2026:Robot IO Map: Difference between revisions
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== CAN ID Assignments == | == CAN ID Assignments == | ||
{| style="width: | {| style="width: 784px; height: 937px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 80px;" | |- style="height: 80px;" | ||
| style="text-align: center; height: 80px; width: | | style="text-align: center; height: 80px; width: 17px;" | '''ID''' | ||
| style="text-align: center; height: 80px; width: | | style="text-align: center; height: 80px; width: 90px;" | '''Subsystem''' | ||
| style="height: 80px; width: | | style="height: 80px; width: 91px;" | <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: | | style="text-align: center; width: 85px; height: 80px;" | '''Model #''' | ||
| style="width: | | style="width: 59px; text-align: center; height: 80px;" | '''Brake or Coast?''' | ||
| style="width: | | style="width: 94px; text-align: center; height: 80px;" | '''Description'''<br>(brief) | ||
| style="width: | | style="width: 147px; text-align: center; height: 80px;" | '''Operation''' | ||
| style="width: | | style="width: 108px; text-align: center; height: 80px;" colspan="2" | | ||
'''PD Board Info''' | '''PD Board Info''' | ||
'''(8) max. 40A PDB #''' | '''(8) max. 40A PDB #''' | ||
| style="height: 80px; width: | | style="height: 80px; width: 93px;" | '''General Notes''' | ||
|- style="height: 75px;" | |- style="height: 75px;" | ||
| style="text-align: center; height: 75px; width: | | style="text-align: center; height: 75px; width: 17px;" | 0 | ||
| style="text-align: center; height: 75px; width: | | style="text-align: center; height: 75px; width: 90px;" | Electrica'''l''' | ||
| style="height: 75px; width: | | style="height: 75px; width: 91px;" | <p style="text-align: center">PD Module</p> | ||
| style="text-align: center; width: | | style="text-align: center; width: 85px; height: 75px;" | | ||
| style="width: | | style="width: 59px; text-align: center; height: 75px;" | | ||
| style="width: | | style="width: 94px; text-align: center; height: 75px;" | Power Distribution Module feedback | ||
| style="width: | | style="width: 147px; text-align: center; height: 75px;" | monitor PD | ||
| style="width: | | style="width: 74px; height: 75px;" | <p style="text-align: center">must be CAN 0</p> | ||
| style="width: | | style="width: 34px; height: 75px;" | | ||
| style="height: 75px; width: | | style="height: 75px; width: 93px;" | | ||
<br> | <br> | ||
|- style="height: | |- style="height: 17px;" | ||
| style="text-align: center; height: | | style="text-align: center; height: 17px; width: 17px;" | 1 | ||
| style="text-align: center; height: | | style="text-align: center; height: 17px; width: 90px;" | | ||
| style="text-align: center; height: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 17px; width: 91px;" | | ||
Motor | |||
| style="text-align: center; width: 85px; height: 17px;" | | |||
| style="width: | Cancoder | ||
| style="width: 59px; text-align: center; height: 17px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 94px; text-align: center; height: 17px;" | | ||
Front Right Encoder | |||
| style="width: 147px; text-align: center; height: 17px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 74px; text-align: center; height: 17px;" | | ||
<br> | <br> | ||
| style="width: 34px; text-align: center; height: 17px;" | | |||
| style=" | | style="height: 17px; width: 93px;" | | ||
| style=" | |||
<br> | <br> | ||
| style="width: | |- style="height: 52px;" | ||
| style="text-align: center; height: 52px; width: 17px;" | 2 | |||
| style="text-align: center; height: 52px; width: 90px;" | | |||
Drive Base | |||
| style="text-align: center; height: 52px; width: 91px;" | | |||
Motor | |||
| style="text-align: center; width: 85px; height: 52px;" | | |||
Kraken X60 | |||
| style="width: 59px; text-align: center; height: 52px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 52px;" | | |||
Front Right Drive | |||
| style="width: 147px; text-align: center; height: 52px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 74px; text-align: center; height: 52px;" | | ||
<br> | <br> | ||
| style="height: | | style="width: 34px; text-align: center; height: 52px;" | | ||
18 | |||
| style="height: 52px; width: 93px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 3 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Front Right Steer | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 34px; text-align: center; height: 28px;" | | ||
19 | |||
| style="height: 28px; width: 93px; text-align: center;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 17px;" | 4 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
Drive Base | |||
| style="text-align: center; height: 28px; width: 91px;" | | |||
Motor | |||
| style="text-align: center; width: 85px; height: 28px;" | | |||
Cancoder | |||
| style="width: 59px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Back Right Encoder | |||
| style="height: 28px; width: 147px;" | | |||
| style=" | |||
| style="height: 28px; width: | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 34px; text-align: center;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 93px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 5 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="width: | Motor | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="height: 28px; width: | Kraken X60 | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Back Right Drive | |||
| style="height: 28px; width: 147px;" | | |||
<br> | |||
| style="text-align: center; height: 28px; width: 74px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="height: 28px; width: 34px; text-align: center;" | | ||
10 | |||
| style="text-align: center; height: 28px; width: 93px;" | | |||
