2012:Robot IO Map: Difference between revisions
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| 10<br/> | | 10<br/> | ||
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| Line 79: | Line 79: | ||
| 11<br/> | | 11<br/> | ||
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|- | |- | ||
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| Line 85: | Line 85: | ||
| 12<br/> | | 12<br/> | ||
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|- | |- | ||
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| Line 229: | Line 229: | ||
| 06<br/> | | 06<br/> | ||
| <br/> | | Camera Light<br/> | ||
|- | |- | ||
| | | | ||
| Line 256: | Line 256: | ||
|- | |- | ||
| | | | ||
B2 | |||
| 02<br/> | | 02<br/> | ||
| | | | ||
Conveyor Stage 1 | |||
High for Ball in conveyor | |||
Low when no ball present | |||
|- | |- | ||
| | | | ||
B3 | |||
| 03<br/> | | 03<br/> | ||
| | | | ||
Conveyor Stage 2 | |||
High for Ball in conveyor | |||
Low when no ball present | |||
|- | |- | ||
| | | | ||
B4 | |||
| 04<br/> | | 04<br/> | ||
| | | | ||
Conveyor Stage 3 | |||
High for Ball in conveyor | |||
Low when no ball present | |||
|- | |- | ||
| | | | ||
P1 | |||
| 05<br/> | | 05<br/> | ||
| | | | ||
Wing deployer position - potentiometer | |||
Higher values means closer to robot | |||
Lower values means more extended/closer to floor | |||
|- | |- | ||
| | | L3 | ||
| 06 | | 06 | ||
| | | | ||
Turret limit switch (optical OPB815WZ) - max | Turret limit switch (optical OPB815WZ) - max CW | ||
High when limit is hit | |||
Low when limit is NOT hit | |||
|- | |- | ||
| | | | ||
<br/>L4 | |||
| 07 | | 07 | ||
| | | Turret limit switch (optical OPB815WZ) - max CCW | ||
High when limit is hit | |||
Low when limit is NOT hit | |||
|- | |- | ||
| | | | ||
| Line 341: | Line 348: | ||
| Shooter lower wheel rotary encoder (E4P) | | Shooter lower wheel rotary encoder (E4P) | ||
|- | |- | ||
| IN - E5 | | IN - E5/E6 | ||
| 07<br/> | | 07<br/> | ||
| Turret motor shaft - rotary encoder (E4P) | | Turret motor shaft - rotary encoder (E4P) or turret sprocket position - opto-reflective rotary encoder | ||
|- | |- | ||
| IN - | | | ||
IN - B1 | |||
| 08<br/> | | 08<br/> | ||
| | | | ||
conveyor stage 1 entrance - beam break sensor (homemade, 1" cube) | |||
High for Ball in conveyor | |||
Low when no ball present | |||
|- | |- | ||
| | | OUT | ||
| 09<br/> | | 09<br/> | ||
| | | LED - Red | ||
|- | |- | ||
| | | OUT | ||
| 10<br/> | | 10<br/> | ||
| | | LED - Green | ||
|- | |- | ||
| | | OUT | ||
| 11<br/> | | 11<br/> | ||
| | | LED - Blue | ||
|- | |- | ||
| | | OUT | ||
| 12<br/> | | 12<br/> | ||
| | | LED Strip 1 - Select | ||
|- | |- | ||
| | | OUT | ||
| 13 | | 13 | ||
| | | | ||
LED Strip 2 - Select | |||
|- | |- | ||
| OUT | | OUT | ||
| 14<br/> | | 14<br/> | ||
| | | 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 |
|
|
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 |
