2025:Robot IO Map: Difference between revisions
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| (14 intermediate revisions by 3 users not shown) | |||
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| style="text-align: center; width: 20.075px; height: 51px;" | 21 | | style="text-align: center; width: 20.075px; height: 51px;" | 21 | ||
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<br> | <br> | ||
<br> | == CAN Physical Chain Layout == | ||
<td colspan="2" "="" >'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br> | |||
== | {| class="wikitable" style="border-collapse: collapse; width: 100%; height: 391px;" | ||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span> | |||
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Next Device'''</span> | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Robo Rio | |||
| style="width: 50%; height: 23px;" | Elevator Left | |||
|- | |||
| style="width: 50%;" | Elevator Left | |||
| style="width: 50%;" | Rear Left Rotational | |||
|- style="height: | |- style="height: 23px;" | ||
| style="height: | | style="width: 50%; height: 23px;" | Rear Left Rotational | ||
| style="height: | | style="width: 50%; height: 23px;" | Rear Left Drive | ||
|- style="height: 23px;" | |||
| style="height: | | style="width: 50%; height: 23px;" | Rear Left Drive | ||
| style="width: 50%; height: 23px;" | Rear Left Cancoder | |||
| style="height: | |- style="height: 23px;" | ||
| style="width: 50%; height: 23px;" | Rear Left Cancoder | |||
| style="width: | | style="width: 50%; height: 23px;" | Front Left Rotational | ||
| style="height: 28px; width: | |- style="height: 23px;" | ||
| style="width: 50%; height: 23px;" | Front Left Rotational | |||
| style="width: 50%; height: 23px;" | Front Left Drive | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Front Left Drive | |||
| style="width: 50%; height: 23px;" | Front Left Cancoder | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Front Left Cancoder | |||
| style="width: 50%; height: 23px;" | Front Right Cancoder | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Front Right Cancoder | |||
| style="width: 50%; height: 23px;" | Front Right Drive | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Front Right Drive | |||
| style="width: 50%; height: 23px;" | Front Right Rotational | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Front Right Rotational | |||
| style="width: 50%; height: 23px;" | Rear Right Rotational | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Rear Right Rotational | |||
| style="width: 50%; height: 23px;" | Rear Right Drive | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Rear Right Drive | |||
| style="width: 50%; height: 23px;" | Rear Right Cancoder | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Rear Right Cancoder | |||
| style="width: 50%; height: 23px;" | Pigeon | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Pigeon | |||
| style="width: 50%; height: 23px;" | Elevator Right | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Elevator Right | |||
| style="width: 50%; height: 23px;" | Hang | |||
|- style="height: 23px;" | |||
| style="width: 50%; height: 23px;" | Hang | |||
| style="width: 50%; height: 23px;" | PDH (Termination) | |||
|- | |||
|} | |||
== PDB Assignments == | |||
{| class="wikitable" style="height: 1198px; width: 1012px;" width="920" | |||
! style="height: 28px; width: 177px;" | Port # | |||
! style="height: 28px; width: 222px;" | Device (Subteam) | |||
! style="height: 28px; width: 145px;" | Breaker Value | |||
! style="height: 28px; width: 181px;" | Max Channel Current | |||
! style="width: 116px;" | Motor Type | |||
! style="height: 28px; width: 171px;" | Note | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 0 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Right Drive (Drivebase) | |||
| style="height: 28px; width: 145px; text-align: center;" | | |||
40A | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | |||
| style="width: 116px; text-align: center;" | Kraken 60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |||
| style="height: 28px; width: 177px; text-align: center;" | 1 | |||
| style="height: 28px; width: 222px; text-align: center;" | | |||
Front Right Rotation (Drivebase) | Front Right Rotation (Drivebase) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | 40A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Kraken 60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 2 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Left Drive (Drivebase) | Front Left Drive (Drivebase) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | 40A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Kraken 60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 3 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Left Rotation (Drivebase) | Front Left Rotation (Drivebase) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | 40A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Kraken 60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 4 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Rear | Rear Left Drive (Drivebase) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | 40A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Kraken 60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 5 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Rear | Rear Left Rotation (Drivebase) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | 40A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Kraken 60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 6 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Wrist | |||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