<br> | |||
|- style="height: 28px;" | |||
| style="text-align: center; height: 28px; width: 17px;" | 6 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
Drive Base | |||
| style="text-align: center; height: 28px; width: 91px;" | | |||
Motor | |||
| style="text-align: center; width: 85px; height: 28px;" | | |||
Kraken X60 | |||
| style="width: 59px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Back Right Steer | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style=" | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 34px; text-align: center; height: 28px;" | | ||
11 | |||
| style="text-align: center; height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 7 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="width: | Cancoder | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Front Left Encoder | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 34px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 93px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 8 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Front Left Drive | |||
| style="text-align: center; height: 28px; width: 147px;" | | |||
<br> | |||
| style="text-align: center; height: 28px; width: 74px;" | | |||
<br> | |||
| style="text-align: center; height: 28px; width: 34px;" | | |||
16 | |||
| style="height: 28px; width: 93px; text-align: center;" | | |||
<br> | <br> | ||
| style="width: | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 17px;" | | |||
9 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
Drive Base | |||
| style="text-align: center; height: 28px; width: 91px;" | | |||
Motor | |||
| style="text-align: center; width: 85px; height: 28px;" | | |||
Kraken X60 | |||
| style="width: 59px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Front Left Steer | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="height: 28px; | | style="width: 34px; text-align: center; height: 28px;" | | ||
17 | |||
| style="text-align: center; height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 10 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="width: | Motor | ||
| style="text-align: center; height: 28px | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="text-align: center; height: 28px | Cancoder | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Back Left Encoder | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 34px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 93px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 11 | ||
| style="text-align: center; height: 28px; width: 90px;" | | |||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="text-align: center; width: | Motor | ||
| style="width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: | | style="width: 59px; text-align: center; height: 28px;" | | ||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Back Left Drive | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style=" | | style="text-align: center; height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style=" | | style="text-align: center; height: 28px; width: 34px;" | | ||
12 | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 93px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 12 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 94px; text-align: center; height: 28px;" | | |||
Back Left Steer | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 34px;" | | ||
13 | |||
| style="text-align: center; height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 13 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; height: 28px; width: 91px;" | | |||
| style="width: | Pigeon | ||
| style="width: 85px; text-align: center; height: 28px;" | | |||
| style="width: | Pigeon | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 94px; text-align: center; height: 28px;" | | ||
IMU | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 34px; text-align: center; height: 28px;" | | ||
1* | |||
| style="text-align: center; height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 17px; height: 28px;" | 14 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 90px; height: 28px;" | Climber | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 91px; height: 28px;" | Motor | ||
| style="text-align: center; width: | | style="width: 85px; text-align: center; height: 28px;" | Neo 2.0 | ||
| style="width: | | style="width: 59px; text-align: center; height: 28px;" | ? | ||
| style="width: | | style="width: 94px; text-align: center; height: 28px;" | Climb | ||
| style="width: | | style="width: 147px; text-align: center; height: 28px;" | <br> | ||
| style="width: 74px; text-align: center; height: 28px;" | <br> | |||
| style="width: 34px; text-align: center; height: 28px;" | 2 | |||
| style="text-align: center; width: 93px; height: 28px;" | <br> | |||
|- style="height: 28px;" | |||
| style="text-align: center; height: 28px; width: 17px;" | 15 | |||
| style="text-align: center; width: 90px;" | Intake | |||
| style="text-align: center; width: 91px;" | Encoder | |||
| style="text-align: center; width: 85px;" | Throughbore Encoder | |||
| style="text-align: center; width: 59px;" | <br> | |||
| style="text-align: center; width: 94px;" | Intake Pos Shaft Encoder | |||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px | | style="width: 34px; text-align: center; height: 28px;" | | ||
1* | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 93px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 16 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Intake | ||
| style=" | | style="text-align: center; height: 28px; width: 91px;" | | ||
Motor | |||
| style="text-align: center; height: 28px; width: 85px;" | | |||
| style=" | Neo 2.0 | ||
| style="text-align: center; width: 59px;" | | |||
