2011:Robot IO Map: Difference between revisions
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{| | {| cellspacing="1" cellpadding="1" border="1" style="width: 653px; height: 344px;" | ||
|- | |- | ||
| '''Type / Function''' | | '''Type / Function''' | ||
| '''Channel<br>''' | | '''Channel<br>''' | ||
| | | | ||
'''Connected Device''' | '''Connected Device''' | ||
|- | |- | ||
| | | | ||
<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> | ||
| 01<br> | | 01<br> | ||
| DO NOT USE.<br>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. | | DO NOT USE.<br>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. | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Left side drive train<br> | | Left side drive train<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| Right side drive train<br> | | Right side drive train<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| Arm Drive<br> | | Arm Drive<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| Manipulator- top <br> | | Manipulator- top <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| Manipulator- bottom<br> | | Manipulator- bottom<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold">PWM Outputs</span> | <span style="font-weight: bold;">PWM Outputs</span> | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Mini Deployer <br> | | Mini Deployer <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| Camera Pan<br> | | Camera Pan<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| camera tilt<br> | | camera tilt<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 09<br> | | 09<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 10<br> | | 10<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| '''Relay Outputs''' | | '''Relay Outputs''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Signal light red<br> | | Signal light red<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| Signal light white<br> | | Signal light white<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Signal light blue<br> | | Signal light blue<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| "Got it" signal light green <br> | | "Got it" signal light green <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06 <br> | | 06 <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
'''Analog Inputs''' | '''Analog Inputs''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Gyro<br> | | Gyro<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| <br> | | Line Sensor- Right<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| <br> | | Line Sensor- Middle<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| <br> | | Line Sensor- Left<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
RESERVED | RESERVED | ||
| 08<br> | | 08<br> | ||
| Battery Voltage Input (Don't use) | | Battery Voltage Input (Don't use) | ||
|- | |- | ||
| '''Digital IO (GPIO)''' | | '''Digital IO (GPIO)''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Left drivetrain encoder, channel A<br> | | Left drivetrain encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| Left drivetrain encoder, channel B<br> | | Left drivetrain encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Right drivetrain encoder, channel A<br> | | Right drivetrain encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04 <br> | | 04 <br> | ||
| Right drivetrain encoder, channel B<br> | | Right drivetrain encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05 <br> | | 05 <br> | ||
| Left arm encoder, channel A<br> | | Left arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| Left arm encoder, channel B<br> | | Left arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| Right arm encoder, channel A<br> | | Right arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| Right arm encoder, channel B<br> | | Right arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 09 <br> | | 09 <br> | ||
| Banner photoelectric for "Got It" 1<br> | | Banner photoelectric for "Got It" 1<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 10<br> | | 10<br> | ||
| Banner photoelectric for "Got It" 2<br> | | Banner photoelectric for "Got It" 2<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 11 <br> | | 11 <br> | ||
| Photoelectric sensor for arm "Home"<br> | | Photoelectric sensor for arm "Home"<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 12 <br> | | 12 <br> | ||
| Photoelectric sensor for arm "Playing Position"<br> | | Photoelectric sensor for arm "Playing Position"<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 13 <br> | | 13 <br> | ||
| Photoelectric sensor for arm "Reverse Position"<br> | | Photoelectric sensor for arm "Reverse Position"<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 14<br> | | 14<br> | ||
| <br> | | <br> | ||
|} | |} | ||
<br> | <br> | ||
<br> | <br> | ||
Revision as of 09:34, 30 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" signal light green |
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
Line Sensor- Right |
|
|
03 |
Line Sensor- Middle |
|
|
04 |
Line Sensor- Left |
|
|
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 |
Left arm encoder, channel 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 arm "Home" |
|
|
12 |
Photoelectric sensor for arm "Playing Position" |
|
|
13 |
Photoelectric sensor for arm "Reverse Position" |
|
|
14 |
