2026:Robot IO Map: Difference between revisions

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| style="text-align: center; width: 85px;" | Kraken X60
| style="text-align: center; width: 85px;" | Kraken X60
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; width: 94px;" | Intake Speed Drive
| style="text-align: center; width: 94px;" | Intake Speed Drive Right
| style="height: 28px; width: 147px;" |
| style="height: 28px; width: 147px;" |
<br>
<br>
Line 545: Line 545:
| style="width: 93px;" | <br>
| style="width: 93px;" | <br>
|-  
|-  
| style="text-align: center; width: 17px;" | 30
| style="text-align: center; width: 17px;" | 41
| style="text-align: center; width: 90px;" |
| style="text-align: center; width: 90px;" |
<br>
Intake
| style="text-align: center; width: 91px;" |
| style="text-align: center; width: 91px;" |
<br>
Motor
| style="text-align: center; width: 85px;" |
| style="text-align: center; width: 85px;" |
<br>
Kraken X60
| style="text-align: center; width: 59px;" |
| style="text-align: center; width: 59px;" |
<br>
<br>
| style="text-align: center; width: 94px;" |
| style="text-align: center; width: 94px;" |
<br>
Intake Drive Speed Left
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
Line 567: Line 567:
== CAN Physical Chain Layout ==
== CAN Physical Chain Layout ==
'''NOTE:''' ''CAN connection convention is YELLOW CAN wire on pin 1 (to match Kraken cap convention)''
'''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: 632px;"  
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 632px;"
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" | <span style="font-size: 14pt;">'''Devices in Order'''</span>
| style="width: 65.468%; height: 23px;" | <span style="font-size: 14pt;">'''Devices in Order'''</span>
Line 626: Line 626:
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
Intake roller motor
Intake Right Motor
| style="width: 34.532%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
Line 659: Line 659:
| style="width: 34.532%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|-
| style="width: 65.468%;" | Intake Left Motor<br>
| style="width: 34.532%;" | <br>
|- style="height: 47px;"
|- style="height: 47px;"
| style="height: 47px;" | Intake pivot thru-bore encoder
| style="height: 47px;" | Intake pivot thru-bore encoder
Line 671: Line 674:
| style="height: 23px;" | Spindexer motor
| style="height: 23px;" | Spindexer motor
| style="height: 23px;" |
| style="height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="height: 23px;" | Back-left swerve motor on climber side
| style="height: 23px;" | Back-left swerve motor on climber side
| style="height: 23px;" |
| style="height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="height: 23px;" | Back-left swerve CANCoder
| style="height: 23px;" | Back-left swerve CANCoder
| style="height: 23px;" |
| style="height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="height: 23px;" | Back-left serve motor on back side
| style="height: 23px;" | Back-left serve motor on back side
Line 685: Line 691:




{| class="wikitable" style="height: 1198px; width: 1012px;" width="920"
{| class="wikitable" style="height: 700px; width: 1012px;" width="920"
! style="height: 28px; width: 177px;" | Port #
! style="height: 28px; width: 165.133px;" | Port #
! style="height: 28px; width: 222px;" | Device (Subteam)
! style="height: 28px; width: 205.15px;" | Device (Subteam)
! style="height: 28px; width: 145px;" | Breaker Value
! style="height: 28px; width: 135.967px;" | Breaker Value
! style="height: 28px; width: 181px;" | Max Channel Current
! style="height: 28px; width: 165.917px;" | Max Channel Current
! style="width: 116px;" | Motor Type
! style="width: 109.5px; height: 28px;" | Motor Type
! style="height: 28px; width: 171px;" | Note
! style="height: 28px; width: 154.133px;" | Note
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 0
| style="height: 28px; width: 165.133px; text-align: center;" | 0
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Intake speed / rollers
Intake Right Motor
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 1
| style="height: 28px; width: 165.133px; text-align: center;" | 1
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Intake Encoder, pigeon, limelight(on hang)
Intake Encoder, pigeon, limelight(on hang)
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
20
20
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
N/A
N/A
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 2
| style="height: 28px; width: 165.133px; text-align: center;" | 2
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Climber
Climber
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Neo 2.0
Neo 2.0
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 3
| style="height: 28px; width: 165.133px; text-align: center;" | 3
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Intake Position
Intake Position
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Neo 2.0
Neo 2.0
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 4
| style="height: 28px; width: 165.133px; text-align: center;" | 4
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
<br>
Intake Left Motor
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
<br>
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
| style="width: 116px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 171px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken x60
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 5
| style="height: 28px; width: 165.133px; text-align: center;" | 5
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Kicker
Kicker
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 6
| style="height: 28px; width: 165.133px; text-align: center;" | 6
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Shooter Hood
Shooter Hood
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X44
Kraken X44
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 7
| style="height: 28px; width: 165.133px; text-align: center;" | 7
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Shooter Right
Shooter Right
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 8
| style="height: 28px; width: 165.133px; text-align: center;" | 8
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Shooter Left
Shooter Left
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 9
| style="height: 28px; width: 165.133px; text-align: center;" | 9
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
LEDs
LEDs
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
5
5
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
N/A
N/A
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 10
| style="height: 28px; width: 165.133px; text-align: center;" | 10
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Back Right Drive
Back Right Drive
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 11
| style="height: 28px; width: 165.133px; text-align: center;" | 11
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Back Right Steer
Back Right Steer
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 12
| style="height: 28px; width: 165.133px; text-align: center;" | 12
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Back Left Drive
Back Left Drive
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 13
| style="height: 28px; width: 165.133px; text-align: center;" | 13
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Back Left Steer
Back Left Steer
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 14
| style="height: 28px; width: 165.133px; text-align: center;" | 14
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Spindexer
Spindexer
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 15
| style="height: 28px; width: 165.133px; text-align: center;" | 15
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
LimeLight(on swerve)
LimeLight(on swerve)
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
5 amp&nbsp;'''fuse''' presently
5 amp&nbsp;'''fuse''' presently
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
LimeLight
LimeLight
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 16
| style="height: 28px; width: 165.133px; text-align: center;" | 16
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Front Left Drive
Front Left Drive
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 17
| style="height: 28px; width: 165.133px; text-align: center;" | 17
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Front Left Steer
Front Left Steer
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 18
| style="height: 28px; width: 165.133px; text-align: center;" | 18
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Front Right Drive
Front Right Drive
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 19
| style="height: 28px; width: 165.133px; text-align: center;" | 19
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Front Right Steer
Front Right Steer
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
40
40
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 20
| style="height: 28px; width: 165.133px; text-align: center;" | 20
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
RoboRIO
RoboRIO
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
10
10
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
N/A
N/A
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 21
| style="height: 28px; width: 165.133px; text-align: center;" | 21
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
Radio
Radio
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
10
10
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
N/A
N/A
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 22
| style="height: 28px; width: 165.133px; text-align: center;" | 22
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" |
| style="width: 109.5px; text-align: center; height: 28px;" |
<br>
<br>
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable)
| style="height: 28px; width: 165.133px; text-align: center;" | 23 (Switchable)
| style="height: 28px; width: 222px; text-align: center;" |
| style="height: 28px; width: 205.15px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 135.967px; text-align: center;" |
<br>
<br>
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 165.917px; text-align: center;" |
<br>
<br>
| style="width: 116px; text-align: center;" | <br>
| style="width: 109.5px; text-align: center; height: 28px;" | <br>
| style="height: 28px; width: 171px; text-align: center;" |
| style="height: 28px; width: 154.133px; text-align: center;" |
<br>
<br>
|}
|}


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== Analog IO ==
== Analog IO ==
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=== <u>RoboRIO Analog Inputs</u> ===
=== <u>RoboRIO Analog Inputs</u> ===


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| style="height: 28px; width: 14.4px;" | 0
| style="height: 28px; width: 14.4px;" | 0
| style="height: 28px; width: 73.65px;" |
| style="height: 28px; width: 73.65px;" |
Hang
<br>
| style="width: 89.65px; height: 28px;" |
| style="width: 89.65px; height: 28px;" |
Distance Sensor
<br>
| style="width: 108.05px; height: 28px;" |
| style="width: 108.05px; height: 28px;" |
Sharp/Socle GP2Y0A41SK0F Analog Distance Sensor 4-30cm
<br>
| style="width: 200.913px; height: 28px;" |
| style="width: 200.913px; height: 28px;" |
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<br>
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== Digital IO (GPIO) ==
== Digital IO (GPIO) ==
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=== <u>RoboRio IO</u> ===
=== <u>RoboRio IO</u> ===


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== Pneumatics Control Modules ==
== Pneumatics Control Modules ==


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


Kicker motor


PDH


Pigeon


Intake Right Motor


Front-right swerve motor on Lasagna side


Front-right swerve CANCoder


Front-right swerve motor on front side


Front-left swerve motor on front side


Front-left swerve CANCoder


Front-left swerve motor on climber side


Intake Left Motor
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


Back-left swerve motor on climber side


Back-left swerve CANCoder


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


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

LimeLight(on swerve)

5 amp fuse presently


LimeLight


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
(REV 31-1462)

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







3



4







5



6







7



2 0








1



2







3



4







5



Operator Controls

IO Maps for Old Robots

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