2019:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	Description (brief)	Operation	Notes (8) max. 40A         PDB #
0	Electrical	PD Module			Power Distribution Module feedback	monitor PD	must be CAN 0
1	RESERVED	n/a			Factory-default allows for adding new device quickly and re-assign its ID		don't use
2	Cargo	Talon-SRX	775 Pro	Brake	Intakes or expels cargo. Left half motor	(+) = intake cargo (-) = expel cargo	30	11
3	Cargo	Talon SRX	775 Pro	Brake	Intakes or expels cargo Right half motor	(+) = intake cargo (-) = expel cargo	30	4
4	Elevator	Talon SRX	775 Pro	Brake	Moves elevator up/down. Primary motor "A"/Left	(+) = elevator up (-) = elevator down Vex encoder feeds direct to talon	40	12
5	Elevator	Talon SRX	775 Pro	Brake	Moves elevator up/down Secondary motor "B"/Right	(+) = elevator up (-) = elevator down	40	3
6	Hab	Talon SRX	775 Pro	Brake	Drive "back legs" Primary motor; left"leg"	(+) = move foward (-) = move reverse	40	15
7	Hab	Victor SPX	775 Pro	Brake	Drive "back legs" Secondary motor; right"leg"	(+) = move foward (-) = move reverse	40	0
8
9
10
11
12
13
14
15

 

 

 

 

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Drivetrain	SPARK	CIM	Left front drive motor	+ Moves left side of robot forward - Moves left side of robot reverts	Don't know	40	2
	Drivetrain	SPARK	CIM	Left rear drive motor		Don't know	40	14
1	Drivetrain	SPARK	CIM	Right front drive motor	+ Moves left side of robot forward - Moves left side of robot reverts	Don't know	40	1
	Drivetrain	SPARK	CIM	Right reardrive motor		Don't know	40	13
2	Camera	Servo		Changes camera angle	+moves sevro up, - moves sevro down	N/A
3
4
5
6
7
8
9

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Pnuematics	Spike		Controls the compressor	forward = compressor on. dont use reverse	20 amp breaker, pdb 8
1
2
3

Analog IO

RoboRIO Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0	Pnuematics	Pressure guage	REV-11-1107	Senses amount of pressure we have	To know if we can actually do HAB
1	Hab	Left Front Extended	Bimba MRS-.087-PBL-17	senses when the front left cylinder is extended	Low = cylinder extended High = cylinder not extended
2	Hab	Left Rear Extended	Bimba MRS-.087-PBL-17	senses when the rear left cylinder is extended	Low = cylinder extended High = cylinder not extended
3	Hab	Left front cylinder retracted	Bimba MRS-.087-PBL-17	senses when the front left cylinder is retracted	Low = cylinder retracted High = cylinder not retracted

More Board Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0	Hab	Right Front Extended	Bimba MRS-.087-PBL-17	senses when the front Right cylinder is extended	Low = cylinder extended High = cylinder not extended
1	Hab	Right Rear Extended	Bimba MRS-.087-PBL-17	senses when the rear Right cylinder is extended	Low = cylinder extended High = cylinder not extended
2	Hab	Right front cylinder retracted	Bimba MRS-.087-PBL-17	senses when the front Right cylinder is retracted	Low = cylinder retracted High = cylinder not retracted
3	Game piece	Sense when the cargo arms in hatch configuration	Bimba MRS-.087-PBL-17	Senses when the cargo arms are fully open and out of the way	0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Hatch	Limit switch	Honeywell SZL-VL-S-B-N-M	Hatch against backplate	0 = have hatch  1 = no hatch
1	IN
2	IN
3	IN
4	IN	Elevator	Upper Limit	EE-SPY415	senses when the elevator is at the top of its track	0 = no face sensed 1 = face sensed
5	IN	Elevator	Lower Limit	Optek OPB815WZ	senses when the elevator inner frame is at the bottom of the track	0 = elevator not at bottom 1 = elevator is at bottom
6	IN
7	IN
8	IN
9	IN

 

 

 

 

 

