2011:Robot IO Map: Difference between revisions
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(Add drive train CAN assignments from proto board) |
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{| | {| cellspacing="1" cellpadding="1" border="1" style="width: 653px; height: 344px;" | ||
|- | |- | ||
| '''Type / Function''' | | '''Type / Function''' | ||
| Line 8: | Line 8: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold">CAN ID Assignments</span> | <span style="font-weight: bold;">CAN ID Assignments</span> | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| RESERVED | | RESERVED | ||
<br> | <br> | ||
| Line 41: | Line 41: | ||
| 05<br> | | 05<br> | ||
| <br> | | Arm Drive<br> | ||
|- | |- | ||
| | | | ||
| Line 47: | Line 47: | ||
| 06<br> | | 06<br> | ||
| <br> | | Manipulator- top <br> | ||
|- | |- | ||
| | | | ||
| Line 53: | Line 53: | ||
| 07<br> | | 07<br> | ||
| <br> | | Manipulator- bottom<br> | ||
|- | |- | ||
| | | | ||
| Line 62: | Line 62: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold">PWM Outputs</span> | <span style="font-weight: bold;">PWM Outputs</span> | ||
| <br> | | <br> | ||
| Line 71: | Line 71: | ||
| 01<br> | | 01<br> | ||
| <br> | | Mini Deployer <br> | ||
|- | |- | ||
| | | | ||
| Line 77: | Line 77: | ||
| 02<br> | | 02<br> | ||
| <br> | | Camera Pan<br> | ||
|- | |- | ||
| | | | ||
| Line 83: | Line 83: | ||
| 03<br> | | 03<br> | ||
| <br> | | camera tilt<br> | ||
|- | |- | ||
| | | | ||
| Line 135: | Line 135: | ||
| 01<br> | | 01<br> | ||
| <br> | | Signal light red<br> | ||
|- | |- | ||
| | | | ||
| Line 141: | Line 141: | ||
| 02<br> | | 02<br> | ||
| <br> | | Signal light white<br> | ||
|- | |- | ||
| | | | ||
| Line 147: | Line 147: | ||
| 03<br> | | 03<br> | ||
| <br> | | Signal light blue<br> | ||
|- | |- | ||
| | | | ||
| Line 153: | Line 153: | ||
| 04<br> | | 04<br> | ||
| <br> | | "Got it" light <br> | ||
|- | |- | ||
| | | | ||
| Line 189: | Line 189: | ||
| 01<br> | | 01<br> | ||
| <br> | | Gyro<br> | ||
|- | |- | ||
| | | | ||
| Line 233: | Line 233: | ||
| Battery Voltage Input (Don't use) | | Battery Voltage Input (Don't use) | ||
|- | |- | ||
| '''Digital | | '''Digital IO (GPIO)''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
| Line 241: | Line 241: | ||
| 01<br> | | 01<br> | ||
| <br> | | Left drivetrain encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
| Line 247: | Line 247: | ||
| 02<br> | | 02<br> | ||
| <br> | | Left drivetrain encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
| Line 253: | Line 253: | ||
| 03<br> | | 03<br> | ||
| <br> | | Right drivetrain encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
| Line 259: | Line 259: | ||
| 04 <br> | | 04 <br> | ||
| <br> | | Right drivetrain encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
| Line 265: | Line 265: | ||
| 05 <br> | | 05 <br> | ||
| <br> | | Left arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
| Line 271: | Line 271: | ||
| 06<br> | | 06<br> | ||
| <br> | | B<br> | ||
|- | |- | ||
| | | | ||
| Line 277: | Line 277: | ||
| 07<br> | | 07<br> | ||
| <br> | | Right arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
| Line 283: | Line 283: | ||
| 08<br> | | 08<br> | ||
| <br> | | Right arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
| Line 289: | Line 289: | ||
| 09 <br> | | 09 <br> | ||
| <br> | | Banner photoelectric for "Got It" 1<br> | ||
|- | |- | ||
| | | | ||
| Line 295: | Line 295: | ||
| 10<br> | | 10<br> | ||
| <br> | | Banner photoelectric for "Got It" 2<br> | ||
|- | |- | ||
| | | | ||
| Line 301: | Line 301: | ||
| 11 <br> | | 11 <br> | ||
| <br> | | Photoelectric sensor for "Home"<br> | ||
|- | |- | ||
| | | | ||
| Line 307: | Line 307: | ||
| 12 <br> | | 12 <br> | ||
| <br> | | Photoelectric sensor for "Playing Position"<br> | ||
|- | |- | ||
| | | | ||
| Line 313: | Line 313: | ||
| 13 <br> | | 13 <br> | ||
| <br> | | Photoelectric sensor for "Reverse Position"<br> | ||
|- | |- | ||
| | | | ||
Revision as of 19:59, 27 January 2011
| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
|
|
| RESERVED
|
01 |
DO NOT USE. ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id. |
|
|
02 |
|
|
|
03 |
Left side drive train |
|
|
04 |
Right side drive train |
|
|
05 |
Arm Drive |
|
|
06 |
Manipulator- top |
|
|
07 |
Manipulator- bottom |
|
|
08 |
|
|
PWM Outputs |
|
|
|
|
01 |
Mini Deployer |
|
|
02 |
Camera Pan |
|
|
03 |
camera tilt |
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
Signal light red |
|
|
02 |
Signal light white |
|
|
03 |
Signal light blue |
|
|
04 |
"Got it" light |
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use) |
| Digital IO (GPIO) | ||
|
|
01 |
Left drivetrain encoder, channel A |
|
|
02 |
Left drivetrain encoder, channel B |
|
|
03 |
Right drivetrain encoder, channel A |
|
|
04 |
Right drivetrain encoder, channel B |
|
|
05 |
Left arm encoder, channel A |
|
|
06 |
B |
|
|
07 |
Right arm encoder, channel A |
|
|
08 |
Right arm encoder, channel B |
|
|
09 |
Banner photoelectric for "Got It" 1 |
|
|
10 |
Banner photoelectric for "Got It" 2 |
|
|
11 |
Photoelectric sensor for "Home" |
|
|
12 |
Photoelectric sensor for "Playing Position" |
|
|
13 |
Photoelectric sensor for "Reverse Position" |
|
|
14 |
