2026:Robot IO Map: Difference between revisions
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Intake speed / rollers | |||
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40 | |||
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Kraken X60 | |||
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Intake Encoder | Intake Encoder, pigeon, limelight | ||
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20 | 20 | ||
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LEDs | LEDs | ||
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20 | 20 (5*) | ||
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Revision as of 12:35, 19 February 2026
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 |
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| 1 |
Drive Base |
Motor |
Cancoder |
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Front Right Encoder |
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| 2 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Drive |
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| 3 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Steer |
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| 4 |
Drive Base |
Motor |
Cancoder |
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Back Right Encoder |
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| 5 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Drive |
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| 6 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Steer |
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| 7 |
Drive Base |
Motor |
Cancoder |
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Front Left Encoder |
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| 8 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Drive |
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9 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Steer |
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| 10 |
Drive Base |
Motor |
Cancoder |
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Back Left Encoder |
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| 11 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Drive |
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| 12 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Steer |
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| 13 |
Drive Base |
Pigeon |
Pigeon |
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IMU |
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| 14 | Climber | Motor | Neo 2.0 | ? | Climb | ||||
| 15 | Intake | Encoder | Throughbore Encoder | Intake Pos Shaft Encoder |
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| 16 |
Intake |
Motor |
Neo 2.0 |
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Intake Pos Drive |
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| 17 | Intake | Motor | Kraken X60 | Intake Speed Drive |
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| |
| 18 |
Spindexer |
Motor |
Kraken X60 |
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Spindexer Drive |
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| 19 |
Kicker |
Motor |
Kraken X60 |
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Kicker Drive |
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| 20 |
Shooter |
Motor |
Kraken X60 |
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Shooter Drive Left |
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| 21 |
Shooter |
Motor |
Kraken X60 |
Shooter Drive Right |
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| 22 | Shooter Hood | Encoder | Throughbore Encoder | Hood Shaft Encoder | |||||
| 23 | Shooter Hood | Motor | Kraken X44 | Hood Drive | |||||
| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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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 |
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PDB Assignments
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
|---|---|---|---|---|---|
| 0 |
Intake speed / rollers |
40 |
|
Kraken X60 |
|
| 1 |
Intake Encoder, pigeon, limelight |
20 |
|
N/A |
|
| 2 |
Climber |
40 |
|
Neo 2.0 |
|
| 3 |
Intake Position |
40 |
|
Neo 2.0 |
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| 4 |
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| 5 |
Kicker |
40 |
|
Kraken X60 |
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| 6 |
Shooter Hood |
40 |
|
Kraken X44 |
|
| 7 |
Shooter Right |
40 |
|
Kraken X60 |
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| 8 |
Shooter Left |
40 |
|
Kraken X60 |
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| 9 |
LEDs |
20 (5*) |
|
N/A |
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| 10 |
Back Right Drive |
40 |
|
Kraken X60 |
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| 11 |
Back Right Steer |
40 |
|
Kraken X60 |
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| 12 |
Back Left Drive |
40 |
|
Kraken X60 |
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| 13 |
Back Left Steer |
40 |
|
Kraken X60 |
|
| 14 |
Spindexer |
40 |
|
Kraken X60 |
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| 15 |
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| 16 |
Front Left Drive |
40 |
|
Kraken X60 |
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| 17 |
Front Left Steer |
40 |
|
Kraken X60 |
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| 18 |
Front Right Drive |
40 |
|
Kraken X60 |
|
| 19 |
Front Right Steer |
40 |
|
Kraken X60 |
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| 20 |
RoboRIO |
10 |
|
N/A |
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| 21 |
Radio |
10 |
|
N/A |
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| 22 |
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| 23 (Switchable) |
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VRM Assignments
| Port # | Device (Subteam) |
|---|---|
| 5V/2A |
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| 5V/2A |
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| 5V/500mA |
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| 5V/500mA |
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| 12V/2A |
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| 12V/2A |
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| 12V/500mA |
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| 12V/500mA |
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PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
Lights |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 | ||||||||
| 11 | ||||||||
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 |
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| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 |
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| 1 |
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| 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 | Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Climb Top Limit |
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| 1 | IN | Elevator | Sensor | REV Robotics Magnetic Limit Switch (REV 31-1462) |
Climb Bottom Limit |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 | |||||||
| 10 | |||||||
| 11 | |||||||
| 12 | |||||||
| 13 | |||||||
| 14 | |||||||
| 15 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
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SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
Pneumatics Control Modules
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 6 |
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| 7 |
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| 2 | 0 |
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