2011:Robot IO Map: Difference between revisions

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{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1"
{| 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">PWM&nbsp;Outputs</span>
<span style="font-weight: bold;">CAN&nbsp;ID&nbsp;Assignments</span>  


| &nbsp;&nbsp;&nbsp;<br>
| &nbsp;&nbsp;&nbsp;<br>  
| <br>
| <br>
|-
| RESERVED
<br>
| &nbsp;&nbsp;&nbsp; 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.
|-
|-
|  
|  
<br>


| &nbsp;&nbsp;&nbsp; 01<br>
| &nbsp;&nbsp;&nbsp; 02<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>
 
| &nbsp;&nbsp;&nbsp; 03<br>
| Left side drive train (front motor)<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 04<br>
| Right side drive train (front motor)<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 05<br>
| Arm Drive<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 06<br>
| Manipulator- bottom rollers<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 07<br>
| Manipulator- top rollers&nbsp;<br>
|-
|
<br>  


| &nbsp;&nbsp;&nbsp; 02<br>
| &nbsp;&nbsp;&nbsp; 08<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<span style="font-weight: bold;">PWM&nbsp;Outputs</span>  


| &nbsp;&nbsp;&nbsp; 03<br>
| &nbsp;&nbsp;&nbsp;<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 04<br>
| &nbsp;&nbsp;&nbsp; 01<br>
| <br>
| Minibot Deployer release (servo) - deployment<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 02<br>
| Camera pan servo<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 03<br>
| Camera tilt servo<br>
|-
|
<br>
 
| &nbsp;&nbsp;&nbsp; 04<br>  
| Robot front guide release (servo) - cowcatcher<br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 05<br>
| &nbsp;&nbsp;&nbsp; 05<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 06<br>
| &nbsp;&nbsp;&nbsp; 06<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 07<br>
| &nbsp;&nbsp;&nbsp; 07<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 08<br>
| &nbsp;&nbsp;&nbsp; 08<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 09<br>
| &nbsp;&nbsp;&nbsp; 09<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 10<br>
| &nbsp;&nbsp;&nbsp; 10<br>  
| <br>
| <br>
|-
|-
| '''Relay Outputs'''  
| '''Relay Outputs'''  
| <br>
| <br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp; &nbsp;01<br>
| &nbsp;&nbsp; &nbsp;01<br>  
| <br>
| Compressor
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 02<br>
| &nbsp;&nbsp;&nbsp; 02<br>  
| <br>
| Valve
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 03<br>
| &nbsp;&nbsp;&nbsp; 03<br>  
| <br>
|  
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 04<br>
| &nbsp;&nbsp;&nbsp; 04<br>  
| <br>
|  
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 05<br>
| &nbsp;&nbsp;&nbsp; 05<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 06 <br>
| &nbsp;&nbsp;&nbsp; 06 <br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 07<br>
| &nbsp;&nbsp;&nbsp; 07<br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| &nbsp;&nbsp;&nbsp; 08<br>
| &nbsp;&nbsp;&nbsp; 08<br>  
| <br>
| <br>
|-
|-
|  
|  
'''Analog Inputs'''
'''Analog Inputs'''  


| <br>
| <br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
<br>  


| 01<br>
| &nbsp;&nbsp; &nbsp;01<br>  
| <br>
| Gyro<br>
|-
|-
|  
|  
<br>
<br>  


| 02<br>
| &nbsp;&nbsp; &nbsp;02<br>  
| <br>
| Floor Line Sensor- Right<br>
|-
|-
|  
|  
<br>
<br>  


| 03<br>
| &nbsp;&nbsp; &nbsp;03<br>  
| <br>
| Floor Line Sensor- Middle<br>
|-
|-
|  
|  
<br>
<br>  


| 04<br>
| &nbsp;&nbsp; &nbsp;04<br>  
| <br>
| Floor Line Sensor- Left<br>
|-
|-
|  
|  
<br>
<br>  


| 05<br>
| &nbsp;&nbsp; &nbsp;05<br>  
| <br>
| Banner photoelectric sensor for "Got It"<br>(Logic High =&nbsp; +3.6Vdc min., Logic Low = 0Vdc)
|-
|-
|  
|  
<br>
<br>  


| 06<br>
| &nbsp;&nbsp; &nbsp;06<br>  
| <br>
| Photoelectric sensor for arm "Home/Park"<br>
|-
|-
|  
|  
<br>
<br>  


| 07<br>
| &nbsp;&nbsp; &nbsp;07<br>  
| <br>
| <br>
|-
|-
|  
|  
RESERVED
RESERVED  


| 08<br>
| &nbsp;&nbsp; &nbsp;08<br>  
| Battery Voltage Input (Don't use)
| Battery Voltage Input (Don't use)
|-
|-
| '''Digital Outputs (GPIO)'''  
| '''Digital IO (GPIO)'''  
| <br>
| <br>  
| <br>
| <br>
|-
|-
|  
|  
<br>
IN<br>  


| 01<br>
| &nbsp;&nbsp; &nbsp;01<br>  
| <br>
| Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br>
|-
|-
|  
|  
<br>
IN<br>  


| 02<br>
| &nbsp;&nbsp; &nbsp;02<br>  
| <br>
| Pressure Switch
|-
|-
|  
|  
<br>
IN<br>  


| 03<br>
| &nbsp;&nbsp; &nbsp;03<br>  
| <br>
| Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br>
|-
|-
|  
|  
<br>
IN<br>  


| 04 <br>
| &nbsp;&nbsp; &nbsp;04 <br>  
| <br>
| Right drivetrain encoder, channel B (YEL=SIGB)<br>
|-
|-
|  
|  
<br>
IN<br>  


| 05 <br>
| &nbsp;&nbsp; &nbsp;05 <br>  
| <br>
| Left arm encoder, channel A<br>
|-
|-
|  
|  
<br>
IN<br>  


| 06<br>
| &nbsp;&nbsp; &nbsp;06<br>  
| <br>
| Left arm encoder, channel B<br>
|-
|-
|  
|  
| 07<br>
<br>IN
| <br>
 
| &nbsp;&nbsp; &nbsp;07<br>  
| Right arm encoder, channel A<br>
|-
|-
|  
|  
<br>
<br>IN


| 08<br>
| &nbsp;&nbsp; &nbsp;08<br>  
| <br>
| Right arm encoder, channel B<br>
|-
|-
|  
|  
<br>
OUT<br>  


| 09 <br>
| &nbsp;&nbsp; &nbsp;09 <br>  
| <br>
| Output for Signal Light RED<br>
|-
|-
|  
|  
<br>
OUT<br>  


| 10<br>
| &nbsp;&nbsp; &nbsp;10<br>  
| <br>
| Output for Signal Light WHITE<br>
|-
|-
|  
|  
<br>
OUT<br>  


| 11 <br>
| &nbsp;&nbsp; &nbsp;11 <br>  
| <br>
| Output for Signal Light BLUE<br>
|-
|-
|  
|  
<br>
IN<br>  


| 12 <br>
| &nbsp;&nbsp; &nbsp;12 <br>  
| <br>
| Photoelectric sensor for arm&nbsp;"Playing Position"<br>
|-
|-
|  
|  
<br>
IN<br>  


| 13 <br>
| &nbsp;&nbsp; &nbsp;13 <br>  
| <br>
| Photoelectric sensor for arm&nbsp;"Reverse Position"<br>
|-
|-
|  
|  
<br>
OUT<br>  


| 14<br>
| &nbsp;&nbsp; &nbsp;14<br>  
| <br>
|  
Output for signal light GREEN "Got-It"
 
|-
| '''Pneumatics Bumper'''
|
|
|-
|
| align="center" valign="middle" | 01
| Power for Floor Line Sensor Right
|-
|
| align="center" valign="middle" | 02
| Power for Floor Line Sensor Middle
|-
|
| align="center" valign="middle" | 03
| Power for Floor Line Sensor Left
|}
|}


<br>
<br>  


<br>
<br>

Latest revision as of 16:10, 19 April 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 (front motor)


     04
 Right side drive train (front motor)


     05
 Arm Drive


     06
 Manipulator- bottom rollers


     07
 Manipulator- top rollers 


     08

PWM Outputs

   


    01
 Minibot Deployer release (servo) - deployment


     02
 Camera pan servo


     03
 Camera tilt servo


     04
 Robot front guide release (servo) - cowcatcher


     05


    06


    07


    08


    09


    10
Relay Outputs


    01
 Compressor


    02
 Valve


    03


    04


    05


    06


    07


    08

Analog Inputs




    01
 Gyro


     02
 Floor Line Sensor- Right


     03
 Floor Line Sensor- Middle


     04
 Floor Line Sensor- Left


     05
 Banner photoelectric sensor for "Got It"
(Logic High =  +3.6Vdc min., Logic Low = 0Vdc)


    06
 Photoelectric sensor for arm "Home/Park"


     07

RESERVED

    08
 Battery Voltage Input (Don't use)
Digital IO (GPIO)

IN

     01
 Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)

IN

     02
 Pressure Switch

IN

     03
 Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)

IN

     04
Right drivetrain encoder, channel B (YEL=SIGB)

IN

     05
Left arm encoder, channel A

IN

     06
 Left arm encoder, channel B


IN

    07
 Right arm encoder, channel A


IN

    08
 Right arm encoder, channel B

OUT

     09
Output for Signal Light RED

OUT

     10
 Output for Signal Light WHITE

OUT

     11
Output for Signal Light BLUE

IN

     12
Photoelectric sensor for arm "Playing Position"

IN

     13
Photoelectric sensor for arm "Reverse Position"

OUT

     14

Output for signal light GREEN "Got-It"

Pneumatics Bumper
01 Power for Floor Line Sensor Right
02 Power for Floor Line Sensor Middle
03 Power for Floor Line Sensor Left



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