2015:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	RESERVED	n/a		Factory-default allows for adding CTRE devices quickly and re-assign its ID			don't use
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID			don't use
2	drivetrain	motor	CIM	Left Front Drive	driver1 joystick	y axis
3	drivetrain	motor	CIM	Left Rear Drive	driver1 joystick	y axis
4	drivetrain	motor	CIM	Right Front Drive	driver1 joystick	y axis
5	drivetrain	motor	CIM	Right Rear Drive	driver1 joystick	y axis
6	drivetrain	motor	CIM	Strafe	driver1 joystick	x axis	unclear on how to activate this motor
7	lifter	motor	RS775	Left lifter	driver2 joystick	y axis
8	lifter	motor	RS775	Right lifter	driver2 joystick	y axis
9	gripper	motor	RS550	Gripper/Motor	driver2 joystick	trigger button (depressed trigger = gripper closed)
10	pnuematics	PCM module	N/A	Stabilizer, Shifter, Strafing	roborio
11	power dist.	PD module	N/A	Power Distribution Readback	roborio
12
13
14
15
16

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4
5
6
7
8
9
10

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4

Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
1	drivetrain	gyro	?	drivetrain gyro		X & Y orientation used in Autonomous	?
2
3
4

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
DIO0	IN	drivetrain	Encoder	?	Left Encoder, Phase A		Drivetrain rotation - calculate Position measurement
DIO1	IN	drivetrain	Encoder	?	Right Encoder, Phase A		Drivetrain rotation - calculate Position measurement
DIO2	IN	gripper	Banner Sensor	?	Gripper Wide Tote Config.	N/A	Outward Wide Position
DIO3	IN	lifter	Encoder	?	Lifter Height	N/A	Lifter drive rotation -  calculate Height Zeroed with Lifter Flag Sensor
DIO4	IN	lifter	Flag Sensor	?	Home Position Height Level	N/A	Lower position
DIO5	IN	gripper	Encoder	?	Encoder Phase A	N/A	Gripper drive rotation - calculate Position
DIO6	IN	gripper	Encoder	?	Encoder Phase B	N/A	Gripper drive rotartion - calculate Position
DIO7	IN	gripper	Flag Sensor	?	Home Gripper Position	N/A	Inner position
DIO8	IN	gripper	Ultrasonic Sensor	?	Right Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor?
DIO9	IN	gripper	Ultrasonic Sensor	?	Left Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor? If 2 per robot need to buy more!!!
AIN0	IN
AIN1	IN
AIN2	IN
AIN3	IN
RELAY0	OUT
RELAY1	OUT
RELAY2	OUT
RELAY3	OUT
PWM0	OUT
PWM1	OUT
PWM2	OUT
PWM3	OUT
PWM4	OUT
PWM5	OUT
PWM6	OUT
PWM7	OUT
PWM8	OUT
PWM9	OUT

REV Robotics More Board

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
DIO0	IN	Gripper	Flag Sensor	?	Electrical limit for end of travel of gripper arms.			There will actually be two sensors for either side electrically OR-ed back to the controller.
DIO1
DIO2
DIO3
DIO4
DIO5
DIO6
DIO7
DIO8
DIO9
DIO10
DIO11
DIO12
DIO13
DIO14
DIO15
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0
1
2
3
4
5
6

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	drivetrain	Valve	?	shifter UP	driver1 joystick	shifts up
2	drivetrain	Valve	?	shifter DOWN	driver1 joystick	shifts down
3	drivetrain	Valve	?	strafing wheel DOWN	driver1 joystick	lowers strafing wheel
4	drivetrain	Valve	?	strafing wheel UP	driver1 joystick	raises strafing wheel	Optional (the UP position is supposed to be spring returned)
5	stabilizer	Valve	?	Stabilizer Gripper IN	driver2 joystick	closes stabilizer
6	stabilizer	Valve	?	Stabilizer Gripper OUT	driver2 joystick	opens stabilizer	Optional (the OUT position is supposed to be spring return)
7	lifter	valve	?	Lifter brake		pnuematic cylinder engages bicycle brake which holds lifter cable in present position
8

Operator Controls

Joystick 1/Left

Button/Axis	Description (brief)	Operation	Notes
Y-Axis	Move Forward/Backward	In Left/Right mode, this moves boths sides of the drivetrain; otherwise this moves just the left side of the drivetrain.
X-Axis
1/trigger	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2	Raise center wheel	.Wheel remains rasied while button is being pressed (or button 2 on right joystick is being pressed). Wheel lowers when both button 2s are released.
3	Left/Right mode	In Left/Right mode while this button is being pressed (or button 3 on right joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 2/Right

Button/Axis	Description (brief)	Operation	Notes
X-axis	Move Forward/Backward	In Left/Right mode, this moves nothing; otherwise this moves just the right side of the drivetrain.
Y-axis	Move Left/Right	In Left/Right mode, this moves the center wheel left/right; otherwise this move nothing.
1	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2	Raise center wheel	Wheel remains rasied while button is being pressed (or button 2 on left joystick is being pressed). Wheel lowers when both button 2s are released.
3	Left/Right mode	In Left/Right mode while this button is being pressed (or button 3 on left joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 3

Button/Axis	Description (brief)	Operation	Notes
X-axis
Y-axis	Move up/down	Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement.
1/trigger	Close lower grips	Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released.
2	Open lower grips	Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released.
3	Level 3 Preset	Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height.
4	TBD - RC gripper
5	TBD - RC gripper
6
7
8
9
10
11
12
Z-axis

Joystick 4/LaunchPad

Button/Axis	Description (brief)	Operation	Notes
1	Auto 'main'	Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode.
2	Auto 'dashboard'	Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used.
3	Broken #1	future	left-most switch on top row
4	Broken #2	future	located to the right of Broken #1
5	Broken #3	future	located to the left of Broken #4
6	Broken #4	future	right-most switch on top row
7	Broken #5	future	left-most switch on bottom row
8	Broken #6	future	lcated to the right of Broken #5
9	Broken #7	future	located to the left of Broken #8
10	Broken #8	future	Right-most switch on bottom row

IO Maps for Old Robots

• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots