: center;" | '''Description&nbsp;(brief)'''
| style="width: 241px; text-align: center" | '''Operation'''
| style="width: 241px; text-align: center;" | '''Operation'''
| style="width: 112px; text-align: center" | '''Notes'''
| style="width: 112px; text-align: center;" | '''Notes'''
|-  
|-  
| style="text-align: center" | 0
| style="text-align: center;" | 0
| style="width: 76px; text-align: center" |
| style="width: 76px; text-align: center;" |
<br>
<br>
| style="width: 75px; text-align: center" |
| style="width: 75px; text-align: center;" |
<br>
<br>
| style="width: 53px; text-align: center" |
| style="width: 53px; text-align: center;" |
<br>
<br>
| style="width: 205px; text-align: center" |
| style="width: 205px; text-align: center;" |
<br>
<br>
| style="width: 241px; text-align: center" |
| style="width: 241px; text-align: center;" |
<br>
<br>
| style="width: 112px; text-align: center" | &nbsp;
| style="width: 112px; text-align: center;" | &nbsp;
|}
|}


== USB Host Ports ==
== USB Host Ports ==


{| style="width: 1007px" border="1" cellspacing="1" cellpadding="2"
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2"
|-  
|-  
| style="text-align: center" | '''Address'''
| style="text-align: center;" | '''Address'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 76px; text-align: center;" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>
| style="width: 75px;" | <p style="text-align: center;">'''Component&nbsp;Type'''</p>
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 53px; text-align: center;" | '''Model #'''
| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
| style="width: 205px; text-align: center;" | '''Description&nbsp;(brief)'''
| style="width: 241px; text-align: center" | '''Operation'''
| style="width: 241px; text-align: center;" | '''Operation'''
| style="width: 112px; text-align: center" | '''Notes'''
| style="width: 112px; text-align: center;" | '''Notes'''
|-  
|-  
| 0
| 0
| style="width: 76px" |
| style="width: 76px;" |
<br>
<br>
| style="width: 75px" |
| style="width: 75px;" |
<br>
<br>
| style="width: 53px" |
| style="width: 53px;" |
<br>
<br>
| style="width: 205px" |
| style="width: 205px;" |
<br>
<br>
| style="width: 241px" |
| style="width: 241px;" |
<br>
<br>
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|-  
|-  
| 1
| 1
| style="width: 76px" | &nbsp;
| style="width: 76px;" | &nbsp;
| style="width: 75px" | &nbsp;
| style="width: 75px;" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px;" | &nbsp;
| style="width: 205px" | &nbsp;
| style="width: 205px;" | &nbsp;
| style="width: 241px" | &nbsp;
| style="width: 241px;" | &nbsp;
| style="width: 112px" | &nbsp;
| style="width: 112px;" | &nbsp;
|}
|}


Line 1,668: Line 1,844:
== Pneumatics Control Modules ==
== Pneumatics Control Modules ==


{| class="wikitable" style="width: 931px" border="1" cellspacing="1" cellpadding="2"
{| class="wikitable" style="width: 931px;" border="1" cellspacing="1" cellpadding="2"
|-  
|-  
| style="width: 8px" |
| style="width: 8px;" |
'''PCM'''
'''PCM'''


'''ID'''
'''ID'''