30A? | |||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Neo | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 7 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Left Motor | |||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
30A? | |||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | Neo 550 | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 8 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Right Motor | |||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
30A? | |||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | Neo 550 | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 9 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Both Limelight Devices | |||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
5A | |||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: 171px; text-align: center;" | | |||
| style="height: 28px; width: | Y break in wire that transfers power to both Limelights | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 10 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Rear Right Drive (Drivebase) | |||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | |||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | Kraken 60 | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 11 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Rear Right Rotation (Drivebase) | |||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
40A | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="width: 116px; text-align: center;" | Kraken 60 | ||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 12 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Elevator Drive Left (Gamepiece) | |||
| style="height: 28px; width: 145px; text-align: center;" | | |||
40A | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="width: 116px; text-align: center;" | Neo | ||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 13 | |||
| style="height: 28px; width: 222px; text-align: center;" | | |||
Elevator Drive Right (Gamepiece) | |||
| style="height: 28px; width: 145px; text-align: center;" | | |||
40A | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | Neo | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 14 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
Cage Solenoid | |||
| style="height: 28px; width: 145px; text-align: center;" | | |||
20A | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="width: 116px; text-align: center;" | Spike Relay | ||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 15 | |||
| style="height: 28px; width: 222px; text-align: center;" | | |||
Cage Winch | |||
| style="height: 28px; width: 145px; text-align: center;" | | |||
40A | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | Neo | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 16 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | | ||
| style="height: 28px; width: | <br> | ||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 17 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | | ||
| style="height: 28px; width: | <br> | ||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 18 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 19 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | |||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | |||
<br> | |||
| style="width: 116px; text-align: center;" | <br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | |||
<br> | |||
|- style="height: 28px;" | |||
| style="height: 28px; width: 177px; text-align: center;" | 20 | |||
| style="height: 28px; width: 222px; text-align: center;" | | |||
Radio (RCS) | Radio (RCS) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
10A | 10A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
Fused Port | Fused Port | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 21 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
RoboRio (RCS) | RoboRio (RCS) | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
10A | 10A | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
Fused Port | Fused Port | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 22 | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
VRM | VRM | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
10A | |||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
Fused Port | Fused Port | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable) | ||
| style="height: 28px; width: | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116px; text-align: center;" | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
|} | |} | ||
| Line 719: | Line 790: | ||
| style="height: 28px; width: 75.25px;" | 5V/500mA | | style="height: 28px; width: 75.25px;" | 5V/500mA | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
Pigeon (RCS) | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 5V/500mA | | style="height: 28px; width: 75.25px;" | 5V/500mA | ||
| Line 727: | Line 798: | ||
| style="height: 28px; width: 75.25px;" | 12V/2A | | style="height: 28px; width: 75.25px;" | 12V/2A | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
