2013:Robot IO Map: Difference between revisions
(Created page with "{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1" |- | '''Type / Function''' | '''Channel'''<br/> | '''Connected Device''' |- | <span sty...") |
(change to "Reserved" the IO not really used as of ship day) |
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{| | {| cellpadding="1" cellspacing="1" border="1" style="width: 653px; height: 344px;" | ||
|- | |- | ||
| '''Type / Function''' | | '''Type / Function''' | ||
Line 8: | Line 8: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold">CAN ID Assignments</span> | <span style="font-weight: bold;">CAN ID Assignments</span> | ||
| | | | ||
Line 15: | Line 15: | ||
| <br/> | | <br/> | ||
|- | |- | ||
| RESERVED | | RESERVED | ||
| 01 | | 01 | ||
| 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. | |||
|- | |- | ||
| | | | ||
Line 25: | Line 27: | ||
| 02 | | 02 | ||
| | | Left side drivetrain motor (front) | ||
|- | |- | ||
| | | | ||
Line 31: | Line 33: | ||
| 03 | | 03 | ||
| | | Reserved for optional 2nd Left side drivetrain motor (rear) | ||
|- | |- | ||
| | | | ||
Line 37: | Line 39: | ||
| 04 | | 04 | ||
| | | Right side drivetrain motor (front) | ||
|- | |- | ||
| | | | ||
Line 43: | Line 45: | ||
| 05 | | 05 | ||
| | | Reserved for optional 2nd Right side drivetrain motor (rear) | ||
|- | |- | ||
| | | | ||
Line 49: | Line 51: | ||
| 06 | | 06 | ||
| | | Left side Climber motor | ||
|- | |- | ||
| | | | ||
Line 55: | Line 57: | ||
| 07<br/> | | 07<br/> | ||
| | | Right side Climber motor | ||
|- | |- | ||
| | | | ||
Line 61: | Line 63: | ||
| 08<br/> | | 08<br/> | ||
| | | Shooter wheel motor | ||
|- | |- | ||
| | | | ||
Line 67: | Line 69: | ||
| 09<br/> | | 09<br/> | ||
| | | Shooter Tilt motor | ||
|- | |- | ||
| | | | ||
Line 73: | Line 75: | ||
| 10<br/> | | 10<br/> | ||
| | | Shooter Carousel motor | ||
|- | |- | ||
| | | | ||
Line 112: | Line 114: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold">PWM Outputs</span> | <span style="font-weight: bold;">PWM Outputs</span> | ||
| <br/> | | <br/> | ||
Line 121: | Line 123: | ||
| 01<br/> | | 01<br/> | ||
| | | Camera Tilt servo | ||
|- | |- | ||
| | | | ||
Line 127: | Line 129: | ||
| 02<br/> | | 02<br/> | ||
| | | Climber deploy LH servo | ||
|- | |- | ||
| | | | ||
Line 135: | Line 136: | ||
| 03<br/> | | 03<br/> | ||
| | | | ||
<br/>Climber deploy RH servo | |||
|- | |- | ||
Line 142: | Line 143: | ||
| 04<br/> | | 04<br/> | ||
| | | Shooter load blocker servo | ||
|- | |- | ||
| | | | ||
Line 149: | Line 149: | ||
| 05<br/> | | 05<br/> | ||
| | | Shooter load pusher servo | ||
|- | |- | ||
| | | | ||
Line 157: | Line 156: | ||
| 06<br/> | | 06<br/> | ||
| | | | ||
<br/> | |||
|- | |- | ||
Line 170: | Line 169: | ||
| 08<br/> | | 08<br/> | ||
| <br/> | | Sensor +6V<br/> | ||
|- | |- | ||
| | | | ||
Line 176: | Line 175: | ||
| 09<br/> | | 09<br/> | ||
| <br/> | | Sensor +6V (climber hooks)<br/> | ||
|- | |- | ||
| | | | ||
Line 182: | Line 181: | ||
| 10<br/> | | 10<br/> | ||
| <br/> | | Sensor LED +6V (climber hooks)<br/> | ||
|- | |- | ||
| '''Relay Outputs''' | | '''Relay Outputs''' | ||
Line 193: | Line 192: | ||
