2013:Robot IO Map: Difference between revisions

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(change to "Reserved" the IO not really used as of ship day)
 
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Line 19: Line 19:


|     01
|     01
| DO NOT USE.<br/>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.
|  
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 31: Line 33:


| &nbsp;&nbsp;&nbsp; 03
| &nbsp;&nbsp;&nbsp; 03
| Reserved for optional Left side drivetrain motor (rear)
| Reserved for optional 2nd Left side drivetrain motor (rear)
|-
|-
|  
|  
Line 43: Line 45:


| &nbsp;&nbsp;&nbsp; 05
| &nbsp;&nbsp;&nbsp; 05
| Reserved for Right side drivetrain motor (rear)
| Reserved for optional 2nd&nbsp;Right side drivetrain motor (rear)
|-
|-
|  
|  
Line 49: Line 51:


| &nbsp;&nbsp;&nbsp; 06
| &nbsp;&nbsp;&nbsp; 06
|  
| Left side Climber motor
|-
|-
|  
|  
Line 55: Line 57:


| &nbsp;&nbsp;&nbsp; 07<br/>
| &nbsp;&nbsp;&nbsp; 07<br/>
|  
| Right side Climber motor
|-
|-
|  
|  
Line 61: Line 63:


| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
|  
| Shooter wheel motor
|-
|-
|  
|  
Line 67: Line 69:


| &nbsp;&nbsp;&nbsp; 09<br/>
| &nbsp;&nbsp;&nbsp; 09<br/>
|  
| Shooter Tilt motor
|-
|-
|  
|  
Line 73: Line 75:


| &nbsp;&nbsp;&nbsp; 10<br/>
| &nbsp;&nbsp;&nbsp; 10<br/>
|  
| Shooter Carousel motor
|-
|-
|  
|  
Line 121: Line 123:


| &nbsp;&nbsp;&nbsp; 01<br/>
| &nbsp;&nbsp;&nbsp; 01<br/>
|  
| Camera Tilt servo
|-
|-
|  
|  
Line 127: Line 129:


| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02<br/>
|  
| Climber deploy LH servo
|-
|-
|  
|  
Line 134: Line 136:
| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03<br/>
|  
|  
 
<br/>Climber deploy RH servo


|-
|-
Line 141: Line 143:


| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04<br/>
|  
| Shooter&nbsp;load blocker&nbsp;servo
|-
|-
|  
|  
Line 147: Line 149:


| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05<br/>
|  
| Shooter load pusher servo
|-
|-
|  
|  
Line 154: Line 156:
| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06<br/>
|  
|  
 
<br/>&nbsp;


|-
|-
Line 167: Line 169:


| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| <br/>
| Sensor +6V<br/>
|-
|-
|  
|  
Line 173: Line 175:


| &nbsp;&nbsp;&nbsp; 09<br/>
| &nbsp;&nbsp;&nbsp; 09<br/>
| <br/>
| Sensor +6V (climber hooks)<br/>
|-
|-
|  
|  
Line 179: Line 181:


| &nbsp;&nbsp;&nbsp; 10<br/>
| &nbsp;&nbsp;&nbsp; 10<br/>
| <br/>
| Sensor LED&nbsp;+6V (climber hooks)<br/>
|-
|-
| '''Relay Outputs'''
| '''Relay Outputs'''
Line 190: Line 192:
| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
|  
|  
Camera ring light (LED power only)
|-
|-
|  
|  
Line 240: Line 244:
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| Gyro<br/>&nbsp;
| Gyro<br/>&nbsp;
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
|  
| Reserved -&nbsp;Robot Vee alignment sensor
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
|  
|  
 
Reserved - optional Disc 2 present


|-
|-
|  
|  
 
IN<br/>&nbsp;


| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
|  
| Reserved - optional Disc 3 present
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
|  
|  
Climber lift arms motor rotation sensor - 10 turn potentiometer
|-
|-
|  
|  
IN
&nbsp;
| &nbsp;&nbsp; &nbsp;06
| &nbsp;&nbsp; &nbsp;06
|  
| Left side Shooter tilt sensor (potentiometer)
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;07
| &nbsp;&nbsp; &nbsp;07
|  
| Reserved - Right side Shooter tilt sensor (potentiometer)
|-
|-
|  
|  
Line 288: Line 298:
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| Left drivetrain rotary encoder A
| Left drivetrain rotary encoder A
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
| Left drivetrain rotary encoder B
| Moving climber hook Left side engaged
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| Right drivetrain rotary encoder A
| Right drivetrain rotary encoder A
|-
|-
| <br/>
|  
IN
 
| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| Right drivetrain rotary encoder B
| Moving climber hook Right side engaged
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
|  
| RESERVED for shooter wheel rotary encoder channel&nbsp;A - We will try feeding these into the JAGUAR itself (rather than the sidecar); if issues, we use this channel
|-
|-
|  
|  
 
