2026:Robot IO Map: Difference between revisions
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| (6 intermediate revisions by 3 users not shown) | |||
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1* | |||
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| style="width: 147px; text-align: center; height: 28px;" | <br> | | style="width: 147px; text-align: center; height: 28px;" | <br> | ||
| style="width: 74px; text-align: center; height: 28px;" | <br> | | style="width: 74px; text-align: center; height: 28px;" | <br> | ||
| style="width: 34px; text-align: center; height: 28px;" | | | style="width: 34px; text-align: center; height: 28px;" | 2 | ||
| style="text-align: center; width: 93px; height: 28px;" | <br> | | style="text-align: center; width: 93px; height: 28px;" | <br> | ||
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1* | |||
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0 | |||
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| style="width: 147px; height: 51px;" | <br> | | style="width: 147px; height: 51px;" | <br> | ||
| style="width: 74px; height: 51px;" | <br> | | style="width: 74px; height: 51px;" | <br> | ||
| style="width: 34px; height: 51px;" | | | style="width: 34px; height: 51px;" | 6 | ||
| style="width: 93px; height: 51px;" | <br> | | style="width: 93px; height: 51px;" | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
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<br> | <br> | ||
== CAN Physical Chain Layout == | == CAN Physical Chain Layout == | ||
<td colspan="2" "="" >'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br> | <td colspan="2" "="" >'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br> | ||
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| style="height: 28px; width: 177px; text-align: center;" | 0 | | style="height: 28px; width: 177px; text-align: center;" | 0 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake speed / rollers | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 684: | Line 685: | ||
| style="height: 28px; width: 177px; text-align: center;" | 1 | | style="height: 28px; width: 177px; text-align: center;" | 1 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Encoder, pigeon, limelight | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
20 (swap to 5 when they come in) | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
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| style="height: 28px; width: 177px; text-align: center;" | 2 | | style="height: 28px; width: 177px; text-align: center;" | 2 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Climber | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Neo 2.0 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 708: | Line 709: | ||
| style="height: 28px; width: 177px; text-align: center;" | 3 | | style="height: 28px; width: 177px; text-align: center;" | 3 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Position | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Neo 2.0 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 732: | Line 733: | ||
| style="height: 28px; width: 177px; text-align: center;" | 5 | | style="height: 28px; width: 177px; text-align: center;" | 5 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Kicker | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 744: | Line 745: | ||
| style="height: 28px; width: 177px; text-align: center;" | 6 | | style="height: 28px; width: 177px; text-align: center;" | 6 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Shooter Hood | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X44 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 756: | Line 757: | ||
| style="height: 28px; width: 177px; text-align: center;" | 7 | | style="height: 28px; width: 177px; text-align: center;" | 7 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Shooter Right | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 768: | Line 769: | ||
| style="height: 28px; width: 177px; text-align: center;" | 8 | | style="height: 28px; width: 177px; text-align: center;" | 8 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Shooter Left | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 780: | Line 781: | ||
| style="height: 28px; width: 177px; text-align: center;" | 9 | | style="height: 28px; width: 177px; text-align: center;" | 9 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
LEDs | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
5 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 792: | Line 793: | ||