CANCoders ( | CANCoders (except right rear) | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/2A | | style="height: 28px; width: 75.25px;" | 12V/2A | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/500mA | | style="height: 28px; width: 75.25px;" | 12V/500mA | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
CANCoder - right rear | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/500mA | | style="height: 28px; width: 75.25px;" | 12V/500mA | ||
| Line 793: | Line 864: | ||
| style="width: 136.3px; text-align: center; height: 28px;" | | | style="width: 136.3px; text-align: center; height: 28px;" | | ||
Addressable LED strips | Addressable LED strips | ||
| style="width: 120.025px; height: 28px;" | | | style="width: 120.025px; height: 28px;" | | ||
<br> | |||
| style="width: 211.488px; height: 28px;" | | | style="width: 211.488px; height: 28px;" | | ||
42 total nodes | 42 total nodes | ||
| Line 948: | Line 1,020: | ||
| style="width: 52.9375px; height: 28px;" | | | style="width: 52.9375px; height: 28px;" | | ||
|} | |} | ||
=== LED Strip Layout and Function === | |||
<div class="mw-parser-output"><div class="mw-parser-output"> </div></div> | <div class="mw-parser-output"><div class="mw-parser-output"> </div></div> | ||
<div class="mw-parser-output"> </div> | <div class="mw-parser-output"> | ||
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 161px;" | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | '''Node Numbers''' | |||
| style="width: 33.3333%; height: 23px;" | '''Location''' | |||
| style="width: 33.3333%; height: 23px;" | '''Function''' | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | 0 - 18 | |||
| style="width: 33.3333%; height: 23px;" | Side of elevator on Robot-left. Node 0 at bottom, 18 at top | |||
| style="width: 33.3333%; height: 23px;" | Strategy-requested features for gameplay, fun stuff | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | 19 | |||
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, robot-left | |||
| style="width: 33.3333%; height: 23px;" | Cage raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | 20 | |||
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, 1 node in from robot-left | |||
| style="width: 33.3333%; height: 23px;" | Elevator limit raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both<br> | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | 21 | |||
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, 1 node in from robot-right | |||
| style="width: 33.3333%; height: 23px;" | Coral raw sensor status. Green if coral is sensed, red if not | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | 22 | |||
| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, robot-right | |||
| style="width: 33.3333%; height: 23px;" | Algae raw sensor status. Green if algae is sensed, red if not | |||
|- style="height: 23px;" | |||
| style="width: 33.3333%; height: 23px;" | 23 - 42 | |||
| style="width: 33.3333%; height: 23px;" | Side of elevator on Robot-right. Node 23 at bottom, 42 at top | |||
| style="width: 33.3333%; height: 23px;" | Strategy-requested features for gameplay, fun stuff | |||
|} | |||
</div> | |||
== Relay Outputs == | == Relay Outputs == | ||
| Line 1,014: | Line 1,121: | ||
=== <u>RoboRIO Analog Inputs</u> === | === <u>RoboRIO Analog Inputs</u> === | ||
{| style="width: 1030px; height: 169px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1030px; height: 169px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="height: 57px; width: 14.4px;" | ID | | style="height: 57px; width: 14.4px;" | ID | ||
| style="text-align: center; height: 57px; width: 73.65px;" | Subsystem | | style="text-align: center; height: 57px; width: 73.65px;" | Subsystem | ||
| style="width: 89.65px; height: 57px;" | <p style="text-align: center;" >Component</p> | | style="width: 89.65px; height: 57px;" | <p style="text-align: center;">Component</p> | ||
<p style="text-align: center;" >Type</p> | <p style="text-align: center;">Type</p> | ||
| style="width: 108.05px; text-align: center; height: 57px;" | Model # | | style="width: 108.05px; text-align: center; height: 57px;" | Model # | ||
| style="width: 200.913px; text-align: center; height: 57px;" | Description<br>(brief) | | style="width: 200.913px; text-align: center; height: 57px;" | Description<br>(brief) | ||
| Line 1,029: | Line 1,136: | ||
| style="width: 82.05px; text-align: center; height: 57px;" | Notes | | style="width: 82.05px; text-align: center; height: 57px;" | Notes | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 14.4px;" | 0 | | style="height: 28px; width: 14.4px;" | 0 | ||
| style="height: 28px; width: 73.65px;" | | | style="height: 28px; width: 73.65px;" | | ||
| Line 1,045: | Line 1,152: | ||
| style="width: 82.05px; text-align: center; height: 28px;" | | | style="width: 82.05px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 14.4px;" | 1 | | style="text-align: center; height: 28px; width: 14.4px;" | 1 | ||
| style="text-align: center; height: 28px; width: 73.65px;" | | | style="text-align: center; height: 28px; width: 73.65px;" | | ||
| Line 1,059: | Line 1,166: | ||
| style="width: 193.55px; text-align: center; height: 28px;" | | | style="width: 193.55px; text-align: center; height: 28px;" | | ||
| style="height: 28px; width: 82.05px;" | | | style="height: 28px; width: 82.05px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 14.4px;" | 2 | | style="text-align: center; height: 28px; width: 14.4px;" | 2 | ||
| style="text-align: center; height: 28px; width: 73.65px;" | | | style="text-align: center; height: 28px; width: 73.65px;" | | ||
| Line 1,068: | Line 1,175: | ||
| style="width: 193.55px; text-align: center; height: 28px;" | | | style="width: 193.55px; text-align: center; height: 28px;" | | ||
| style="height: 28px; width: 82.05px;" | | | style="height: 28px; width: 82.05px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 14.4px;" | 3 | | style="text-align: center; height: 28px; width: 14.4px;" | 3 | ||
| style="text-align: center; height: 28px; width: 73.65px;" | | | style="text-align: center; height: 28px; width: 73.65px;" | | ||
| Line 1,083: | Line 1,190: | ||
=== <u>More Board Analog Inputs</u> === | === <u>More Board Analog Inputs</u> === | ||
{| style="width: 1030px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1030px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| ID | | ID | ||
| style="text-align: center;" | Subsystem | | style="text-align: center;" | Subsystem | ||
| style="width: 70px;" | <p style="text-align: center;" >Component</p> | | style="width: 70px;" | <p style="text-align: center;">Component</p> | ||
<p style="text-align: center;" >Type</p> | <p style="text-align: center;">Type</p> | ||
| style="width: 54px; text-align: center;" | Model # | | style="width: 54px; text-align: center;" | Model # | ||
| style="width: 227px; text-align: center;" | Description<br>(brief) | | style="width: 227px; text-align: center;" | Description<br>(brief) | ||
| Line 1,329: | Line 1,436: | ||
=== <u>Rev Robotics More Board IO</u> === | === <u>Rev Robotics More Board IO</u> === | ||
{| style="width: 1022px;" border="1" cellspacing="1" cellpadding="1" | {| style="width: 1022px;" border="1" cellspacing="1" cellpadding="1" | ||
|- | |- | ||
| style="width: 16px; text-align: center;" | '''ID''' | | style="width: 16px; text-align: center;" | '''ID''' | ||
| Line 1,513: | Line 1,620: | ||
| style="width: 9.97904%; text-align: center; height: 23px;" | 2 | | style="width: 9.97904%; text-align: center; height: 23px;" | 2 | ||
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece | | style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece | ||
| style="width: 11.9271%; text-align: center; height: 23px;" | PWM ground | | style="width: 11.9271%; text-align: center; height: 23px;" | PWM + DIO ground | ||
| style="width: 9.38868%; text-align: center; height: 23px;" | | | style="width: 9.38868%; text-align: center; height: 23px;" | | ||
| style="width: 16.4608%; text-align: center; height: 23px;" | Shared | <br> | ||
| style="width: 32.0989%; text-align: center; height: 23px;" | | | style="width: 16.4608%; text-align: center; height: 23px;" | Shared DIO ground for everything on calgae | ||
| style="width: 58.0897%; text-align: center; height: 23px;" | Ground for PWM outputs | | style="width: 32.0989%; text-align: center; height: 23px;" | | ||
<br> | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | Ground for PWM + DIO outputs | |||
'''Sourced from Rio DIO 0''' | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 9.97904%; text-align: center; height: 23px;" | 3 | | style="width: 9.97904%; text-align: center; height: 23px;" | 3 | ||
| style="width: 6.01791%; text-align: center; height: 28px;" | | | style="width: 6.01791%; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 11.9271%; text-align: center; height: 23px;" | | | style="width: 11.9271%; text-align: center; height: 23px;" | <br> | ||
| style="width: 9.38868%; text-align: center; height: 23px;" | | | style="width: 9.38868%; text-align: center; height: 23px;" | | ||
| style="width: 16.4608%; text-align: center; height: 23px;" | | <br> | ||
| style="width: 32.0989%; text-align: center; height: 23px;" | | | style="width: 16.4608%; text-align: center; height: 23px;" | <br> | ||
| style="width: 58.0897%; text-align: center; height: 23px;" | | | style="width: 32.0989%; text-align: center; height: 23px;" | | ||
<br> | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | <br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 9.97904%; text-align: center; height: 23px;" | 4 | | style="width: 9.97904%; text-align: center; height: 23px;" | 4 | ||
| Line 1,538: | Line 1,651: | ||
| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Wrist | | style="width: 32.0989%; text-align: center; height: 23px;" | Controls Wrist | ||
| style="width: 58.0897%; text-align: center; height: 23px;" | | | style="width: 58.0897%; text-align: center; height: 23px;" | | ||
<br> | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 9.97904%; text-align: center; height: 23px;" | 5 | | style="width: 9.97904%; text-align: center; height: 23px;" | 5 | ||
| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece | | style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece | ||
| style="width: 11.9271%; text-align: center; height: 23px;" | +5V Digital power | | style="width: 11.9271%; text-align: center; height: 23px;" | +5V Digital power | ||
| style="width: 9.38868%; text-align: center; height: 23px;" | | | style="width: 9.38868%; text-align: center; height: 23px;" | | ||
<br> | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | Shared digital power | | style="width: 16.4608%; text-align: center; height: 23px;" | Shared digital power | ||