| 01<br/> | | 01<br/> | ||
| | | | ||
Camera ring light (LED power only) | |||
|- | |- | ||
| | | | ||
Line 243: | Line 244: | ||
|- | |- | ||
| | | | ||
IN | |||
| 01<br/> | | 01<br/> | ||
| <br/> | | Gyro<br/> | ||
|- | |- | ||
| | | IN | ||
| 02<br/> | | 02<br/> | ||
| | | Reserved - Robot Vee alignment sensor | ||
|- | |- | ||
| | | IN | ||
| 03<br/> | | 03<br/> | ||
| | | | ||
Reserved - optional Disc 2 present | |||
|- | |- | ||
| | | | ||
IN<br/> | |||
| 04<br/> | | 04<br/> | ||
| | | Reserved - optional Disc 3 present | ||
|- | |- | ||
| | | | ||
IN | |||
| 05<br/> | | 05<br/> | ||
| | | | ||
Climber lift arms motor rotation sensor - 10 turn potentiometer | |||
|- | |- | ||
| | | | ||
IN | |||
| |||
| 06 | |||
| Left side Shooter tilt sensor (potentiometer) | |||
|- | |- | ||
| | | | ||
IN | |||
| 07 | | 07 | ||
| | | Reserved - Right side Shooter tilt sensor (potentiometer) | ||
|- | |- | ||
| | | | ||
<br/>RESERVED | |||
| 08<br/> | | 08<br/> | ||
| | | Battery Voltage input (Do not use for any other device) | ||
|- | |- | ||
| '''Digital IO (GPIO)''' | | '''Digital IO (GPIO)''' | ||
Line 296: | Line 298: | ||
|- | |- | ||
| | | | ||
IN | |||
| 01<br/> | | 01<br/> | ||
| Left drivetrain rotary encoder A | |||
|- | |||
| IN | |||
| 02<br/> | |||
| Moving climber hook Left side engaged | |||
|- | |||
| | | | ||
IN | |||
| 03<br/> | |||
| Right drivetrain rotary encoder A | |||
|- | |- | ||
| | | | ||
| | IN | ||
| 04<br/> | |||
| Moving climber hook Right side engaged | |||
|- | |||
| | | | ||
IN | |||
| 05<br/> | |||
| RESERVED for shooter wheel rotary encoder channel A - We will try feeding these into the JAGUAR itself (rather than the sidecar); if issues, we use this channel | |||
|- | |- | ||
| | | | ||
IN | |||
| 06<br/> | |||
| Stationary climber hook Left Side engaged | |||
|- | |||
| IN | |||
| 07<br/> | |||
| Stationary climber hook Right Side engaged | |||
|- | |||
| IN | |||
| 08<br/> | |||
| Climber shuttle intermediate deploy position (initial climb alignment) | |||
|- | |||
| IN | |||
| 09<br/> | |||
| Climber shuttle max extension (Top) | |||
|- | |||
| IN | |||
| 10<br/> | |||
| Climber shuttle max retraction (Bottom) | |||
|- | |||
| IN | |||
| 11<br/> | |||
| Shooter Disc 1 present | |||
|- | |||
| IN | |||
| 12<br/> | |||
| Shooter position sensor - preload (Feed) | |||
|- | |||
| IN | |||
| 13 | |||
| | |||
Shooter position sensor - load shooter | |||
| | |- | ||
| IN | |||
| 14<br/> | |||
| Ready to shoot sensor (disc-dropped-into-shooter) | |||
|- | |||
| '''Pneumatics Bumper''' | |||
| | |||
| | |||
|- | |||
| | |||
| align="middle" valign="center" | 01 | |||
| | |||
|- | |||
| | |||
| align="middle" valign="center" | 02 | |||
| | |||
|- | |||
| | |||
| align="middle" valign="center" | 03 | |||
| | | | ||
|- | |- | ||
| '''I2C Registers''' | |||
| <br/> | |||
| <br/> | | <br/> | ||
|- | |- | ||
| | | | ||
Address | |||
0100111X | |||
| | | GP0<br/> | ||
| | | | ||
disc 1 present GRN | |||
|- | |- | ||
| | | | ||
Address | |||
0100111X | |||
| | | GP1<br/> | ||
| | | | ||
disc 1 present RED | |||
|- | |- | ||
| | | | ||
| | Address | ||
0100111X | |||
| GP2<br/> | |||