<br> | <br> | ||
| style="width: | | style="text-align: center; width: 94px;" | Intake Pos Drive | ||
| style="width: 147px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 74px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 34px; text-align: center; height: 28px;" | | ||
3 | |||
| style="text-align: center; height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 17 | ||
| style="text-align: center | | style="text-align: center; width: 90px;" | Intake | ||
| style="text-align: center | | style="text-align: center; width: 91px;" | Motor | ||
| style=" | | style="text-align: center; width: 85px;" | Kraken X60 | ||
| style=" | | style="text-align: center; width: 59px;" | <br> | ||
| style=" | | style="text-align: center; width: 94px;" | Intake Speed Drive Right | ||
| style=" | | style="height: 28px; width: 147px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 34px;" | | ||
0 | |||
| style="height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 18 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Spindexer | ||
| style="text-align: center; height: 28px; width: 91px;" | | |||
| style="width: | Motor | ||
| style="width: 85px; text-align: center; height: 28px;" | | |||
| style="width: | Kraken X60 | ||
| style="width: 59px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 94px; text-align: center; height: 28px;" | | ||
Spindexer Drive | |||
| style="height: 28px; width: 147px;" | | |||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 34px;" | | ||
14 | |||
| style="height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 17px;" | 19 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
| style="text-align: center; height: 28px; width: | Kicker | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
Motor | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 85px;" | | ||
Kraken X60 | |||
| style="text-align: center; height: 28px; width: 59px;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 94px;" | | ||
Kicker Drive | |||
| style="height: 28px; width: 147px;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 34px;" | | ||
5 | |||
| style="height: 28px; width: 93px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 20 | | style="text-align: center; height: 28px; width: 17px;" | 20 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 90px;" | | ||
Shooter | |||
| style="text-align: center; height: 28px; width: 91px;" | | |||
Motor | |||
| style="text-align: center; height: 28px; width: 85px;" | | |||
Kraken X60 | |||
| style="text-align: center; height: 28px; width: 59px;" | | |||
<br> | |||
| style="text-align: center; height: 28px; width: 94px;" | | |||
Shooter Drive Left | |||
| style="height: 28px; width: 147px;" | | |||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 74px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 34px;" | | ||
8 | |||
| style="height: 28px; width: 93px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | |- style="height: 51px;" | ||
| style="text-align: center; width: 17px; height: 51px;" | 21 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
Shooter | |||
| style="text-align: center; height: 28px; width: 91px;" | | |||
Motor | |||
| style="text-align: center; height: 28px; width: 85px;" | | |||
Kraken X60 | |||
| style="text-align: center; width: 59px; height: 28px;" | <br> | |||
| style="text-align: center; width: 94px; height: 28px;" | Shooter Drive Right | |||
| style="width: 147px; height: 51px;" | | |||
<br> | <br> | ||
| style=" | | style="width: 74px; height: 51px;" | | ||
<br> | <br> | ||
| style="height: | | style="width: 34px; height: 51px;" | | ||
7 | |||
| style="width: 93px; height: 51px;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | |- style="height: 28px;" | ||
| style="text-align: center; width: 17px; height: 28px;" | 22 | |||
| style="text-align: center; width: 90px; height: 51px;" | Shooter Hood | |||
| style="text-align: center; width: 91px; height: 51px;" | Encoder | |||
| style="text-align: center; width: 85px; height: 51px;" | Throughbore Encoder | |||
| style="text-align: center; width: 59px; height: 51px;" | <br> | |||
| style="text-align: center; width: 94px; height: 51px;" | Hood Shaft Encoder | |||
| style="width: 147px; height: 28px;" | <br> | |||
| style="width: 74px; height: 28px;" | <br> | |||
| style="width: 34px; height: 28px;" | <br> | |||
| style="width: 93px; height: 28px;" | <br> | |||
|- style="height: 51px;" | |||
| style="text-align: center; width: 17px; height: 51px;" | 23 | |||
| style="text-align: center; width: 90px; height: 28px;" | Shooter Hood | |||
| style="text-align: center; width: 91px; height: 28px;" | Motor | |||
| style="text-align: center; width: 85px; height: 28px;" | Kraken X44 | |||
| style="text-align: center; width: 59px; height: 28px;" | <br> | |||
| style="text-align: center; width: 94px; height: 28px;" | Hood Drive | |||
| style="width: 147px; height: 51px;" | <br> | |||
| style="width: 74px; height: 51px;" | <br> | |||
| style="width: 34px; height: 51px;" | 6 | |||
| style="width: 93px; height: 51px;" | <br> | |||
|- style="height: 28px;" | |||
| style="text-align: center; width: 17px; height: 28px;" | 24 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
<br> | <br> | ||
| style="height: 28px | | style="width: 85px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| | | style="width: 59px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px | | style="width: 94px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 147px; height: 28px;" | <br> | ||
| style="width: 74px; height: 28px;" | <br> | |||
| style="width: 34px; height: 28px;" | <br> | |||
| style="width: 93px; height: 28px;" | <br> | |||
|- style="height: 51px;" | |||
