2013:Robot IO Map

Type / Function	Channel	Connected Device
CAN ID Assignments	1-16
RESERVED	01	DO NOT USE. ID 1 is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.
	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 wheel 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	Climber deploy RH servo
	04	Shooter load blocker servo
	05	Shooter load pusher servo
	06
	07
	08
	09
	10
Relay Outputs
	01	Camera ring light (LED power only)
	02
	03
	04
	05
	06
	07
	08
Analog Inputs
IN	01	Gyro
IN	02	Robot Vee alignment sensor
IN	03	optional Disc 2 present
IN	04	optional Disc 3 present
IN	05	Climber lift arms motor rotation sensor - 10 turn potentiometer
IN	06	Left side Shooter tilt sensor (potentiometer)
IN	07	Right side Shooter tilt sensor (potentiometer)
RESERVED	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 wheel motor rotary encoder A
	06	RESERVED for shooter wheel rotary encoder channel B
IN	07	Stationary climber hooks engaged (AND of LH and RH)
IN	08	Climber shuttle intermediate deploy position (initial climb alignment)
IN	09	Climber shuttle max extension (Top)
IN	10	Climber shuttle max retraction (Bottom)
IN	11	Shooter Disc 1 present
IN	12	Shooter position sensor - preload (Feed)
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
Address 0100000X	GP0	robot forward indicator
Address 0100000X	GP1	robot rearward indicator
Address 0100000X	GP2	climber shuttle in deploy position
Address 0100000X	GP3
Address 0100000X	GP4
Address 0100000X	GP5
Address 0100000X	GP6
Address 0100000X	GP7