2012:Robot IO Map: Difference between revisions
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| Line 128: | Line 128: | ||
| 02<br/> | | 02<br/> | ||
| RESERVED | | RESERVED | ||
Conveyor Stage 1 Sensor - LED | Conveyor Stage 1 Sensor - LED power only | ||
|- | |- | ||
| Line 138: | Line 138: | ||
RESERVED | RESERVED | ||
Conveyor Stage 2 Sensor - LED | Conveyor Stage 2 Sensor - LED power only | ||
| Line 148: | Line 148: | ||
| 04<br/> | | 04<br/> | ||
| RESERVED | | RESERVED | ||
Conveyor Stage 3 Sensor - LED | Conveyor Stage 3 Sensor - LED power only | ||
| Line 158: | Line 158: | ||
| 05<br/> | | 05<br/> | ||
| RESERVED | | RESERVED | ||
Conveyor Entrance Sensor - LED | Conveyor Entrance Sensor - LED power only | ||
| Line 262: | Line 262: | ||
| 02<br/> | | 02<br/> | ||
| <br/> | | <br/> | ||
Wing limit switch (optical) - full deploy | Wing limit switch (optical OPB815WZ) - full deploy | ||
|- | |- | ||
| Line 270: | Line 270: | ||
| 03<br/> | | 03<br/> | ||
| <br/> | | <br/> | ||
Wing limit switch (optical) - full retract | Wing limit switch (optical OPB815WZ) - full retract | ||
|- | |- | ||
| Line 285: | Line 285: | ||
| 05<br/> | | 05<br/> | ||
| <br/> | | <br/>Turret limit switch (optical OPB815WZ) - max CW | ||
|- | |- | ||
| | | | ||
| Line 291: | Line 291: | ||
| 06<br/> | | 06<br/> | ||
| | | | ||
Turret limit switch (optical OPB815WZ) - max CCW | |||
|- | |- | ||
| | | | ||
| Line 343: | Line 345: | ||
| IN | | IN | ||
| 07<br/> | | 07<br/> | ||
| Turret | | Turret motor shaft - rotary encoder | ||
|- | |- | ||
| IN | | IN | ||
| 08<br/> | | 08<br/> | ||
| | | | ||
turret position - encoder | turret sprocket position - rotary encoder | ||
|- | |- | ||
Revision as of 12:00, 28 January 2012
| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
0-127 |
|
| 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 |
Left side drivetrain motor (front) |
|
|
03 |
Left side drivetrain motor (rear) |
|
|
04 |
Right side drivetrain motor (front) |
|
|
05 |
Right side drivetrain motor (rear) |
|
|
06 |
Shooter wheel (upper) |
|
|
07 |
Shooter wheel (lower) |
|
|
08 |
turret rotation |
|
|
09 |
Wing Deployer |
|
|
10 |
RESERVED - possible Conveyor stage 1 |
|
|
11 |
RESERVED - possible Conveyor stage 2 |
|
|
12 |
RESERVED - possible Conveyor stage 3 |
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
RESERVED
Conveyor Stage 1 Sensor - LED power only |
|
|
03 |
RESERVED Conveyor Stage 2 Sensor - LED power only
|
|
|
04 |
RESERVED
Conveyor Stage 3 Sensor - LED power only
|
|
|
05 |
RESERVED
Conveyor Entrance Sensor - LED power only
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
RESERVED (Possible Wings output) |
|
|
02 |
Beater Bar |
|
|
03 |
Conveyor Stage 1 |
|
|
04 |
Conveyor Stage 2 |
|
|
05 |
Conveyor Stage 3 |
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
Wing limit switch (optical OPB815WZ) - full deploy |
|
|
03 |
Wing limit switch (optical OPB815WZ) - full retract |
|
|
04 |
Potentiometer -Wings |
|
|
05 |
Turret limit switch (optical OPB815WZ) - max CW |
|
|
06 |
Turret limit switch (optical OPB815WZ) - max CCW |
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use for other devices) |
| Digital IO (GPIO) | ||
|
IN |
01 |
Left drivetrain rotary encoder A |
| IN | 02 |
Left drivetrain rotary encoder B |
|
IN |
03 |
Right drivetrain rotary encoder A |
| IN |
04 |
Right drivetrain rotary encoder B |
|
IN |
05 |
Shooter upper wheel rotary encoder |
|
IN |
06 |
Shooter lower wheel rotary encoder |
| IN | 07 |
Turret motor shaft - rotary encoder |
| IN | 08 |
turret sprocket position - rotary encoder |
| IN | 09 |
conveyor stage 1 entrance - beam break sensor |
| IN | 10 |
conveyor stage 1 exit - beam break sensor |
| IN | 11 |
conveyor stage 2 exit - beam break sensor |
| IN | 12 |
conveyor stage 3 exit - beam break sensor |
| IN | 13 |
|
| OUT | 14 |
Camera Light(s) |
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 |