| style="text-align: center; width: 17px; height: 51px;" | 25 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 85px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 59px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 94px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="width: 147px; height: 51px;" | <br> | ||
| style="width: 74px; height: 51px;" | <br> | |||
| style="width: 34px; height: 51px;" | <br> | |||
| style="width: 93px; height: 51px;" | <br> | |||
|- | |||
| style="text-align: center; width: 17px;" | 26 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 85px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 59px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 94px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 147px;" | <br> | ||
| style="width: 74px;" | <br> | |||
| style="width: 34px;" | <br> | |||
| style="width: 93px;" | <br> | |||
|- | |||
| style="text-align: center; width: 17px;" | 27 | |||
| style="text-align: center; height: 28px; width: 90px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 85px;" | | ||
<br> | <br> | ||
| style=" | | style="text-align: center; width: 59px; height: 28px;" | | ||
<br> | <br> | ||
| style=" | | style="text-align: center; width: 94px; height: 28px;" | | ||
<br> | <br> | ||
| style=" | | style="width: 147px;" | <br> | ||
| style="width: 74px;" | <br> | |||
| style="width: 34px;" | <br> | |||
| style="width: 93px;" | <br> | |||
|- | |||
| style="text-align: center; width: 17px;" | 28 | |||
| style="text-align: center; width: 90px; height: 51px;" | | |||
<br> | <br> | ||
| style="text-align: center; width: 91px; height: 51px;" | | |||
| style="text-align: center; width: | |||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 85px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 59px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 94px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="width: 147px;" | <br> | ||
| style="width: 74px;" | <br> | |||
| style="width: 34px;" | <br> | |||
| style="width: 93px;" | <br> | |||
|- | |||
| style="text-align: center; width: 17px;" | 29 | |||
| style="text-align: center; width: 90px; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="text-align: center; width: 91px; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="text-align: center; width: 85px; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="text-align: center; width: 59px; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="text-align: center; width: 94px; height: 28px;" | | ||
<br> | <br> | ||
| | | style="width: 147px;" | <br> | ||
| style="text-align: center; width: | | style="width: 74px;" | <br> | ||
| style="text-align: center; width: | | style="width: 34px;" | <br> | ||
| style="text-align: center; width: | | style="width: 93px;" | <br> | ||
|- | |||
| style="text-align: center; width: 17px;" | 41 | |||
| style="text-align: center; width: 90px;" | | |||
Intake | |||
| style="text-align: center; width: 91px;" | | |||
Motor | |||
| style="text-align: center; width: 85px;" | | |||
Kraken X60 | |||
| style="text-align: center; width: 59px;" | | |||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 94px;" | | ||
Intake Drive Speed Left | |||
| style="width: 147px;" | <br> | |||
| style="width: | | style="width: 74px;" | <br> | ||
| style="width: | | style="width: 34px;" | <br> | ||
| style="width: | | style="width: 93px;" | <br> | ||
| style="width: | |||
|} | |} | ||
| Line 366: | Line 566: | ||
<br> | <br> | ||
== CAN Physical Chain Layout == | == CAN Physical Chain Layout == | ||
'''NOTE:''' ''CAN connection convention is YELLOW CAN wire on pin 1 (to match Kraken cap convention)'' | |||
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: | {| class="wikitable" style="border-collapse: collapse; width: 100%; height: 632px;" | ||
|- style="height: 23px;" | |||
| style="width: 65.468%; height: 23px;" | <span style="font-size: 14pt;">'''Devices in Order'''</span> | |||
| style="width: 34.532%; height: 23px;" | '''Notes''' | |||
|- style="height: 23px;" | |||
| style="width: 65.468%; height: 23px;" | | |||
RIO | |||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 28px;" | |||
| style="width: 65.468%; height: 28px;" | | |||
Back-right swerve motor on Battery side | |||
| style="width: 34.532%; height: 28px;" | | |||
<br> | |||
|- style="height: 23px;" | |||
| style="width: 65.468%; height: 23px;" | | |||
Back-right swerve CANCoder | |||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |||
| style="width: 65.468%; height: 23px;" | | |||
Back-right swerve motor on Lasagna side | |||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |||
| style="width: 65.468%; height: 23px;" | | |||
Shooter motor closest to back side of robot | |||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 28px;" | |||
| style="width: 65.468%; height: 28px;" | Shooter hood thru-bore encoder | |||
| style="width: 34.532%; height: 28px;" | <br> | |||
|- style="height: 23px;" | |||
| style="width: 65.468%; height: 23px;" | | |||
Shooter hood | |||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Shooter motor furthest from back side of robot | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Kicker motor | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | PDH | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Pigeon | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Intake Right Motor | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Front-right swerve motor on Lasagna side | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Front-right swerve CANCoder | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Front-right swerve motor on front side | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Front-left swerve motor on front side | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Front-left swerve CANCoder | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: | | style="width: 65.468%; height: 23px;" | | ||
