2014:Robot Sensors/Motors/Lights/Controls Map

Sensors

NOTE: each of these should also have a line in the appropriate (e.g. or ) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (/)	IO Map Updated?	Operation Details (including when broken)	Output Level	Notes
Intake	Detects intake position	Potentiometer	3852A-282-104AL	Analog	Yes	Sensor which detects the angle of the intake bar	Analog
Shooter	Detect kicker speed	Optical gear tooth sensor	OPB815WZ	Digital	yes	Sensor detects gear teeth to sense how fast the gear is rotating (Could also use shaft encoder on motor transmission ?)	Digital
Shooter	Detects kicker high position	Optical flag sensor	OPB815WZ	Digital	yes	Senses flag that's connected to gear and detects whenever kicker is in high position	Digital
Intake	Detects intake position	Potentiometer	3852A-282-104AL	Analog	yes	Sensor which detects the angle of the intake bar - redundant sensor	Analog
Drivetrain	Left Encoder, Phase A	Shaft encoder	E4P	Digital	yes		Digital
Drivetrain	Left Encoder, Phase B	Shaft encoder	E4P	Digital	yes		Digital
Drivetrain	Right Encoder, Phase A	Shaft encoder	E4P	Digital	yes		Digital
Drivetrait	Right Encoder, phase B	Shaft encoder	E4P	Digital	yes		Digital

 

 

Motors

NOTE: each of these should also have a line in the appropriate (e.g. or or ) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (//)	IO Map Updated?	Operation Details (including when broken)	Notes
Drivetrain	Left Front Drive	CIM	TBD	CAN	Yes	TBD
Drivetrain	Left Rear Drive	CIM	TBD	CAN	Yes	TBD
Drivetrain	Right Front Drive	CIM	TBD	CAN	Yes	TBD
Drivetrain	Right Rear Drive	CIM	TBD	CAN	Yes	TBD
Shooter	front left Kicker arm	CIM	TBD	CAN or PWM	Yes	spins at full power in one direction, spins to 2 points
Shooter	mid left Kicker arm	CIM	TBD	CAN or PWM	Yes	spins at full power in one direction, spins to 2 points
Shooter	back left Kicker arm	Mini CIM	TBD	CAN or PWM	Yes	spins at full power in one direction, spins to 2 points
Shooter	right front Kicker arm	Mini CIM	TBD	CAN or PWM	Yes	spins at full power in one direction, spins to 2 points
Shooter	right mid Kicker arm	Mini CIM	TBD	CAN or PWM	Yes	spins at full power in one direction, spins to 2 points
Shooter	right back Kicker arm	Mini CIM	TBD	CAN or PWM	yes	spins at full power in one direction, spins to 2 points
Intake	roller	550/775	TBD	CAN or PWM	Yes	TBD

Servors/Actuators

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (PWM/Relay)	IO Map Updated?	Operation Details (including when broken)	Notes

Lights (on robot)

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Relay or GPIO or I2C) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (Relay/GPIO/I2C)	IO Map Updated?	Location	Used By (driver/human/alliance)	Operation	Notes
Storage	OK to feed			GPIO	Yes	Near feed slot on the storage mech	Human player	Will be 'green' when in Feed mode and it is ok for the human player to feed a disc. Will be 'red' when in Feed mode and it is NOT ok to feed a disc. Will be off when not in Feed mode. It is OK to feed when the entire mech is at the proper angle AND there are less than 4 discs in the robot AND the fan blades are in the feed position.	THIS IS JUST AN EXAMPLE

Operator Controls

Joystick 1 (Driver Left)

Button/Axis	Description (brief)	Operation	Notes
1	Turbo
2	Slow
3
4
5
6	Debug Drive
7	Debug Intake
8
9
10	Debug Kicker
11	Debug Miscellaneous
12	n/a
X-axis
Y-axis	Left Wheels	Controls both left side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards.	Shooter is the 'front'
Z-axis

Joystick 2 (Driver Right)

Button/Axis	Description (brief)	Operation	Notes
1	Turbo
2	Slow
3
4
5
6
7
8
9
10
11
12	n/a
X-axis
Y-axis	Right Wheels	Controls both right side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards.	Shooter is the 'front'
Z-axis

Joystick 3 (Aux Driver)

Button/Axis	Description (brief)	Operation	Notes
1	Acquire Ball	Intake wheels spin such the ball is moved onto the robot.
2	Pass Ball Fast	Intake wheels spin such the ball is moved out of the robot. This will be the fastest it can be, allowing for a long pass.
3	Pass Ball Slow	Intake wheels spin such the ball is moved out of the robot. This will be a 'slow' rate to allow for a short pass to a close by robot.
4
5
6
7
8
9
10
11
12
X-axis
Y-axis	Intake	Moves intake in/out	When joystick is pushed forward (away from driver) the intake will got out (extend away from robot).
Z-axis

Joystick 4 (Aux Controls/Extended IO)

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8
9
10
11
12
X-axis	Manual Power	The amount of power for a manual shoot.	This is used when the Manual Shot button is pressed.
Y-axis	Future use	This is not used for anything at this time. But is available if needed.
Z-axis

SmartDashboard

Screen	Description (brief)	Operation	Notes	Variable Name	Data Type
Main	Camera Feed	This will be a direct feed from the camera.	The internet address will be based on the Team Number.	n/a	n/a
Main	Power meter	Meter next to the Camera Feed that shows the manual shooter's power. Would be a bar with a label next to it with a number representing power, scaling from 0 to 100		Manualpower	TBD
Setup Dialog (TBD)	Team Number	Numberbox	Sets the team number for the robot to set the camera feed. Should remain constant until we change the IP address of the robot. Should not change very much.	n/a	n/a