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN
1	IN
2	IN	Drive	Encoder	63R256 Grayhill	Left drive train encoder	Left encoder phase A
3	IN	Drive	Encoder	63R256 Grayhill	Right drive train encoder	Right encoder phase A
4	IN	Hab	Range Finder	Optek OPB720A	Front robot over a hab level	0 = not 1 = over level
5	IN	Hab	Range Finder	Optek OPB720A	Back robot over a hab level	0 = not 1 = over level
6	IN	Elevator	Lower Limit	Optek OPB815WZ	Carriage lower limit	0 = elevator carriage not at bottom 1 = elevator carriage is at bottom
7	IN	Elevator	Middle? Limit	Optek OPB815WZ	Carriage upper sensor for returning to starting configuration inside starting configuration	0 = elevator not at starting configuration 1 = elevator is at starting configuration
8	IN	Pnuematics	Compressor Switch	?	Sensor which turns off compressor	0 = compressor on 1= compressor off
9
10
11
12
13
14
15

 

 

 

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0x29		Habitat	laser range finder	VL53L0X	detects when we are ready to retract the first set of cylinders	If climbing to level 3, when distance changes from 21.162 to 2.162 the cylinders will retract .  If climbing to level 2, when distance changes from 21.162 to 15.162 the cylinders will retract.	PROBABLY NOT USING ANYMORE
0x2A		Habitat	laser range finder	VL53L0X	detects when we are ready to retract the second set of cylinders	If climbing to level 3, when distance changes from 21.162 to 2.162 the cylinders will retract .  If climbing to level 2, when distance changes from 21.162 to 15.162 the cylinders will retract.	NOT USING ANYMORE BUT I DONT WANT TO DELETE THIS
2
3
4
5
6

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1

Pneumatics Control Modules

ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	PDB #
1	0	Hatch	Double	SY3240-6LZ	Hold hatch	Extends cylinder to raise hook	50	N/A (dedicated PCM terminal)
	1				Allow hatch to release	Retract cylinder to lower hook
	2	Cargo	Double	SY3240-6LZ	Enables cargo mechanism	Extends cargo cylinders (2) to extend cargo mechism to usable position	50
	3				Store cargo, enable hatch	Retracts cargo cylinders (2) to store cargo mechanism out of way of hatch mechanism
	4	Elevator	Double	SY3240-6LZ	Lowers elevator to inside robot frame	Extends cylinder to lower entire elevator	50
	5				Raises elevator to usable position	Retracts cylinder to raise elevator to usable position for game piece
	6	Elevator	Double	SY3240-6LZ	Engage brake	Extends cylinder to engage elevator brake	50
	7				Release brake	Retracts cylinder to release elevator brake
2	0	Habitat	Double	SY3240-6LZ	Lift front of robot	Extends cylinders (2) to lift front end of robot	50	8
	1				Lower front of robot	Retracts cylinders (2) to lower front end of robot
	2	Habitat	Double	SY3240-6LZ	Lift rear of robot	Extends cylinders (2) to lift back end of robot	50
	3				Lower rear of robot	Retracts cylinders (2) to lower back end of robot
	4	Elevator	Double-RB1 Single -RB2	SY3240-6LZ	Return paracord to its normal length	Extends cylinder to legthen rope	50
	5				Shorten paracord to lift carriage more	Retract cylinder to lift carriage

 

Operator Controls

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y	Forward/backward drive
A-1	Left Joystick X
A-4	Right Joystick Y
A-4	Right Joystick X	Left/right steering/pivot
B-6	Right Bumper	Slow on right side
B-5	Left Bumper	Slow on left side
A-3	Right Trigger	Fast on right side (binary)
A-2	Left Trigger	Fast on left (binary)
B-1	A Button	Swap Drive
B-3	X Button	Switch camera view
B-4	Y Button	Calibrate Gyro
B-2	B Button	Slow Mode Toggle