| style="width: | Front-left swerve motor on climber side | ||
| style="width: 34.532%; height: 23px;" | | |||
<br> | |||
|- | |||
| style="width: 65.468%;" | Intake Left Motor<br> | |||
| style="width: 34.532%;" | <br> | |||
|- style="height: 47px;" | |||
| style="height: 47px;" | Intake pivot thru-bore encoder | |||
| style="height: 47px;" | Wiring inside rats nest! Hard to know order of these 3! | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style=" | | style="height: 23px;" | Intake pivot SparkMax | ||
| style=" | | style="height: 23px;" | Wiring inside rats nest! Hard to know order of these 3! | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style=" | | style="height: 23px;" | Climber SparkMax | ||
| style=" | | style="height: 23px;" | Wiring inside rats nest! Hard to know order of these 3! | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style=" | | style="height: 23px;" | Spindexer motor | ||
| style=" | | style="height: 23px;" | | ||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style=" | | style="height: 23px;" | Back-left swerve motor on climber side | ||
| style=" | | style="height: 23px;" | | ||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style=" | | style="height: 23px;" | Back-left swerve CANCoder | ||
| style=" | | style="height: 23px;" | | ||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style=" | | style="height: 23px;" | Back-left serve motor on back side | ||
| style=" | | style="height: 23px;" | CAN terminator installed here | ||
|} | |} | ||
| Line 428: | Line 691: | ||
{| class="wikitable" style="height: | {| class="wikitable" style="height: 700px; width: 1012px;" width="920" | ||
! style="height: 28px; width: | ! style="height: 28px; width: 165.133px;" | Port # | ||
! style="height: 28px; width: | ! style="height: 28px; width: 205.15px;" | Device (Subteam) | ||
! style="height: 28px; width: | ! style="height: 28px; width: 135.967px;" | Breaker Value | ||
! style="height: 28px; width: | ! style="height: 28px; width: 165.917px;" | Max Channel Current | ||
! style="width: | ! style="width: 109.5px; height: 28px;" | Motor Type | ||
! style="height: 28px; width: | ! style="height: 28px; width: 154.133px;" | Note | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 0 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Intake Right Motor | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 1 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Intake Encoder, pigeon, limelight(on hang) | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 20 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
N/A | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 2 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Climber | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Neo 2.0 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 3 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Intake Position | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Neo 2.0 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 4 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Intake Left Motor | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken x60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 5 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Kicker | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 6 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Shooter Hood | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X44 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 7 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Shooter Right | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 8 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Shooter Left | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 9 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | LEDs | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 5 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
N/A | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 10 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Back Right Drive | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 11 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Back Right Steer | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 12 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Back Left Drive | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 13 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Back Left Steer | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 14 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Spindexer | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 15 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | LimeLight(on swerve) | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 5 amp '''fuse''' presently | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
LimeLight | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 16 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Front Left Drive | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 17 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Front Left Steer | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 18 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Front Right Drive | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 19 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Front Right Steer | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 40 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
Kraken X60 | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 20 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | RoboRIO | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 10 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
