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''' | ||
| Line 8: | Line 8: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold"> | <span style="font-weight: bold;">CAN ID Assignments</span> | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | RESERVED | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| <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. | ||
|- | |- | ||
| | | | ||
| Line 29: | Line 29: | ||
| 03<br> | | 03<br> | ||
| Left side drive train (front motor)<br> | |||
|- | |||
| | |||
<br> | |||
| 04<br> | |||
| Right side drive train (front motor)<br> | |||
|- | |||
| | |||
<br> | |||
| 05<br> | |||
| Arm Drive<br> | |||
|- | |||
| | |||
<br> | |||
| 06<br> | |||
| Manipulator- bottom rollers<br> | |||
|- | |||
| | |||
<br> | |||
| 07<br> | |||
| Manipulator- top rollers <br> | |||
|- | |||
| | |||
<br> | |||
| 08<br> | |||
| <br> | |||
|- | |||
| | |||
<span style="font-weight: bold;">PWM Outputs</span> | |||
| <br> | |||
| <br> | | <br> | ||
|- | |||
| | |||
<br> | |||
| 01<br> | |||
| Minibot Deployer release (servo) - deployment<br> | |||
|- | |||
| | |||
<br> | |||
| 02<br> | |||
| Camera pan servo<br> | |||
|- | |||
| | |||
<br> | |||
| 03<br> | |||
| Camera tilt servo<br> | |||
|- | |- | ||
| | | | ||
| Line 35: | Line 89: | ||
| 04<br> | | 04<br> | ||
| <br> | | Robot front guide release (servo) - cowcatcher<br> | ||
|- | |- | ||
| | | | ||
| Line 81: | Line 135: | ||
| 01<br> | | 01<br> | ||
| | | Compressor | ||
|- | |- | ||
| | | | ||
| Line 87: | Line 141: | ||
| 02<br> | | 02<br> | ||
| | | Valve | ||
|- | |- | ||
| | | | ||
| Line 93: | Line 147: | ||
| 03<br> | | 03<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
| Line 99: | Line 153: | ||
| 04<br> | | 04<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
| Line 135: | Line 189: | ||
| 01<br> | | 01<br> | ||
| <br> | | Gyro<br> | ||
|- | |- | ||
| | | | ||
| Line 141: | Line 195: | ||
| 02<br> | | 02<br> | ||
| <br> | | Floor Line Sensor- Right<br> | ||
|- | |- | ||
| | | | ||
| Line 147: | Line 201: | ||
| 03<br> | | 03<br> | ||
| <br> | | Floor Line Sensor- Middle<br> | ||
|- | |- | ||
| | | | ||
| Line 153: | Line 207: | ||
| 04<br> | | 04<br> | ||
| <br> | | Floor Line Sensor- Left<br> | ||
|- | |- | ||
| | | | ||
| Line 159: | Line 213: | ||
| 05<br> | | 05<br> | ||
| <br> | | Banner photoelectric sensor for "Got It"<br>(Logic High = +3.6Vdc min., Logic Low = 0Vdc) | ||
|- | |- | ||
| | | | ||
| Line 165: | Line 219: | ||
| 06<br> | | 06<br> | ||
| <br> | | Photoelectric sensor for arm "Home/Park"<br> | ||
|- | |- | ||
| | | | ||
| Line 179: | Line 233: | ||
| Battery Voltage Input (Don't use) | | Battery Voltage Input (Don't use) | ||
|- | |- | ||
| '''Digital | | '''Digital IO (GPIO)''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 01<br> | | 01<br> | ||
| <br> | | Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 02<br> | | 02<br> | ||
| | | Pressure Switch | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 03<br> | | 03<br> | ||
| <br> | | Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 04 <br> | | 04 <br> | ||
| <br> | | Right drivetrain encoder, channel B (YEL=SIGB)<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 05 <br> | | 05 <br> | ||
| <br> | | Left arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 06<br> | | 06<br> | ||
| <br> | | Left arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br>IN | ||
| 07<br> | | 07<br> | ||
| <br> | | Right arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br>IN | ||
| 08<br> | | 08<br> | ||
| <br> | | Right arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 09 <br> | | 09 <br> | ||
| <br> | | Output for Signal Light RED<br> | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 10<br> | | 10<br> | ||
| <br> | | Output for Signal Light WHITE<br> | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 11 <br> | | 11 <br> | ||
| <br> | | Output for Signal Light BLUE<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 12 <br> | | 12 <br> | ||
| <br> | | Photoelectric sensor for arm "Playing Position"<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 13 <br> | | 13 <br> | ||
| <br> | | Photoelectric sensor for arm "Reverse Position"<br> | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 14<br> | | 14<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 | |||
|} | |} | ||
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 |
|
|
07 |
Right arm encoder, channel A |
|
|
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 |