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-1	Elevator Manual Control	If in hab mode: If elevator is pivoted down and we have begun a hab climb, moves the appropriate drive wheels the given speed instead of the elevator. If not in carirage mode: Moves the elevator up and down, overrides going to a position, if hit when going somewhere, stop going somewhere and do this instead. If in carriage mode: Moves just the elevator carriage using window motor, stops if it reaches either the lower flag or the elevator upper flag.	Joystick; only up and down
B-1	Elevator High Rocket position	Move elevator to high rocket height.  Height adjusts depending on the cargo or hatch mode	Press only
B-2	Elevator Middle Rocket position	Move elevator to middle rocket height.  Height adjusts depending on the cargo or hatch mode	Press only
B-3	Elevator Low Rocket position	Move elevator to low rocket height.  Height adjusts depending on the cargo or hatch mode	Press only
B-4	Elevator Pivot Toggle	Toggles the elevator pivot and carriage position on each press. Only goes to starting config if the elevator is at the bottom. Only pivots elevator forwards if the carriage is at the upper stop or at the bottom.	Press only
B-5	Elevator Loading Station and/or Cargo ship position	Move elevator to loading station/cargo ship height.  Height adjusts depending on the cargo or hatch mode	Press only
B-6	Elevator Ground  Position	Move elevator to ground pick up position. Only works in cargo mode.	Press only
B-7	Intake	Intake game piece. Hatch or cargo depending on which mode it's in. Hold for continued operation of cargo	Press / press & hold
B-8	Outtake	Ejects game piece. Hatch or cargo depending on which mode it's in. Hold for continued operation of cargo	Press / press & hold
B-9	Hab Manual climb - step 2	On the first press extend back cylinder, when pressed after that retract back cylinders	Press only
B-10	Hab Manual climb - step 1	Extends the front 2 cylinders	Press only
B-11	Hab Manual climb - step 3	Retracts the rear cylinders to complete the climb	Press only
B-12	Hab auto climb	Begin and continue automatic Hab climbing. Let go to stop. Press again to continue where you left off. Does nothing if elevator is not pivoted down.	Press and Hold

Controller 2 - Aux Driver (Continued) 

Button/Axis #	Action/Button	Description	Details
B-1	Game piece mode - Cargo	Change game piece system to cargo mode	Press only
B-2	Game piece mode - Hatch	Change game piece system to hatch mode	Press only
B-3	HAB Sensor Broken	Makes HAB ignore sensor input	Toggle
B-4	Elevator encoder broken	Makes elevator ignore encoder input	Toggle
B-5	Hatch Sensor Broken	Makes hatch ignore sensor input	Toggle
B-6	HAB enable	Only enable HAB when pressed to avoid preemptively deploying	Toggle
B-7	Elevator Carriage Broken	Allows drivers to move carriage independently from the inner frame using window motor, switches the aux joystick input to control the snowblower motor instead of the elevator motors	Toggle
B-8	Broken Switch 6		Press only
B-9
B-10
B-11
B-12

 

 

 

Dashboard

Key	Data Type	Value	Description
thunderdashboard_elevator	number	0-100	elevator's height location/position
thunderdashboard_elevator_target	number	0-100	the elevator location it is trying to reach
elevator_target_position	string	e.g. Hatch 1, Cargo 2, Loading Station	the 'name' of the location the elevator is trying to reach
gamepiece_mode	string	hatch cargo	The game piece "mode" the robot thinks it is in. This impacts the elevator positions. Color coded border or text color of gamepiece_target_mode based on if this is the same as or different than gamepiece_target_mode (aka if the robot has achieved the desired mode or not yet). Something like red for "not there yet" and green for "there".
gamepiece_target_mode	string	hatch cargo	The game piece "mode" the robot wants to go to. Display using text. Also consider using an image of a hatch panel or cargo ball?
thunderdashboard_green	number	0 - do NOT have a game piece 1 - have a game piece	Background of dashboard goes green.
robot_airpressure	number	0 - 125	Indicates the PSI in the air system. Display in a slider or pressure gauge (this if possible). based on lower and upper, indicate range its in.
thunderdashboard_airpressure_lower	number	something 0-125	threshold between red and yellow
thunderdashboard_airpressure_upper	number	something 0-125	threshold between yellow and green
robot_match_time_remaining	number	0-135	number of seconds left in the current match period
pi_connected	number	0 - NOT connected 1 - connected	Raspberry Pi connection status Only will update with a clean shutdown - will not get unset with a sudden power loss
thunderdashboard_max	number	0 = show normal 1 = fill screen	fills screen or not
thunderdashboard_match_period_length	number	0-135	number of total seconds in the current match period

IO Maps for Old Robots

• 2018 IO Map
• 2017 IO Map
• 2016 IO Map
• 2015 IO Map
• 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