2020: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	Intake	Spark Max	Neo 550	Brake	Pivots intake in/out of robot		30A Using integrated encoder	4
3	Intake	Spark max	Neo 550	Coast	Spins "beater bars"		30A	5
4	Storage	Spark max	Neo 550	Brake	Agitates balls up the corkscrew		30A	6
5	Storage	Spark max	Neo 550	Brake	Feeds balls into shooter		30A	7
6	Shooter	Spark max	Neo	Coast	Spins left shooting motor		40A +: out -: in	12
7	Shooter	Spark max	Neo	Coast	Spins right shooting motor		40A Using integrated encoder. 1 might run in follower mode +: in -: out	2
8	Turret	Spark max	Neo 550	Brake	Rotates turret		30A	9
9	WoF	Spark max	Neo 550	Brake	Rotates Wheel of Fortune		20A	11
10	Hang	Spark max	Neo	Brake	Winches robot up		40A Using integrated encoder	13
11	Shooter	Spark Max	Neo	?	Primer wheel	Feeds into the shooter	+: in -: out	8
12
13
14
15

 

 

 

 

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Hang	Servo	Hs-322HD	Engages/disingages ratchet		N/A
1	Shooter	Servo	Hs-785HB	Moves turret hood to increase/decrease shot angle		N/A
2
3
4	Driver LEDs	LED	LED	Gives connection to Driver Interface LEDs	Allows drivers to see power cell count from the front/back of robot	N/A	20A (via voltage regulator)	10
5	Wheel of Fortune	Servo		Swing color sensor outside the frame perimeter
6	Drive base	Spark Max	Neo	Left front drive motor	Moves left side of robot forwards/backwards	Don't know	40A	14
7	Drive Base	Spark Max	Neo	Left rear drive motor		Don't know	40A	15
8	Drive Base	Spark Max	Neo	Right front drive motor	Moves right side of robot forwards/backwards	Don't know	40A	0
9	Drive Base	Spark Max	Neo	Right Rear drive Motor		Don't know	40A	1
8
9

 

 

 

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3

 

Analog IO

RoboRIO Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0	Drive Base	Gyro	ADW22307	Located on center axis underneath the helix	Tells where the drive base is looking by degrees (for autonomous)	7mV/degree
1	Shooter	Potentiometer	Bournes 3547S-1AA-103A	Located on the output of the hood servo	Tells the angle of the hood
2
3

 

More Board Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

 

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Intake	Banner Opto	Q10RN6R	Senses Incoming Power Cells	1 = Ball not present  0 = Ball Present	w/Q106E emitter, sensor open-collector out
1	IN
2	IN	Storage	Allen-Bradley RightSight Prox Sensor	42EF-D2MPAK-F4	Senses balls when ready to shoot	1 = Ball present 0 = Ball not present
3	IN	Shooter	Banner Opto	Q10RN6R	Senses when a ball is exiting the shooter	1 = Ball not present  0 = Ball Present	w/Q106E emitter, sensor open-collector out
4	IN	Drive base	Phase A Left Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
5	IN	Drive base	Phase B Left Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
6	IN	Drive base	Phase A Right Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
7	IN	Drive base	Phase B right encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
8	IN	Intake	Omron Reflective	EE-SPY415	Senses the presence of the intake mechanism to zero the rotation motor encoder	1 = not present 0 = present (Need to double check this)
9	IN	Hang	Optical Sensor Through-Beam	OPB815WZ	Sense when hanger is all the way retracted	1 = hanger sensed (all the way down), 0 = hanger not sensed

 

 

 

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN
1	IN
2	IN
3	IN
4	IN
5	IN
6	IN
7	IN
8	IN
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
0x52		Wheel of Fortune	Color Sensor	REV-31-1557	Reads colors of wheel	Provides these channels: Red, Green, Blue, Alpha, and Proximity

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

PCM ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	PDB #
1	0
	1
	2
	3
	4
	5
	6
	7
2	0
	1
	2
	3
	4
	5

 

 

Robot Lights Reference

• When Disabled:
  • Front Lights - Shows status of DIGITAL sensors, one sensor per row. Each row is GREEN for sensor not tripped, RED for when it is tripped.
    • Row 4 (top row): Shooter game piece exit sensor
    • Row 3: Helix-shooter game piece transition sensor
    • Row 2: Intake game piece count sensor
    • Row 1: Intake pivot zeroing sensor
    • Row 0: Hanger zeroing sensor
• When Enabled:
  • Red X: Ball count indeterminate
  • Otherwise, one row is lit from bottom to top for each game piece in robot

Operator Controls

Disable Xbox Controller

DisableXbox.docx

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y	Tank mode: left side drive motors forward/reverse Arcaded mode: robot moves foward/reverse
A-1	Left Joystick X
A-4	Right Joystick Y	Tank mode: right side drive motors foward/reverse
A-4	Right Joystick X	Arcade mode: robot moves left/right
B-6	Right Bumper	Right side drive motors: Slow
B-5	Left Bumper	Left side drive motors: Slow
A-3	Right Trigger	Right side drive motors: Turbo
A-2	Left Trigger	Left side drive motors: Turbo
B-1	A Button	Toggles between tank and arcade mode
B-3	X Button
B-4	Y Button	Calibrates Gyro
B-2	B Button