N/A | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 21 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | Radio | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | 10 | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
N/A | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 22 | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
| style="height: 28px; width: | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
| style="width: | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | |||
| style="width: 109.5px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="height: 28px; width: 154.133px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.133px; text-align: center;" | 23 (Switchable) | ||
| style="height: 28px; width: | | style="height: 28px; width: 205.15px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 135.967px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 165.917px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 109.5px; text-align: center; height: 28px;" | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 154.133px; 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> | <br><br></div></div> | ||
| Line 621: | Line 1,000: | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| 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> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/500mA | | style="height: 28px; width: 75.25px;" | 12V/500mA | ||
| Line 672: | Line 1,058: | ||
| style="width: 16.0667px; height: 28px;" | 0 | | style="width: 16.0667px; height: 28px;" | 0 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
<br> | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 75.1px; height: 28px;" | | | style="width: 75.1px; height: 28px;" | | ||
<br> | |||
| style="width: 136.167px; text-align: center; height: 28px;" | | | style="width: 136.167px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 120.15px; height: 28px;" | | | style="width: 120.15px; height: 28px;" | | ||
<br> | |||
| style="width: 211.25px; height: 28px;" | | | style="width: 211.25px; height: 28px;" | | ||
<br> | |||
| style="width: 88.1167px; height: 28px;" | | | style="width: 88.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="width: 16.0667px; height: 28px;" | 1 | | style="width: 16.0667px; height: 28px;" | 1 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
<br> | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 75.1px; height: 28px;" | | | style="width: 75.1px; height: 28px;" | | ||
<br> | |||
| style="width: 136.167px; text-align: center; height: 28px;" | | | style="width: 136.167px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 120.15px; height: 28px;" | | | style="width: 120.15px; height: 28px;" | | ||
<br> | |||
| style="width: 211.25px; height: 28px;" | | | style="width: 211.25px; height: 28px;" | | ||
<br> | |||
| style="width: 88.1167px; height: 28px;" | | | style="width: 88.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="width: 16.0667px; height: 28px;" | 2 | | style="width: 16.0667px; height: 28px;" | 2 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
<br> | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 75.1px; height: 28px;" | | | style="width: 75.1px; height: 28px;" | | ||
<br> | |||
| style="width: 136.167px; text-align: center; height: 28px;" | | | style="width: 136.167px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 120.15px; height: 28px;" | | | style="width: 120.15px; height: 28px;" | | ||
<br> | |||
| style="width: 211.25px; height: 28px;" | | | style="width: 211.25px; height: 28px;" | | ||
<br> | |||
| style="width: 88.1167px; height: 28px;" | | | style="width: 88.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| Line 800: | Line 1,207: | ||
| 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 835: | Line 1,242: | ||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|} | |} | ||
<div class="mw-parser-output"></div> | <div class="mw-parser-output"></div> | ||
| Line 857: | Line 1,260: | ||
| style="height: 28px; width: 27.15px;" | 0 | | style="height: 28px; width: 27.15px;" | 0 | ||
| style="height: 28px; width: 139.633px;" | | | style="height: 28px; width: 139.633px;" | | ||
<br> | |||
| style="width: 80.4px; height: 28px;" | | | style="width: 80.4px; height: 28px;" | | ||
<br> | |||
| style="width: 51.25px; height: 28px;" | | | style="width: 51.25px; height: 28px;" | | ||
<br> | |||
| style="width: 166.75px; height: 28px;" | | | style="width: 166.75px; height: 28px;" | | ||
<br> | |||
| style="width: 217.983px; height: 28px;" | | | style="width: 217.983px; height: 28px;" | | ||
<br> | |||
| style="width: 182.833px; height: 28px;" | | | style="width: 182.833px; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,021: | Line 1,429: | ||
<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></div></div></div></div></div> | ||
== 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: | {| style="width: 1143px; height: 407px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="text-align: center; height: 57px; width: | | 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: | | 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: | | style="width: 131.3px; text-align: center; height: 57px;" | '''Model #''' | ||
| style="width: | | style="width: 169.417px; text-align: center; height: 57px;" | '''Description<br>(brief)''' | ||
| style="width: | | 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: | | style="text-align: center; height: 28px; width: 37.8833px;" | 0 | ||
| style=" | | style="width: 142.9px; height: 28px;" | IN | ||
| style="width: 76. | | style="width: 76.8333px; height: 28px;" | <p>Elevator</p> | ||
| style="width: | | style="width: 144.7px; height: 28px;" | <p>Sensor</p> | ||