| style="width: 1px" | '''#'''
| style="width: 1px;" | '''#'''
| style="text-align: center" | '''Subsystem'''
| style="text-align: center;" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Solenoid is Double or Single?'''</p>
| style="width: 75px;" | <p style="text-align: center;">'''Solenoid is Double or Single?'''</p>
| style="width: 64px" | <p style="text-align: center">'''Solenoid'''</p>
| style="width: 64px;" | <p style="text-align: center;">'''Solenoid'''</p>
<p style="text-align: center">'''Model #'''</p>
<p style="text-align: center;">'''Model #'''</p>
| style="width: 183px" | <p style="text-align: center">'''Description'''</p>
| style="width: 183px;" | <p style="text-align: center;">'''Description'''</p>
<p style="text-align: center">'''(brief)'''</p>
<p style="text-align: center;">'''(brief)'''</p>
| style="width: 290px; text-align: center" | '''Operation'''
| style="width: 290px; text-align: center;" | '''Operation'''
| style="width: 118px; text-align: center" | '''Circuit Pressure'''
| style="width: 118px; text-align: center;" | '''Circuit Pressure'''
| style="width: 118px; text-align: center" | '''PDB #'''
| style="width: 118px; text-align: center;" | '''PDB #'''
|-  
|-  
| style="width: 8px; text-align: center" rowspan="8" | 1
| style="width: 8px; text-align: center;" rowspan="8" | 1
| style="width: 1px" | 0
| style="width: 1px;" | 0
| colspan="1" rowspan="2" |
| colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 118px; text-align: center" rowspan="8" |
| style="width: 118px; text-align: center;" rowspan="8" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 1
| style="width: 1px; text-align: center;" | 1
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 2
| style="width: 1px; text-align: center;" | 2
| style="text-align: center" colspan="1" rowspan="2" |
| style="text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 3
| style="width: 1px; text-align: center;" | 3
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 4
| style="width: 1px; text-align: center;" | 4
| style="text-align: center" colspan="1" rowspan="2" |
| style="text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 5
| style="width: 1px; text-align: center;" | 5
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 6
| style="width: 1px; text-align: center;" | 6
| style="text-align: center" colspan="1" rowspan="2" |
| style="text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
|-  
|-  
| style="width: 1px; text-align: center" | 7
| style="width: 1px; text-align: center;" | 7
| style="width: 183px; text-align: center" |
| style="width: 183px; text-align: center;" |
<br>
<br>
| style="width: 290px; text-align: center" |
| style="width: 290px; text-align: center;" |
<br>
<br>
|-  
|-  
| style="width: 8px; text-align: center" colspan="1" rowspan="6" | 2
| style="width: 8px; text-align: center;" colspan="1" rowspan="6" | 2
| style="width: 1px; text-align: center" | 0
| style="width: 1px; text-align: center;" | 0
| colspan="1" rowspan="2" |
| colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px" |
| style="width: 183px;" |
<br>
<br>
| style="width: 290px" |
| style="width: 290px;" |
<br>
<br>
| style="width: 118px" colspan="1" rowspan="2" |
| style="width: 118px;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 118px" colspan="1" rowspan="6" |
| style="width: 118px;" colspan="1" rowspan="6" |
<br>
<br>
|-  
|-  
| style="width: 1px" | 1
| style="width: 1px;" | 1
| style="width: 183px" |
| style="width: 183px;" |
<br>
<br>
| style="width: 290px" |
| style="width: 290px;" |
<br>
<br>
|-  
|-  
| style="width: 1px" | 2
| style="width: 1px;" | 2
| colspan="1" rowspan="2" |
| colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px" colspan="1" rowspan="2" |
| style="width: 75px;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px" colspan="1" rowspan="2" |
| style="width: 64px;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px" |
| style="width: 183px;" |
<br>
<br>
| style="width: 290px" |
| style="width: 290px;" |
<br>
<br>
| style="width: 118px" colspan="1" rowspan="2" |
| style="width: 118px;" colspan="1" rowspan="2" |
<br>
<br>
|-  
|-  
| style="width: 1px" | 3
| style="width: 1px;" | 3
| style="width: 183px" |
| style="width: 183px;" |
<br>
<br>
| style="width: 290px" |
| style="width: 290px;" |
<br>
<br>
|-  
|-  
| style="width: 1px" | 4
| style="width: 1px;" | 4
| colspan="1" rowspan="2" |
| colspan="1" rowspan="2" |
<br>
<br>
| style="width: 75px" colspan="1" rowspan="2" |
| style="width: 75px;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 64px" colspan="1" rowspan="2" |
| style="width: 64px;" colspan="1" rowspan="2" |
<br>
<br>
| style="width: 183px" |
| style="width: 183px;" |
<br>
<br>
| style="width: 290px" |
| style="width: 290px;" |
<br>
<br>
| style="width: 118px" colspan="1" rowspan="2" |
| style="width: 118px;" colspan="1" rowspan="2" |
<br>
<br>
|-  
|-  
| style="width: 1px" | 5
| style="width: 1px;" | 5
| style="width: 183px" |
| style="width: 183px;" |
<br>
<br>
| style="width: 290px" |
| style="width: 290px;" |
<br>
<br>
|}
|}
Line 1,835: Line 2,011:


= Operator Controls =
= Operator Controls =
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
[[File:Dark Mode (1).png|1000px|frameless|Control Map]]
<div class="mw-parser-output">
<div class="mw-parser-output">
=== Controller 1 - Primary Driver ===
 
{| style="width: 908px" border="1" cellspacing="1" cellpadding="2"
|-
| style="width: 92px" | '''&nbsp;Button/Axis #'''
| style="width: 414px" | '''Action/Button'''
| '''Description'''
| '''Details'''
|-
| style="width: 92px;  text-align: center" | A-1
| style="width: 414px" | Left Joystick Y
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | A-1
| style="width: 414px" | Left Joystick X
|
<br>
| &nbsp;
|-
|
<br>
| Left Joystick Press
|
<br>
|
<br>
|-
| style="width: 92px;  text-align: center" | A-4
| style="width: 414px" | Right Joystick Y
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | A-4
| style="width: 414px" | Right Joystick X
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | B-6
| style="width: 414px" | Right Bumper
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | B-5
| style="width: 414px" | Left Bumper
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | A-3
| style="width: 414px" | Right Trigger
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | A-2
| style="width: 414px" | Left Trigger
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | B-1
| style="width: 414px" | Square / A Button
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | B-3
| style="width: 414px" | Cross / X Button
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | B-4
| style="width: 414px" | Triangle / Y Button
|
<br>
| &nbsp;
|-
| style="width: 92px;  text-align: center" | B-2
| style="width: 414px" | Circle / B Button
| &nbsp;
| &nbsp;
|}
</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">&nbsp;</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" border="1" cellspacing="1" cellpadding="2"
|-
| 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" | &nbsp;
| style="width: 141px" | &nbsp;
|-
| style="text-align: center;  width: 91px" | A-1
| style="width: 286px" | Left Joystick Y-Axis
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | A-2
| style="width: 286px" | Left Trigger
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | A-3
| style="width: 286px" | Right Trigger
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | A-4
| style="width: 286px" | Right Joystick X-Axis
| style="width: 361px" |
<br>
| style="width: 141px" |
&nbsp;
 
&nbsp;
 
|-
| style="width: 91px;  text-align: center" | A-5
| style="width: 286px" | Right Joystick Y-Axis
| style="width: 361px" |
<br>
| style="width: 141px" | &nbsp;
|-
| style="width: 91px;  text-align: center" | B-1
| style="width: 286px" | Square / A Button
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-2
| style="width: 286px" | Circle / B button
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-3
| style="width: 286px" | Cross / X Button
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-4
| style="width: 286px" | Triangle / Y button
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-5
| style="width: 286px" | Left bumper
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-6
| style="width: 286px" | Right bumper
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-7
| style="width: 286px" | Back Button
| style="width: 361px" |
<br>
| style="width: 141px" | &nbsp;
|-
| style="width: 91px;  text-align: center" | B-8
| style="width: 286px" | Start Button
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| style="width: 91px;  text-align: center" | B-9
| style="width: 286px" | Left Stick Pressed
| style="width: 361px" |
<br>
| style="width: 141px" | &nbsp;
|-
| style="width: 91px;  text-align: center" | B-10
| style="width: 286px" | Right Stick Pressed
| style="width: 361px" |
<br>
| style="width: 141px" | &nbsp;
|-
| style="width: 91px;  text-align: center" | POV-0
| style="width: 286px" | D-pad up
| style="width: 361px" |
<br>
| style="width: 141px" |
<br>
|-
| POV-90
| D-pad right
|
<br>
|
<br>
|-
| POV-180
| D-pad down
|
<br>
|
<br>
|-
| POV-270
| D-pad left
|
<br>
|
<br>
|}
 
