2013:Robot IO Map: Difference between revisions
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{| | {| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1" | ||
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| '''Type / Function''' | | '''Type / Function''' | ||
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<span style="font-weight: bold | <span style="font-weight: bold">CAN ID Assignments</span> | ||
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| Line 15: | Line 15: | ||
| <br/> | | <br/> | ||
|- | |- | ||
| RESERVED | | RESERVED | ||
| Line 114: | Line 114: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold | <span style="font-weight: bold">PWM Outputs</span> | ||
| <br/> | | <br/> | ||
| Line 249: | Line 249: | ||
| IN | | IN | ||
| 02<br/> | | 02<br/> | ||
| Robot Vee sensor | | Robot Vee alignment sensor | ||
|- | |- | ||
| IN | | IN | ||
| Line 264: | Line 264: | ||
|- | |- | ||
| | | | ||
IN | |||
| 05<br/> | | 05<br/> | ||
| | | | ||
Climber motors rotation sensor - 10 turn potentiometer | |||
|- | |- | ||
| | | | ||
| Line 322: | Line 324: | ||
|- | |- | ||
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| |||
| 06<br/> | | 06<br/> | ||
| | | | ||
|- | |- | ||
| IN | | IN | ||
| Line 366: | Line 368: | ||
|- | |- | ||
| | | | ||
| | | valign="center" align="middle" | 01 | ||
| | | | ||
|- | |- | ||
| | | | ||
| | | valign="center" align="middle" | 02 | ||
| | | | ||
|- | |- | ||
| | | | ||
| | | valign="center" align="middle" | 03 | ||
| | | | ||
|- | |- | ||
| Line 395: | Line 397: | ||
| GP1<br/> | | GP1<br/> | ||
| | | disc 1 present | ||
|- | |- | ||
| | | | ||
| Line 403: | Line 405: | ||
| GP2<br/> | | GP2<br/> | ||
| | | disc 2 present | ||
|- | |- | ||
| | | | ||
| Line 411: | Line 413: | ||
| GP3<br/> | | GP3<br/> | ||
| | | disc 3 present | ||
|- | |- | ||
| | | | ||
| Line 419: | Line 421: | ||
| GP4<br/> | | GP4<br/> | ||
| | | disc 4 present | ||
|- | |- | ||
| | | | ||
| Line 427: | Line 429: | ||
| GP5<br/> | | GP5<br/> | ||
| | | disc RED | ||
|- | |- | ||
| | | | ||
| Line 435: | Line 437: | ||
| GP6<br/> | | GP6<br/> | ||
| <br/> | | <br/>disc GRN | ||
|- | |- | ||
| | | | ||
| Line 443: | Line 445: | ||
| GP7<br/> | | GP7<br/> | ||
| | | disc BLU | ||
|} | |} | ||
Revision as of 05:58, 30 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 2nd Left side drivetrain motor (rear) |
|
|
04 | Right side drivetrain motor (front) |
|
|
05 | Reserved for optional 2nd Right side drivetrain motor (rear) |
|
|
06 | Left side Climber motor |
|
|
07 |
Right side Climber motor |
|
|
08 |
Shooter motor |
|
|
09 |
Shooter Tilt motor |
|
|
10 |
Shooter Carousel motor |
|
|
11 |
|
|
|
12 |
|
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
Climber deploy LH servo |
|
|
03 |
|
|
|
04 |
Shooter load blocker servo |
|
|
05 |
Shooter load pusher servo |
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
|
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
IN |
01 |
Gyro |
| IN | 02 |
Robot Vee alignment sensor |
| IN | 03 |
Disc 2 present |
|
IN |
04 |
Disc 3 present |
|
IN |
05 |
Climber motors rotation sensor - 10 turn potentiometer |
|
IN
|
06 | Left side Shooter tilt sensor (potentiometer) |
|
IN |
07 | Right side Shooter tilt sensor (potentiometer) |
|
|
08 |
Battery Voltage input (Do not use for any other device) |
| Digital IO (GPIO) | ||
|
IN |
01 |
Left drivetrain rotary encoder A |
| IN | 02 |
Moving climber hook Left side engaged |
|
IN |
03 |
Right drivetrain rotary encoder A |
|
IN |
04 |
Moving climber hook Right side engaged |
|
IN |
05 |
Shooter motor rotary encoder A |
|
|
06 |
|
| IN | 07 |
Stationary climber hooks engaged (AND of LH and RH) |
| IN | 08 |
Climber shuttle deploy position |
| IN | 09 |
Climber shuttle max extension |
| IN | 10 |
Climber shuttle max retraction |
| IN | 11 |
Shooter Disc 1 present |
| IN | 12 |
Shooter position sensor - preload |
| IN | 13 |
Shooter position sensor - load shooter |
| IN | 14 |
Ready to shoot sensor (disc-dropped-into-shooter) |
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 | ||
| I2C Registers | ||
|
Address 0100111X |
GP0 |
OK to feed disc. off=red, on=green |
|
Address 0100111X |
GP1 |
disc 1 present |
|
Address 0100111X |
GP2 |
disc 2 present |
|
Address 0100111X |
GP3 |
disc 3 present |
|
Address 0100111X |
GP4 |
disc 4 present |
|
Address 0100111X |
GP5 |
disc RED |
|
Address 0100111X |
GP6 |
disc GRN |
|
Address 0100111X |
GP7 |
disc BLU |