| style="width: | | style="width: 131.3px; height: 28px;" | <p> REV Robotics Magnetic Limit Switch<br>(REV 31-1462)</p> | ||
| style="width: | | style="width: 169.417px; height: 28px;" | <p>Climb Top Limit</p> | ||
| style="width: | | style="width: 197.433px; height: 28px;" | <p><br></p> | ||
| style="width: | | style="width: 200.933px; height: 28px;" | <p><br></p> | ||
|- style="height: | |- style="height: 50px;" | ||
| style="text-align: center; height: | | style="text-align: center; height: 50px; width: 37.8833px;" | 1 | ||
| style=" | | style="width: 142.9px; height: 50px;" | IN | ||
| style="width: 76. | | style="width: 76.8333px; height: 50px;" | Elevator | ||
| style="width: | | style="width: 144.7px; height: 50px;" | Sensor | ||
| style="width: | | style="width: 131.3px; height: 50px;" | REV Robotics Magnetic Limit Switch<br>(REV 31-1462) | ||
| style="width: | | style="width: 169.417px; height: 50px;" | <p>Climb Bottom Limit</p> | ||
| style="width: | | style="width: 197.433px; height: 50px;" | <p><br></p> | ||
| style="width: | | style="width: 200.933px; height: 50px;" | | ||
<br> | |||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="text-align: center; height: 57px; width: | | style="text-align: center; height: 57px; width: 37.8833px;" | 2 | ||
| style=" | | style="height: 57px; width: 142.9px;" | | ||
| style="width: 76. | IN | ||
| style="width: | | style="width: 76.8333px; height: 57px;" | | ||
| style="width: | shooter - hood | ||
| style="width: | | style="width: 144.7px; height: 57px;" | | ||
| style="width: | beam break | ||
| style="width: | | style="width: 131.3px; text-align: center; height: 57px;" | | ||
OPB815 | |||
| style="width: 169.417px; height: 57px;" | | |||
hood "0" beam break sensor | |||
| style="width: 197.433px; text-align: center; height: 57px;" | | |||
<br> | |||
| style="width: 200.933px; height: 57px; text-align: left;" | | |||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
| style="width: | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 131.3px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 169.417px; height: 28px; text-align: center;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 200.933px; height: 28px; text-align: left;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
| style="width: | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
| style="width: | <br> | ||
| style="width: 131.3px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 169.417px; text-align: center; height: 28px;" | | |||
<br> | |||
| 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: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
| style="width: | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
| style="width: | <br> | ||
| style="width: 131.3px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 169.417px; text-align: center; height: 28px;" | | |||
<br> | |||
| 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: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: | | style="width: 76.8333px; text-align: center; height: 19px;" | | ||
| style="width: | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 19px;" | | ||
| style="width: | <br> | ||
| style="width: 131.3px; text-align: center; height: 19px;" | | |||
<br> | |||
| style="width: 169.417px; text-align: center; height: 19px;" | | |||
<br> | |||
| style="width: 197.433px; text-align: center; height: 19px;" | | |||
<br> | |||
| style="width: 200.933px; text-align: center; height: 19px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: 76.8333px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | 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: | | 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: | | style="width: 76.8333px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 197.433px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 200.933px; text-align: center; height: 28px;" | | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: 76.8333px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | 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: | | 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;" | | ||
| style="width: 76. | <br> | ||
| style="width: 76.8333px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 144.7px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 131.3px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 169.417px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | 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 1,183: | Line 1,627: | ||
| style="width: 16px;" | 0 | | style="width: 16px;" | 0 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,192: | Line 1,637: | ||
| style="width: 16px; text-align: center;" | 1 | | style="width: 16px; text-align: center;" | 1 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,201: | Line 1,647: | ||
| style="width: 16px; text-align: center;" | 2 | | style="width: 16px; text-align: center;" | 2 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,210: | Line 1,657: | ||
| style="width: 16px; text-align: center;" | 3 | | style="width: 16px; text-align: center;" | 3 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,219: | Line 1,667: | ||
| style="width: 16px; text-align: center;" | 4 | | style="width: 16px; text-align: center;" | 4 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,228: | Line 1,677: | ||
| style="width: 16px; text-align: center;" | 5 | | style="width: 16px; text-align: center;" | 5 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,237: | Line 1,687: | ||
| style="width: 16px; text-align: center;" | 6 | | style="width: 16px; text-align: center;" | 6 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,246: | Line 1,697: | ||