| style="height: 28px; width: 177px; text-align: center;" | 10 | | style="height: 28px; width: 177px; text-align: center;" | 10 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Right Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 804: | Line 805: | ||
| style="height: 28px; width: 177px; text-align: center;" | 11 | | style="height: 28px; width: 177px; text-align: center;" | 11 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Right Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 816: | Line 817: | ||
| style="height: 28px; width: 177px; text-align: center;" | 12 | | style="height: 28px; width: 177px; text-align: center;" | 12 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Left Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 828: | Line 829: | ||
| style="height: 28px; width: 177px; text-align: center;" | 13 | | style="height: 28px; width: 177px; text-align: center;" | 13 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Left Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 840: | Line 841: | ||
| style="height: 28px; width: 177px; text-align: center;" | 14 | | style="height: 28px; width: 177px; text-align: center;" | 14 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Spindexer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 864: | Line 865: | ||
| style="height: 28px; width: 177px; text-align: center;" | 16 | | style="height: 28px; width: 177px; text-align: center;" | 16 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Left Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 876: | Line 877: | ||
| style="height: 28px; width: 177px; text-align: center;" | 17 | | style="height: 28px; width: 177px; text-align: center;" | 17 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Left Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 888: | Line 889: | ||
| style="height: 28px; width: 177px; text-align: center;" | 18 | | style="height: 28px; width: 177px; text-align: center;" | 18 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Right Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 900: | Line 901: | ||
| style="height: 28px; width: 177px; text-align: center;" | 19 | | style="height: 28px; width: 177px; text-align: center;" | 19 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Right Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 912: | Line 913: | ||
| style="height: 28px; width: 177px; text-align: center;" | 20 | | style="height: 28px; width: 177px; text-align: center;" | 20 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
RoboRIO | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
10 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 924: | Line 925: | ||
| style="height: 28px; width: 177px; text-align: center;" | 21 | | style="height: 28px; width: 177px; text-align: center;" | 21 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Radio | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
10 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 959: | Line 960: | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<br><br></div></div> | <br><br></div></div> | ||
| Line 1,177: | Line 1,179: | ||
| style="width: 16.0667px; height: 28px;" rowspan="1" | 9 | | style="width: 16.0667px; height: 28px;" rowspan="1" | 9 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
Lights | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,272: | Line 1,274: | ||
== Analog IO == | == Analog IO == | ||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== <u>RoboRIO Analog Inputs</u> === | === <u>RoboRIO Analog Inputs</u> === | ||
| Line 1,398: | Line 1,402: | ||
</div></div> | </div></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"> | ||
== Digital IO (GPIO) == | == Digital IO (GPIO) == | ||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== <u>RoboRio IO</u> === | === <u>RoboRio IO</u> === | ||
{| style="width: 1143px; height: 407px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1143px; height: 407px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="text-align: center; height: 57px; width: 37. | | style="text-align: center; height: 57px; width: 37.8833px;" | '''ID''' | ||
| style="text-align: center; height: 57px; width: | | style="text-align: center; height: 57px; width: 142.9px;" | '''Direction'''<br>(IN/OUT) | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 57px;" | '''Subsystem''' | ||
| style="width: 144. | | style="width: 144.7px; 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: 131. | | style="width: 131.3px; text-align: center; height: 57px;" | '''Model #''' | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 57px;" | '''Description<br>(brief)''' | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 57px;" | '''Operation''' | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 57px;" | '''Notes''' | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 0 | ||