 

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-0	Left Joystick X-Axis
A-1	Left Joystick Y-Axis	Shooter manual speed	Not position-sensative -- accumulates change to speed slowly in whichever direction is held (up slowly increases speed setting, down slowly decreases it)
A-2	Left Trigger	Lower and run intake	Press and hold, release to stop.
A-3	Right Trigger	Shoot	Press and hold, release to stop.  Shoots when shooter has reached desired speed as long as balls remain in robot.
A-4	Right Joystick X-Axis
A-5	Right Joystick Y-Axis
B-1	A Button	Retract the hanger	Press and hold, release to stop
B-2	B button	Auto-shoot setting: Wall	Single press
B-3	X Button	Auto-shoot setting: Initiation Line	Single press
B-4	Y button	Extend the hanger	Press and hold, release to stop
B-5	Left bumper	Outtake game pieces	Press and hold, release to stop
B-6	Right bumper	Pre-heat shooter	Press and hold, release to stop
B-7	Back Button
B-8	Start Button	Auto-shoot setting: Panel	Single press
B-9	Left Stick Pressed
B-10	Right Stick Pressed
POV-0	D-pad up	Run Control Panel	Press and hold, release to cancel. Rotatation control, position control, or manual advance based on console switches

Controller 3 - Switches on console

Button/Axis #	Action/Button	Description	Details
B-1	Control Panel Sensor Broken	On = broken, run CP manually Off = Working, do whatever is in button 1
B-2	Intake Pivot Sensor Broken	On = broken, zero pivot based solely on startup position
B-3	Intake ball counter Broken	On = broken, don't use this sensor
B-4	Storage-shooter transition counter broken	On = broken, don't use this sensor
B-5	Shooter ball counter broken	On = broken, don't use this sensor
B-6	Control Panel Mode	Determines which control panel operation to run On = rotation Off = position
B-7	Shoot Manual Speed	On = Manual speed control, off = use presets
B-8	Disable drive "backdrive"	On = Disable backdrive code, off = enable backdrive code
B-9	Hanger Speed	On = Lift speed, Off = slow speed (test if hooked)

Dashboard

Key	Data Type	Value	Description
thunderdashboard_wheel	number	0 - do NOT know 1 - Red 2 - Green 3 - Blue 4 - Yellow	The color the robot's sensor is seeing
thunderdashboard_wheel_end	number	see thunderdashboard_wheel	The color FMS is asking for in the final stage
thunderdashboard_shooter_speed	number	0 - 100	the speed the shooter is running at: 0 is min and 100 is max
thunderdashboard_shooter_pos	number	0 - 360	the position of the turret, in degrees from home position: 0 is home
thunderdashboard_shooter_hood	number	0 - 100	the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_pos	number	0 - 100	the position of the arm, for hang: 0 is full retracted, 100 is full extended
thunderdashboard_hang_lock	number	0 - hang ratched is not locked 1 - hang ratched is locked	indicates whether the ratchet, for hang, is engaged or not
thunderdashboard_intake_pos	number	0 - intake is down (deployed) 1 - intake is up (retracted)	indicates whether the intake is up or not
thunderdashboard_ballcount	number	-1 - do not know 0 - 5	Number of balls (game pieces) the robot thinks it has
thunderdashboard_gyro	number	0 - dashboard background not based on this 1 - dashboard background goes red	used when: gyro is calibrating
thunderdashboard_yellow	number	0 - dashboard background not based on this 1 - dashboard background goes yellow	used when: TBD NOTE: thunderdashboard_gyro takes precedence
thunderdashboard_green	number	0 - dashboard background not based on this 1 - dashboard background goes green	used when: TBD NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_inpitmode	number	0 = dashboard background not based on this 1 = dashboard background is power blue	used when: robot is operating in 'pit mode' (for safer operatin in the pits) NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_max	number	0 = show normal 1 = fills screen	whether to fill the laptop screen with the dashboard or not
thunderdashboard_starting_count	number	0-3	editable, set initial count of power cells in robot before auto
thunderdashboard_auto_list	string	a comma seperated list	the list of auto modes (e.g. "0,1,2,3,4,5")
thunderdashboard_auto_#	string	any text	one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
Auto_Mode	number	a number from thunderdashboard_auto_list	the auto mode selected on the UI
thunderdashboard_auto_start_delay	number		user selected number of seconds, 0 to 15, to delay start of auto mode
thunderdashboard_drivearcade	number	0 = tank drive 1 = arcade drive	what mode drive is using. dashboard will show 'Tank Drive' when in that mode, otherwise nothing is shown

IO Maps for Old Robots

• 2019 IO Map
• 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