<div class="mw-parser-output">
=== Controller 3&nbsp;- Switches on console ===
 
{| style="width: 907px" border="1" cellspacing="1" cellpadding="1"
|-
| style="width: 92px" | '''&nbsp;Button/Axis #'''
| style="width: 112px" | '''&nbsp;Action/Button'''
| style="width: 521px" | &nbsp;'''Description'''
| style="width: 158px" | '''Details'''
|-
| style="width: 92px;  text-align: center" | B-1
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-2
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-3
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-4
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-5
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-6
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-7
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-8
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|-
| style="width: 92px;  text-align: center" | B-9
| style="width: 112px" |
<br>
| style="width: 521px" |
<br>
| style="width: 158px" | &nbsp;
|}
</div></div>
 
=== Dashboard ===
 
{| style="width: 0px" border="1" cellspacing="1" cellpadding="2"
|-
| style="width: 26px;" | '''Key'''
| style="width: 32px;" | '''Data Type'''
| style="width: 38px;" | '''Value'''
| style="width: 81px;" | '''Description'''
|-
| style="width: 26px;" |
| style="width: 32px;" |
| style="width: 38px;" |
| style="width: 81px;" |
|-
| style="width: 26px;" |
| style="width: 32px;" |
| style="width: 38px;" |
| style="width: 81px;" |
|-
| style="width: 26px;" |
| style="width: 32px;" |
| style="width: 38px;" |
| style="width: 81px;" |
|-
| style="width: 26px;" |
| style="width: 32px;" |
| style="width: 38px;" |
| style="width: 81px;" |
|}


= IO Maps for Old Robots =
= IO Maps for Old Robots =
Line 2,200: Line 2,031:
*[[2009:IO_Map|2009 Thunderplucker]]
*[[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></div></div></div></div></div></div></div>
</div></div>

Latest revision as of 10:48, 12 April 2025

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 Drive Motor Kraken X60  Brake Drive Motor Front Left



 


2

Drive

Motor

Kraken X60  Brake

Rotation Motor Front Left





3

Drive

Cancoder



Cancoder Front Left 





4

Drive

Motor

Kraken X60  Brake

Drive Motor Front Right





5

Drive

Motor

Kraken X60  Brake

Rotation Motor Front Right





6

Drive

Cancoder



Cancoder Front Right





7

Drive

Motor

Kraken X60 Brake

Drive Motor

Back Right





8

Drive

Motor

Kraken X60  Brake

Rotation Motor Back Right





9

Drive

Cancoder



Cancoder Back Right





10

Drive

Motor

Kraken X60  Brake

Drive Motor

Back Left





11

Drive

Motor

Kraken X60  Brake

Rotation Motor Back Left





12

Drive

Cancoder



Cancoder Back Left





14

Drive

Pigeon

Pigeon


IMU





15

Elevator

Motor

Neo

Brake

Elevator Motor Right





16

Elevator

Motor

Neo

Brake

Elevator Motor Left





17

Cage

Motor

Neo

?

Hang winch





18










19










20










21










22










CAN Physical Chain Layout

<td colspan="2" "="" >NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1

Current Device Next Device
Robo Rio Elevator Left
Elevator Left Rear Left Rotational
Rear Left Rotational Rear Left Drive
Rear Left Drive Rear Left Cancoder
Rear Left Cancoder Front Left Rotational
Front Left Rotational Front Left Drive
Front Left Drive Front Left Cancoder
Front Left Cancoder Front Right Cancoder
Front Right Cancoder Front Right Drive
Front Right Drive Front Right Rotational
Front Right Rotational Rear Right Rotational
Rear Right Rotational Rear Right Drive
Rear Right Drive Rear Right Cancoder
Rear Right Cancoder Pigeon
Pigeon Elevator Right
Elevator Right Hang
Hang PDH (Termination)

PDB Assignments

Port # Device (Subteam) Breaker Value Max Channel Current Motor Type Note
0

Front Right Drive (Drivebase)

40A


Kraken 60


1

Front Right Rotation (Drivebase)

40A


Kraken 60


2

Front Left Drive (Drivebase)

40A


Kraken 60


3

Front Left Rotation (Drivebase)

40A


Kraken 60


4

Rear Left Drive (Drivebase)

40A


Kraken 60


5

Rear Left Rotation (Drivebase)

40A


Kraken 60


6

Wrist

30A?


Neo


7

Intake Left Motor

30A?


Neo 550


8

Intake Right Motor

30A?