| style="width: | | style="width: 142.9px; height: 28px;" | IN | ||
| style="width: 76. | | style="width: 76.8333px; height: 28px;" | <p>Elevator</p> | ||
| style="width: 144. | | style="width: 144.7px; height: 28px;" | <p>Sensor</p> | ||
| style="width: 131. | | style="width: 131.3px; height: 28px;" | <p> REV Robotics Magnetic Limit Switch<br>(REV 31-1462)</p> | ||
| style="width: 169. | | style="width: 169.417px; height: 28px;" | <p>Climb Top Limit</p> | ||
| style="width: 197. | | style="width: 197.433px; height: 28px;" | <p><br></p> | ||
| style="width: | | style="width: 200.933px; height: 28px;" | <p><br></p> | ||
|- style="height: 50px;" | |- style="height: 50px;" | ||
| style="text-align: center; height: 50px; width: 37. | | style="text-align: center; height: 50px; width: 37.8833px;" | 1 | ||
| style="width: | | style="width: 142.9px; height: 50px;" | IN | ||
| style="width: 76. | | style="width: 76.8333px; height: 50px;" | Elevator | ||
| style="width: 144. | | style="width: 144.7px; height: 50px;" | Sensor | ||
| style="width: 131. | | style="width: 131.3px; height: 50px;" | REV Robotics Magnetic Limit Switch<br>(REV 31-1462) | ||
| style="width: 169. | | style="width: 169.417px; height: 50px;" | <p>Climb Bottom Limit</p> | ||
| style="width: 197. | | style="width: 197.433px; height: 50px;" | <p><br></p> | ||
| style="width: | | style="width: 200.933px; height: 50px;" | | ||
<br> | <br> | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="text-align: center; height: 57px; width: 37. | | style="text-align: center; height: 57px; width: 37.8833px;" | 2 | ||
| style=" | | style="height: 57px; width: 142.9px;" | | ||
IN | |||
| style="width: 76. | | style="width: 76.8333px; height: 57px;" | | ||
shooter - hood | |||
| style="width: 144. | | style="width: 144.7px; height: 57px;" | | ||
beam break | |||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 57px;" | | ||
OPB815 | |||
| style="width: 169. | | style="width: 169.417px; height: 57px;" | | ||
hood "0" beam break sensor | |||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 57px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; height: 57px; text-align: left;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 3 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; height: 28px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; height: 28px; text-align: left;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 4 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 5 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
|- style="height: 19px;" | |- style="height: 19px;" | ||
| style="text-align: center; height: 19px; width: 37. | | style="text-align: center; height: 19px; width: 37.8833px;" | 6 | ||
| style="text-align: center; height: 19px; width: | | style="text-align: center; height: 19px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 7 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 8 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 9 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 37. | | style="text-align: center; height: 28px; width: 37.8833px;" | 10 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 142.9px;" | | ||
<br> | <br> | ||
| style="width: 76. | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 144. | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 131. | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 169. | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 197. | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 200.933px; text-align: center; height: 28px;" | | ||
|} | |} | ||
<div class="mw-parser-output"> </div> | <div class="mw-parser-output"> </div> | ||
| Line 1,894: | Line 1,903: | ||
<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"> | ||
== Pneumatics Control Modules == | == Pneumatics Control Modules == | ||
Latest revision as of 10:28, 26 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 |
| |||
| 1 |
Drive Base |
Motor |
Cancoder |
|
Front Right Encoder |
|
|
| |
| 2 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Drive |
|
|
18 |
|
| 3 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Steer |
|
|
19 |
|
| 4 |
Drive Base |
Motor |
Cancoder |
|
Back Right Encoder |
|
|
|
|
| 5 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Drive |
|
|
10 |
|
| 6 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Steer |