| disc 2 present GRN | |||
|- | |||
| | | | ||
Address | |||
0100111X | |||
| GP3<br/> | |||
| disc 2 present RED | |||
|- | |- | ||
| | | | ||
Address | |||
0100111X | |||
| | | GP4<br/> | ||
| disc 3 present GRN | |||
|- | |||
| | | | ||
Address | |||
0100111X | |||
| GP5<br/> | |||
| disc 3 present RED | |||
|- | |- | ||
| | | | ||
| | Address | ||
0100111X | |||
| GP6<br/> | |||
| <br/>disc 4 present GRN | |||
|- | |||
| | | | ||
Address | |||
0100111X | |||
| GP7<br/> | |||
| disc 4 present RED | |||
|- | |- | ||
| | | | ||
| | Address | ||
0100000X | |||
| GP0<br/> | |||
| | | | ||
OK to feed disc. on=green | |||
|- | |- | ||
| | | | ||
| | Address | ||
0100000X | |||
| GP1<br/> | |||
| | | | ||
NOT OK to feed disc. on=red | |||
|- | |- | ||
| | | | ||
| | Address | ||
0100000X | |||
| GP2<br/> | |||
| | | | ||
robot forward indicator | |||
|- | |- | ||
| | | | ||
Address | |||
0100000X | |||
| GP3<br/> | |||
| | |||
| | | | ||
robot rearward indicator | |||
|- | |- | ||
| | | | ||
Address | |||
0100000X | |||
| GP4<br/> | |||
| | | | ||
| |||
|- | |- | ||
| | | | ||
| | Address | ||
0100000X | |||
| GP5<br/> | |||
| | | | ||
| |||
|- | |- | ||
| | | | ||
| | Address | ||
0100000X | |||
| GP6<br/> | |||
| | | | ||
|- | |- | ||
| | | | ||
| | Address | ||
0100000X | |||
| GP7<br/> | |||
| | | | ||
|} | |} | ||
Line 384: | Line 534: | ||
== Archives == | == Archives == | ||
* | ***** | ||
* | |||
* | |||
* | |||
* |
Latest revision as of 16:19, 21 February 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 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 |
|
|
04 |
Shooter load blocker servo |
|
05 |
Shooter load pusher servo |
|
06 |
|
|
07 |
|
|
08 |
Sensor +6V |
|
09 |
Sensor +6V (climber hooks) |
|
10 |
Sensor LED +6V (climber hooks) |
Relay Outputs | ||
|
01 |
Camera ring light (LED power only) |
|
02 |
|
|
03 |
|
|
04 |
|
|
05 |
|
|
06 |
|
|
07 |
|
|
08 |
|
Analog Inputs |
||
IN |
01 |
Gyro |
IN | 02 |
Reserved - Robot Vee alignment sensor |
IN | 03 |
Reserved - optional Disc 2 present |
IN |
04 |
Reserved - 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 | Reserved - 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 |
RESERVED for shooter wheel rotary encoder channel A - We will try feeding these into the JAGUAR itself (rather than the sidecar); if issues, we use this channel |
IN |
06 |
Stationary climber hook Left Side engaged |
IN | 07 |
Stationary climber hook Right Side engaged |
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 |
disc 1 present GRN |
Address 0100111X |
GP1 |
disc 1 present RED |
Address 0100111X |
GP2 |
disc 2 present GRN |
Address 0100111X |
GP3 |
disc 2 present RED |
Address 0100111X |
GP4 |
disc 3 present GRN |
Address 0100111X |
GP5 |
disc 3 present RED |
Address 0100111X |
GP6 |
disc 4 present GRN |
Address 0100111X |
GP7 |
disc 4 present RED |
Address 0100000X |
GP0 |
OK to feed disc. on=green |
Address 0100000X |
GP1 |
NOT OK to feed disc. on=red |
Address 0100000X |
GP2 |
robot forward indicator |
Address 0100000X |
GP3 |
robot rearward indicator |
Address 0100000X |
GP4 |
|
Address 0100000X |
GP5 |
|
Address 0100000X |
GP6 |
|
Address 0100000X |
GP7 |