2012:Robot IO Map: Difference between revisions

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| &nbsp;&nbsp;&nbsp; 01<br/>
| &nbsp;&nbsp;&nbsp; 01
| 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.
|-
|-
Line 24: Line 24:




| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02
| Left side drivetrain motor (front)<br/>
| Left side drivetrain motor (front)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03
| Left side drivetrain motor (rear)<br/>
| Left side drivetrain motor (rear)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04
| <br/>Right side drivetrain motor (front)
| <br/>Right side drivetrain motor (front)
|-
|-
Line 42: Line 42:




| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05
| <br/>Right side drivetrain motor (rear)
| <br/>Right side drivetrain motor (rear)
|-
|-
Line 48: Line 48:




| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06
| Shooter wheel (upper)<br/>
| Shooter wheel motor&nbsp;(upper)<br/>
|-
|-
|  
|  
Line 55: Line 55:


| &nbsp;&nbsp;&nbsp; 07<br/>
| &nbsp;&nbsp;&nbsp; 07<br/>
| Shooter wheel (lower)<br/>
| Shooter wheel motor (lower)<br/>
|-
|-
|  
|  
Line 61: Line 61:


| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| turret rotation<br/>
| turret rotation motor<br/>
|-
|-
|  
|  
Line 67: Line 67:


| &nbsp;&nbsp;&nbsp; 09<br/>
| &nbsp;&nbsp;&nbsp; 09<br/>
| RESERVED&nbsp;- possible Beater Bar<br/>
| Wing deployer motor
|-
|-
|  
|  
Line 73: Line 73:


| &nbsp;&nbsp;&nbsp; 10<br/>
| &nbsp;&nbsp;&nbsp; 10<br/>
| RESERVED - possible Conveyor stage 1<br/>
|  
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 11<br/>
| &nbsp;&nbsp;&nbsp; 11<br/>
| RESERVED - possible Conveyor stage 2<br/>
|  
|-
|-
|  
|  
Line 85: Line 85:


| &nbsp;&nbsp;&nbsp; 12<br/>
| &nbsp;&nbsp;&nbsp; 12<br/>
| RESERVED - possible Conveyor stage 3<br/>
|  
|-
|-
|  
|  
Line 127: Line 127:


| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02<br/>
| <br/>
| RESERVED
Conveyor Stage 1 Sensor - LED power only
 
|-
|-
|  
|  
Line 133: Line 135:


| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03<br/>
| <br/>
|  
RESERVED
 
Conveyor Stage 2 Sensor - LED power only
 
|-
|-
|  
|  
Line 139: Line 145:


| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04<br/>
| <br/>
| RESERVED
Conveyor Stage 3 Sensor - LED power only
 
|-
|-
|  
|  
Line 145: Line 153:


| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05<br/>
| <br/>
| RESERVED
Conveyor Entrance Sensor - LED power only
 
|-
|-
|  
|  
Line 151: Line 161:


| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06<br/>
| <br/>
|  
RESERVED
 
Camera Light - LED power only
 
|-
|-
|  
|  
Line 185: Line 199:


| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| Wing Deployer
| RESERVED (Possible Wings output)
|-
|-
|  
|  
Line 191: Line 205:


| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02<br/>
| Beater Bar
| Beater Bar motor
|-
|-
|  
|  
Line 197: Line 211:


| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03<br/>
| Conveyor Stage 1
| Conveyor Stage 1 motor
|-
|-
|  
|  
Line 203: Line 217:


| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04<br/>
| Conveyor Stage 2
| Conveyor Stage 2 motor
|-
|-
|  
|  
Line 209: Line 223:


| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05<br/>
| Conveyor Stage 3<br/>
| Conveyor Stage 3 motor
|-
|-
|  
|  
Line 215: Line 229:


| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06<br/>
| <br/>
| Camera Light<br/>
|-
|-
|  
|  
Line 227: Line 241:


| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| <br/>
|  
|-
|-
|  
|  
Line 242: Line 256:
|-
|-
|  
|  
 
B2


| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
| <br/>
|  
Conveyor Stage 1
High for Ball in conveyor
Low when no ball present
|-
|-
|  
|  
 
B3


| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| <br/>
|  
Conveyor Stage 2
High for Ball in conveyor
Low when no ball present
|-
|-
|  
|  
 
B4


| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| <br/>
|  
Conveyor Stage 3
High for Ball in conveyor
Low when no ball present
|-
|-
|  
|  
 
P1


| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
|  
|  
Wing deployer position - potentiometer
Higher values means closer to robot
Lower values means more extended/closer to floor
|-
|-
| L3
| &nbsp;&nbsp; &nbsp;06
|  
|  
 
