2014:Robot IO Map

CAN ID Assignments

NOTE: each of these should also have a line in the Robot Map Motor table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1	RESERVED	Factory-default allows for adding Jaguar quickly and re-assign its ID	n/a
2	Drivetrain	Left Front Drive	Yes
3	Drivetrain	Left Rear Drive	Yes
4	Drivetrain	Right Front Drive	Yes
5	Drivetrain	Right Rear Drive	Yes
6
7
8
9
10
11
12
13
14
15
16

PWM Outputs

NOTE: each of these should also have a line in the Robot Map Servors/Actuators table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8
9
10

Relay Outputs

NOTE: each of these should also have a line in the Robot Map Servors/Actuators table or the Lights table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8

Analog Inputs

NOTE: each of these should also have a line in the Robot Map Sensors table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1	Drivetrain	Gyro	No
2
3
4
5
6
7
8	RESERVED	Battery Voltage input (Do not use for any other device)	n/a

Digital IO (GPIO)

NOTE: each of these should also have a line in the Robot Map Sensors table or the Lights table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Direction (IN/OUT)	Subsystem	Description (brief)	Robot Map Updated?
1	IN	Drivetrain	Left Encoder, Phase A	no
2	IN	Drivetrain	Left Encoder, Phase B	no
3	IN	Drivetrain	Right Encoder, Phase A	no
4	IN	Drivetrain	Right Encoder, Phase B	no
5
6
7
8
9
10
11
12
13
14

I2C Registers

NOTE: each of these should also have a line in the Robot Map Lights table (the "Robot Map Updated?" column in the following table indicates if this was done)

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Description (brief)	Robot Map Updated?

Pneumatics Bumper

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8