|
|
11 |
|
| 7 |
Drive Base |
Motor |
Cancoder |
|
Front Left Encoder |
|
|
|
|
| 8 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Drive |
|
|
16 |
|
|
9 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Steer |
|
|
17 |
|
| 10 |
Drive Base |
Motor |
Cancoder |
|
Back Left Encoder |
|
|
|
|
| 11 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Drive |
|
|
12 |
|
| 12 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Steer |
|
|
13 |
|
| 13 |
Drive Base |
Pigeon |
Pigeon |
|
IMU |
|
|
1* |
|
| 14 | Climber | Motor | Neo 2.0 | ? | Climb | 2 | |||
| 15 | Intake | Encoder | Throughbore Encoder | Intake Pos Shaft Encoder |
|
|
1* |
| |
| 16 |
Intake |
Motor |
Neo 2.0 |
|
Intake Pos Drive |
|
|
3 |
|
| 17 | Intake | Motor | Kraken X60 | Intake Speed Drive |
|
|
0 |
| |
| 18 |
Spindexer |
Motor |
Kraken X60 |
|
Spindexer Drive |
|
|
14 |
|
| 19 |
Kicker |
Motor |
Kraken X60 |
|
Kicker Drive |
|
|
5 |
|
| 20 |
Shooter |
Motor |
Kraken X60 |
|
Shooter Drive Left |
|
|
8 |
|
| 21 |
Shooter |
Motor |
Kraken X60 |
Shooter Drive Right |
|
|
7 |
| |
| 22 | Shooter Hood | Encoder | Throughbore Encoder | Hood Shaft Encoder | |||||
| 23 | Shooter Hood | Motor | Kraken X44 | Hood Drive | 6 | ||||
| 24 |
|
|
|
|
|
||||
| 25 |
|
|
|
|
|
||||
| 26 |
|
|
|
|
|
||||
| 27 |
|
|
|
|
|
||||
| 28 |
|
|
|
|
|
||||
| 29 |
|
|
|
|
|
||||
| 30 |
|
|
|
|
|
||||
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 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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 (swap to 5 when they come in) |
|
N/A |
|
| 2 |
Climber |
40 |
|
Neo 2.0 |
|
| 3 |
Intake Position |
40 |
|
Neo 2.0 |
|
| 4 |
|
|
|
|
|
| 5 |
Kicker |
40 |
|
Kraken X60 |
|
| 6 |
Shooter Hood |
40 |
|
Kraken X44 |
|
| 7 |
Shooter Right |
40 |
|
Kraken X60 |
|
| 8 |
Shooter Left |
40 |
|
Kraken X60 |
|
| 9 |
LEDs |
5 |
|
N/A |
|
| 10 |
Back Right Drive |
40 |
|
Kraken X60 |
|
| 11 |
Back Right Steer |
40 |
|
Kraken X60 |
|
| 12 |
Back Left Drive |
40 |
|
Kraken X60 |
|
| 13 |
Back Left Steer |
40 |
|
Kraken X60 |
|
| 14 |
Spindexer |
40 |
|
Kraken X60 |
|
| 15 |
|
|
|
|
|
| 16 |
Front Left Drive |
40 |
|
Kraken X60 |
|
| 17 |
Front Left Steer |
40 |
|
Kraken X60 |
|
| 18 |
Front Right Drive |
40 |
|
Kraken X60 |
|
| 19 |
Front Right Steer |
40 |
|
Kraken X60 |
|
| 20 |
RoboRIO |
10 |
|
N/A |
|
| 21 |
Radio |
10 |
|
N/A |
|
| 22 |
|
|
|
|
|
| 23 (Switchable) |
|
|
|
|
VRM Assignments
| Port # | Device (Subteam) |
|---|---|
| 5V/2A |
|
| 5V/2A |
|
| 5V/500mA |
|
| 5V/500mA |
|
| 12V/2A |
|
| 12V/2A |
|
| 12V/500mA |
|
| 12V/500mA |
|
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
|
|
|
|
|
|
|
|
| 1 |
|
|
|
|
|
|
|
|
| 2 |
|
|
|
|
|
|
|
|
| 3 |
|
|
|
|
||||
| 4 |
|
|
|
|
|
|
|
|
| 5 |
|
|
|
|||||
| 6 |
|
|
|
|
|
|
|
|
| 7 |
|
|
|
|
|
|
| |
| 8 |
|
|
|
|
|
|
|
|
| 9 |
Lights |
|
|
|
|
|
| |
| 10 | ||||||||
| 11 | ||||||||
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 |
|
|
|
|
|
|
| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 |
|
|
|
|
|
|
|
| 1 |
|
|
|
|
|
||
| 2 | |||||||
| 3 |
More Board Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 |
Digital IO (GPIO)
RoboRio IO
| ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 | IN | Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Climb Top Limit |
||
| 1 | IN | Elevator | Sensor | REV Robotics Magnetic Limit Switch (REV 31-1462) |
Climb Bottom Limit |
| |
| 2 |
IN |
shooter - hood |
beam break |
OPB815 |
hood "0" beam break sensor |
|
|
| 3 |
|
|
|
|
|
|
|
| 4 |
|
|
|
|
|
|
|
| 5 |
|
|
|
|
|
|
|
| 6 |
|
|
|
|
|
|
|
| 7 |
|
|
|
|
|
|
|
| 8 |
|
|
|
|
|
|
|
| 9 |
|
|
|
|
|
|
|
| 10 |
|
|
|
|
|
|
Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 |
|
||||||
| 1 |
|
||||||
| 2 |
|
||||||
| 3 |
|
||||||
| 4 |
|
||||||
| 5 |
|
||||||
| 6 |
|
||||||
| 7 |
|
||||||
| 8 |
|
||||||
| 9 | |||||||
| 10 | |||||||
| 11 | |||||||
| 12 | |||||||
| 13 | |||||||
| 14 | |||||||
| 15 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
|
|
|
|
|
|
|
||
SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
|
|
|
|
|
USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
|
|
|
|
|
|
| 1 |
Pneumatics Control Modules
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
|
|
|
|
|
|
|
| 1 |
|
| ||||||
| 2 |
|
|
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| ||
| 3 |
|
| ||||||
| 4 |
|
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| ||
| 5 |
|
| ||||||
| 6 |
|
|
|
|
|
| ||
| 7 |
|
| ||||||
| 2 | 0 |
|
|
|
|
|
|
|
| 1 |
|
| ||||||
| 2 |
|
|
|
|
|
| ||
| 3 |
|
| ||||||
| 4 |
|
|
|
|
|
| ||
| 5 |
|
|