Turret limit switch (optical OPB815WZ)&nbsp;&nbsp;- max CW
 
High when limit is hit
| &nbsp;&nbsp; &nbsp;06<br/>
Low when limit is NOT hit
| <br/>
|-
|-
|  
|  
<br/>L4


 
| &nbsp;&nbsp; &nbsp;07
| &nbsp;&nbsp; &nbsp;07<br/>
| Turret limit switch (optical OPB815WZ)&nbsp;&nbsp;- max CCW
| <br/>
High when limit is hit
Low when limit is NOT hit
|-
|-
|  
|  
Line 288: Line 317:
|-
|-
|  
|  
IN
IN - E1


| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| Left drivetrain rotary encoder A<br/>
| Left drivetrain rotary encoder A
|-
|-
| IN
| IN - E1
| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
| Left drivetrain rotary encoder B
| Left drivetrain rotary encoder B
|-
|-
|  
|  
IN
IN - E2


| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| Right drivetrain rotary encoder A<br/>
| Right drivetrain rotary encoder A
|-
|-
| IN<br/>
| IN - E2<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| Right drivetrain rotary encoder B<br/>
| Right drivetrain rotary encoder B
|-
|-
|  
|  
IN
IN - E3


| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
| Shooter upper wheel rotary encoder<br/>
| Shooter upper wheel rotary encoder (E4P)
|-
|-
|  
|  
IN
IN - E4


| &nbsp;&nbsp; &nbsp;06<br/>
| &nbsp;&nbsp; &nbsp;06<br/>
| Shooter lower wheel rotary encoder<br/>
| Shooter lower wheel rotary encoder (E4P)
|-
|-
| IN
| IN - E5/E6
| &nbsp;&nbsp; &nbsp;07<br/>
| &nbsp;&nbsp; &nbsp;07<br/>
| Wing limit switch (optical)&nbsp;- full deploy<br/>
| Turret motor shaft -&nbsp;rotary encoder (E4P) or turret sprocket position - opto-reflective rotary encoder
|-
|-
| IN
|  
IN - B1
 
| &nbsp;&nbsp; &nbsp;08<br/>
| &nbsp;&nbsp; &nbsp;08<br/>
| Wing limit switch (optical)&nbsp;- full retract<br/>
|  
conveyor stage 1 entrance - beam break sensor (homemade, 1" cube)
High for Ball in conveyor
Low when no ball present
|-
|-
| IN
| OUT
| &nbsp;&nbsp; &nbsp;09<br/>
| &nbsp;&nbsp; &nbsp;09<br/>
| conveyor stage 1 entrance - beam break sensor<br/>
| LED - Red
|-
|-
| IN
| OUT
| &nbsp;&nbsp; &nbsp;10<br/>
| &nbsp;&nbsp; &nbsp;10<br/>
| conveyor stage 1 exit - beam break sensor<br/>
| LED - Green
|-
|-
| IN
| OUT
| &nbsp;&nbsp; &nbsp;11<br/>
| &nbsp;&nbsp; &nbsp;11<br/>
| conveyor stage 2 exit - beam break sensor<br/>
| LED - Blue
|-
|-
| IN
| OUT
| &nbsp;&nbsp; &nbsp;12<br/>
| &nbsp;&nbsp; &nbsp;12<br/>
| conveyor stage 3 exit - beam break sensor<br/>
| LED Strip 1 - Select
|-
|-
| IN
| OUT
| &nbsp;&nbsp; &nbsp;13<br/>
| &nbsp;&nbsp; &nbsp;13
| turret position - encoder<br/>
|  
LED Strip 2 - Select
 
|-
|-
| IN
| OUT
| &nbsp;&nbsp; &nbsp;14<br/>
| &nbsp;&nbsp; &nbsp;14<br/>
| Wing position rotary encoder
| LED Strip 3 - Select
|-
|-
| '''Pneumatics Bumper'''
| '''Pneumatics Bumper'''

Latest revision as of 11:17, 11 February 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 motor (upper)


     07
 Shooter wheel motor (lower)


     08
 turret rotation motor


     09
 Wing deployer motor


    10


    11


    12


    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

RESERVED

Camera Light - LED power only


    07


    08


    09


    10
Relay Outputs


    01
 RESERVED (Possible Wings output)


    02
 Beater Bar motor


    03
 Conveyor Stage 1 motor


    04
 Conveyor Stage 2 motor


    05
 Conveyor Stage 3 motor


    06
 Camera Light


     07


    08

Analog Inputs




    01
 Gyro

B2

    02

Conveyor Stage 1 High for Ball in conveyor Low when no ball present

B3

    03

Conveyor Stage 2 High for Ball in conveyor Low when no ball present

B4

    04

Conveyor Stage 3 High for Ball in conveyor Low when no ball present

P1

    05

Wing deployer position - potentiometer Higher values means closer to robot Lower values means more extended/closer to floor

L3     06

Turret limit switch (optical OPB815WZ)  - max CW High when limit is hit Low when limit is NOT hit


L4

    07 Turret limit switch (optical OPB815WZ)  - max CCW

High when limit is hit Low when limit is NOT hit

RESERVED

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

IN - E1

    01
 Left drivetrain rotary encoder A
IN - E1     02
 Left drivetrain rotary encoder B

IN - E2

    03
 Right drivetrain rotary encoder A
IN - E2
     04
 Right drivetrain rotary encoder B

IN - E3

    05
 Shooter upper wheel rotary encoder (E4P)

IN - E4

    06
 Shooter lower wheel rotary encoder (E4P)
IN - E5/E6     07
 Turret motor shaft - rotary encoder (E4P) or turret sprocket position - opto-reflective rotary encoder

IN - B1

    08

conveyor stage 1 entrance - beam break sensor (homemade, 1" cube) High for Ball in conveyor Low when no ball present

OUT     09
 LED - Red
OUT     10
 LED - Green
OUT     11
 LED - Blue
OUT     12
 LED Strip 1 - Select
OUT     13

LED Strip 2 - Select

OUT     14
 LED Strip 3 - Select
Pneumatics Bumper
01
02
03



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