Neo 550


9

Both Limelight Devices

5A



Y break in wire that transfers power to both Limelights

10

Rear Right Drive (Drivebase)

40A


Kraken 60


11

Rear Right Rotation (Drivebase)

40A


Kraken 60


12

Elevator Drive Left (Gamepiece)

40A


Neo


13

Elevator Drive Right (Gamepiece)

40A


Neo


14

Cage Solenoid

20A


Spike Relay


15

Cage Winch

40A


Neo


16






17






18






19






20

Radio (RCS)

10A



Fused Port

21

RoboRio (RCS)

10A



Fused Port

22

VRM

10A



Fused Port

23 (Switchable)








VRM Assignments

Port # Device (Subteam)
5V/2A

Lights (RCS)

5V/2A


5V/500mA

Pigeon (RCS)

5V/500mA


12V/2A

CANCoders (except right rear)

12V/2A


12V/500mA

CANCoder - right rear

12V/500mA


PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0

Gamepiece

Motor

Neo 550

Calgae Motors (Left and Right)


Brake


 
1

N/A

LED strips


Addressable LED strips


42 total nodes

 VRM 5V  
2

Gamepiece

Motor

Neo

Calgae Wrist

   Brake    
3





       
4









5



 


       
6









7





 




8









9





 




10                
11                

LED Strip Layout and Function

 
 
Node Numbers Location Function
0 - 18 Side of elevator on Robot-left.  Node 0 at bottom, 18 at top Strategy-requested features for gameplay, fun stuff
19 Base of elevator on robot front, robot-left Cage raw sensor status.  Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
20 Base of elevator on robot front, 1 node in from robot-left Elevator limit raw sensor status.  Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
21 Base of elevator on robot front, 1 node in from robot-right Coral raw sensor status.  Green if coral is sensed, red if not
22 Base of elevator on robot front,  robot-right Algae raw sensor status. Green if algae is sensed, red if not
23 - 42 Side of elevator on Robot-right.  Node 23 at bottom, 42 at top Strategy-requested features for gameplay, fun stuff

Relay Outputs

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation Notes
0

Cage

SPIKE relay


Controls electric solenoid

Power on to disengage pawl from ratchet, power off to engage


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

Gamepiece

Sensor

OPB720B-06Z

Algae Sensor

Detects when Algae is present in the Calgae Intake.

Sensor should also detect slip and make sure the motors maintain grip on the Algae.

1 IN

Gamepiece

Sensor

OMRON

Coral Sensor

Detects when Coral is present in the Calgae Intake. Then stops the intake motors.


2 IN

Elevator

Sensor

 REV Robotics Magnetic Limit Switch
(REV 31-1462)

Elevator Top Limit



3 IN

Elevator

Sensor

REV Robotics Magnetic Limit Switch
(REV 31-1462)

Elevator Bottom Limit



4 IN

Gamepiece

Encoder

REV 11-1271

Used in absolute position mode to indicate wrist pivot angle.



5

IN

Hang

Sensor


Hang Solenoid Up



6

IN

Hang

Sensor


Hang Hung



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              
 


Junction Box For Gamepiece Communication (Base & Carriage)

#
(left to right) 		Subsystem Component Model
 Description (brief) Operation Notes
1 Gamepiece Spark Max


Calgae Motor  Controller

PWM Signal

Controls Intake After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers.
2 Gamepiece PWM + DIO ground


Shared DIO ground for everything on calgae


Ground for PWM + DIO outputs

Sourced from Rio DIO 0

3







4 Gamepiece Spark Max


Wrist Motor Controller

PWM Signal

Controls Wrist


5 Gamepiece +5V Digital power


Shared digital power


Power to sensors

Sourced from Rio DIO 0

6 Gamepiece

Encoder

REV 11-1271

Bore Encoder

Used in absolute position mode to indicate wrist pivot angle.


7 Gamepiece Sensor OMRON Coral Sensor Detects when Coral is present in the Calgae Intake. Then stops the intake motors. 


8 Gamepiece Sensor OPB720B-06Z Algae Sensor Detects when Algae is present in the Calgae Intake. Sensor should also detect slip and make sure the motors maintain grip on the Algae.

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

Control Map

IO Maps for Old Robots

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