IN


| &nbsp;&nbsp; &nbsp;06<br/>
| &nbsp;&nbsp; &nbsp;06<br/>
|  
| Stationary climber hook Left Side engaged
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;07<br/>
| &nbsp;&nbsp; &nbsp;07<br/>
|  
| Stationary climber hook Right Side engaged
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;08<br/>
| &nbsp;&nbsp; &nbsp;08<br/>
|  
| Climber shuttle intermediate deploy position (initial climb alignment)
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;09<br/>
| &nbsp;&nbsp; &nbsp;09<br/>
|  
| Climber shuttle max extension (Top)
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;10<br/>
| &nbsp;&nbsp; &nbsp;10<br/>
|  
| Climber shuttle max retraction (Bottom)
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;11<br/>
| &nbsp;&nbsp; &nbsp;11<br/>
|  
| Shooter Disc 1 present
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;12<br/>
| &nbsp;&nbsp; &nbsp;12<br/>
|  
| Shooter position sensor - preload (Feed)
|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;13
| &nbsp;&nbsp; &nbsp;13
|  
|  
 
Shooter position sensor - load shooter


|-
|-
|  
| IN
| &nbsp;&nbsp; &nbsp;14<br/>
| &nbsp;&nbsp; &nbsp;14<br/>
|  
| Ready to shoot sensor (disc-dropped-into-shooter)
|-
|-
| '''Pneumatics Bumper'''
| '''Pneumatics Bumper'''
Line 380: Line 392:
| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
|  
|  
disc 1 present GRN
|-
|-
|  
|  
Line 388: Line 402:
| &nbsp;&nbsp;&nbsp; GP1<br/>
| &nbsp;&nbsp;&nbsp; GP1<br/>
|  
|  
disc 1 present RED
|-
|-
|  
|  
Line 395: Line 411:


| &nbsp;&nbsp;&nbsp; GP2<br/>
| &nbsp;&nbsp;&nbsp; GP2<br/>
| disc 2 present GRN
|-
|
Address
0100111X
| &nbsp;&nbsp;&nbsp; GP3<br/>
| disc&nbsp;2 present RED
|-
|  
|  
Address
0100111X
| &nbsp;&nbsp;&nbsp; GP4<br/>
| disc&nbsp;3 present GRN
|-
|-
|  
|  
Line 401: Line 433:


0100111X
0100111X
| &nbsp;&nbsp;&nbsp; GP5<br/>
| disc 3 present RED
|-
|
Address
0100111X
| &nbsp;&nbsp;&nbsp; GP6<br/>
| <br/>disc 4 present GRN
|-
|
Address
0100111X
| &nbsp;&nbsp;&nbsp; GP7<br/>
| disc 4 present RED
|-
|
Address
0100000X
| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
|
OK to feed disc. on=green
|-
|
Address
0100000X
| &nbsp;&nbsp;&nbsp; GP1<br/>
|
NOT OK to feed disc. on=red
|-
|
Address
0100000X
| &nbsp;&nbsp;&nbsp; GP2<br/>
|
robot forward indicator
|-
|
Address
0100000X


| &nbsp;&nbsp;&nbsp; GP3<br/>
| &nbsp;&nbsp;&nbsp; GP3<br/>
|  
|  
robot rearward indicator
|-
|-
|  
|  
Address
Address


0100111X
0100000X


| &nbsp;&nbsp;&nbsp; GP4<br/>
| &nbsp;&nbsp;&nbsp; GP4<br/>
|  
|  
&nbsp;
|-
|-
|  
|  
Address
Address


0100111X
0100000X


| &nbsp;&nbsp;&nbsp; GP5<br/>
| &nbsp;&nbsp;&nbsp; GP5<br/>
|  
|  
&nbsp;
|-
|-
|  
|  
Address
Address


0100111X
0100000X


| &nbsp;&nbsp;&nbsp; GP6<br/>
| &nbsp;&nbsp;&nbsp; GP6<br/>
| <br/>
|  
|-
|-
|  
|  
Address
Address


0100111X
0100000X


| &nbsp;&nbsp;&nbsp; GP7<br/>
| &nbsp;&nbsp;&nbsp; GP7<br/>

Latest revision as of 17:19, 21 February 2013

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
 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)


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
 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


Archives

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