2013:Robot IO Map: Difference between revisions
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| DO NOT USE.<br/>ID 1 is the factory-default CAN | | | ||
DO NOT USE.<br/>ID 1 is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID. | |||
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Revision as of 17:34, 23 January 2013
| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
1-16 |
|
| RESERVED
|
01 |
DO NOT USE. |
|
|
02 | Left side drivetrain motor (front) |
|
|
03 | Reserved for optional Left side drivetrain motor (rear) |
|
|
04 | Right side drivetrain motor (front) |
|
|
05 | Reserved for Right side drivetrain motor (rear) |
|
|
06 | |
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07 |
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08 |
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|
09 |
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10 |
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11 |
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12 |
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13 |
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14 |
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|
15 |
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|
16 |
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PWM Outputs |
|
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|
01 |
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02 |
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03 |
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04 |
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05 |
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06 |
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07 |
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|
08 |
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09 |
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|
10 |
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| Relay Outputs | ||
|
|
01 |
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02 |
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03 |
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04 |
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05 |
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06 |
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07 |
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08 |
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Analog Inputs |
||
|
|
01 |
Gyro |
| 02 |
||
| 03 |
| |
|
|
04 |
|
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|
05 |
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| 06 | ||
|
|
07 | |
|
|
08 |
Battery Voltage input (Do not use for any other device) |
| Digital IO (GPIO) | ||
|
|
01 |
Left drivetrain rotary encoder A |
| 02 |
Left drivetrain rotary encoder B | |
|
|
03 |
Right drivetrain rotary encoder A |
| 04 |
Right drivetrain rotary encoder B | |
|
|
05 |
|
|
|
06 |
|
| 07 |
||
| 08 |
||
| 09 |
||
| 10 |
||
| 11 |
||
| 12 |
||
| 13 |
| |
| 14 |
||
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 | ||
| I2C Registers | ||
|
Address 0100111X |
GP0 |
|
|
Address 0100111X |
GP1 |
|
|
Address 0100111X |
GP2 |
|
|
Address 0100111X |
GP3 |
|
|
Address 0100111X |
GP4 |
|
|
Address 0100111X |
GP5 |
|
|
Address 0100111X |
GP6 |
|
|
Address 0100111X |
GP7 |