| style="width: 16px; text-align: center;" | 7 | | style="width: 16px; text-align: center;" | 7 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,255: | Line 1,707: | ||
| style="width: 16px; text-align: center;" | 8 | | style="width: 16px; text-align: center;" | 8 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
<br> | |||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| style="width: 74px; text-align: center;" | | | style="width: 74px; text-align: center;" | | ||
| Line 1,328: | Line 1,781: | ||
<div class="mw-parser-output"><div class="mw-parser-output"> </div></div></div></div></div></div></div></div></div></div></div></div></div></div> | <div class="mw-parser-output"><div class="mw-parser-output"> </div></div></div></div></div></div></div></div></div></div></div></div></div></div> | ||
== I2C Registers == | == I2C Registers == | ||
| Line 1,476: | Line 1,927: | ||
<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 == | ||
| Line 1,642: | Line 2,094: | ||
<br> | <br> | ||
|} | |} | ||
</div></div></div></div></div></div></div> | |||
= Operator Controls = | = Operator Controls = | ||
| Line 1,665: | Line 2,117: | ||
*[[2009:IO_Map|2009 Thunderplucker]] | *[[2009:IO_Map|2009 Thunderplucker]] | ||
*[[IO Pin Maps for Pre-2009 Robots]] | *[[IO Pin Maps for Pre-2009 Robots]] | ||
Latest revision as of 14:47, 4 April 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 Right |
|
|
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 |
|
|
|
|
|
||||
| 41 |
Intake |
Motor |
Kraken X60 |
|
Intake Drive Speed Left |
||||
CAN Physical Chain Layout
NOTE: CAN connection convention is YELLOW CAN wire on pin 1 (to match Kraken cap convention)
| Devices in Order | Notes |
|
RIO |
|
|
Back-right swerve motor on Battery side |
|
|
Back-right swerve CANCoder |
|
|
Back-right swerve motor on Lasagna side |
|
|
Shooter motor closest to back side of robot |
|
| Shooter hood thru-bore encoder | |
|
Shooter hood |
|
|
Shooter motor furthest from back side of robot |
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Kicker motor |
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PDH |
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Pigeon |
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Intake Right Motor |
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Front-right swerve motor on Lasagna side |
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Front-right swerve CANCoder |
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Front-right swerve motor on front side |
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Front-left swerve motor on front side |
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Front-left swerve CANCoder |
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Front-left swerve motor on climber side |
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| Intake Left Motor |
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| Intake pivot thru-bore encoder | Wiring inside rats nest! Hard to know order of these 3! |
| Intake pivot SparkMax | Wiring inside rats nest! Hard to know order of these 3! |
| Climber SparkMax | Wiring inside rats nest! Hard to know order of these 3! |
| Spindexer motor |
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| Back-left swerve motor on climber side |
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| Back-left swerve CANCoder |
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| Back-left serve motor on back side | CAN terminator installed here |
PDB Assignments
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
|---|---|---|---|---|---|
| 0 |
Intake Right Motor |
40 |
|
Kraken X60 |
|
| 1 |
Intake Encoder, pigeon, limelight(on hang) |
20 |
|
N/A |
|
| 2 |
Climber |
40 |
|
Neo 2.0 |
|
| 3 |
Intake Position |
40 |
|
Neo 2.0 |
|
| 4 |
Intake Left Motor |
40 |
|
Kraken x60 |
|
| 5 |
Kicker |
40 |
|
Kraken X60 |
|
| 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 |
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 |
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| 14 |
Spindexer |
40 |
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Kraken X60 |
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| 15 |
LimeLight(on swerve) |
5 amp fuse presently |
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LimeLight |
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| 16 |
Front Left Drive |
40 |
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Kraken X60 |
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| 17 |
Front Left Steer |
40 |
|
Kraken X60 |
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| 18 |
Front Right Drive |
40 |
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Kraken X60 |
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| 19 |
Front Right Steer |
40 |
|
Kraken X60 |
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| 20 |
RoboRIO |
10 |
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N/A |
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| 21 |
Radio |
10 |
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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 |
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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 |
Lights |
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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 |
||
| 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 |
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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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| 7 |
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| 2 | 0 |
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| 1 |
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| 5 |
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