| style="width: 32.0989%; text-align: center; height: 23px;" | | | style="width: 32.0989%; text-align: center; height: 23px;" | | ||
<br> | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | | style="width: 58.0897%; text-align: center; height: 23px;" | | ||
Power to sensors | Power to sensors | ||
'''Sourced from Rio DIO 0''' | |||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 9.97904%; text-align: center; height: 23px;" | 6 | | style="width: 9.97904%; text-align: center; height: 23px;" | 6 | ||
| Line 1,580: | Line 1,698: | ||
== I2C Registers == | == I2C Registers == | ||
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="text-align: center;" | '''Address'''<br>(e.g. 0100111X) | | style="text-align: center;" | '''Address'''<br>(e.g. 0100111X) | ||
| style="width: 37px; text-align: center;" | '''Pin'''<br>(e.g. GP0) | | style="width: 37px; text-align: center;" | '''Pin'''<br>(e.g. GP0) | ||
| style="width: 76px; text-align: center;" | '''Subsystem''' | | style="width: 76px; text-align: center;" | '''Subsystem''' | ||
| style="width: 75px;" | <p style="text-align: center;" >'''Component'''</p> | | style="width: 75px;" | <p style="text-align: center;">'''Component'''</p> | ||
<p style="text-align: center;" >'''Type'''</p> | <p style="text-align: center;">'''Type'''</p> | ||
| style="width: 53px; text-align: center;" | '''Model #''' | | style="width: 53px; text-align: center;" | '''Model #''' | ||
| style="width: 205px; text-align: center;" | '''Description<br>(brief)''' | | style="width: 205px; text-align: center;" | '''Description<br>(brief)''' | ||
| Line 1,664: | Line 1,782: | ||
== SPI Devices == | == SPI Devices == | ||
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="text-align: center;" | '''#''' | | style="text-align: center;" | '''#''' | ||
| style="width: 76px; text-align: center;" | '''Subsystem''' | | style="width: 76px; text-align: center;" | '''Subsystem''' | ||
| style="width: 75px;" | <p style="text-align: center;" >'''Component Type'''</p> | | style="width: 75px;" | <p style="text-align: center;">'''Component Type'''</p> | ||
| style="width: 53px; text-align: center;" | '''Model #''' | | style="width: 53px; text-align: center;" | '''Model #''' | ||
| style="width: 205px; text-align: center;" | '''Description (brief)''' | | style="width: 205px; text-align: center;" | '''Description (brief)''' | ||
| Line 1,690: | Line 1,808: | ||
== USB Host Ports == | == USB Host Ports == | ||
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="text-align: center;" | '''Address''' | | style="text-align: center;" | '''Address''' | ||
| style="width: 76px; text-align: center;" | '''Subsystem''' | | style="width: 76px; text-align: center;" | '''Subsystem''' | ||
| style="width: 75px;" | <p style="text-align: center;" >'''Component Type'''</p> | | style="width: 75px;" | <p style="text-align: center;">'''Component Type'''</p> | ||
| style="width: 53px; text-align: center;" | '''Model #''' | | style="width: 53px; text-align: center;" | '''Model #''' | ||
| style="width: 205px; text-align: center;" | '''Description (brief)''' | | style="width: 205px; text-align: center;" | '''Description (brief)''' | ||
| Line 1,726: | Line 1,844: | ||
== Pneumatics Control Modules == | == Pneumatics Control Modules == | ||
{| class="wikitable" style="width: 931px;" border="1" cellspacing="1" cellpadding="2" | {| class="wikitable" style="width: 931px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="width: 8px;" | | | style="width: 8px;" | | ||
| Line 1,735: | Line 1,853: | ||
| style="width: 1px;" | '''#''' | | style="width: 1px;" | '''#''' | ||
| style="text-align: center;" | '''Subsystem''' | | style="text-align: center;" | '''Subsystem''' | ||
| style="width: 75px;" | <p style="text-align: center;" >'''Solenoid is Double or Single?'''</p> | | style="width: 75px;" | <p style="text-align: center;">'''Solenoid is Double or Single?'''</p> | ||
| style="width: 64px;" | <p style="text-align: center;" >'''Solenoid'''</p> | | style="width: 64px;" | <p style="text-align: center;">'''Solenoid'''</p> | ||
<p style="text-align: center;" >'''Model #'''</p> | <p style="text-align: center;">'''Model #'''</p> | ||
| style="width: 183px;" | <p style="text-align: center;" >'''Description'''</p> | | style="width: 183px;" | <p style="text-align: center;">'''Description'''</p> | ||
<p style="text-align: center;" >'''(brief)'''</p> | <p style="text-align: center;">'''(brief)'''</p> | ||
| style="width: 290px; text-align: center;" | '''Operation''' | | style="width: 290px; text-align: center;" | '''Operation''' | ||
| style="width: 118px; text-align: center;" | '''Circuit Pressure''' | | style="width: 118px; text-align: center;" | '''Circuit Pressure''' | ||
| Line 1,893: | Line 2,011: | ||
= Operator Controls = | = Operator Controls = | ||
[[File:Light Mode.png|1500x5000px|border]] | |||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== Controller 1 - Primary Driver === | === Controller 1 - Primary Driver === | ||
{| style="width: 908px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 908px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="width: 92px;" | ''' Button/Axis #''' | | style="width: 92px;" | ''' Button/Axis #''' | ||
| Line 1,990: | Line 2,112: | ||
=== Controller 2 - Aux Driver === | === Controller 2 - Aux Driver === | ||
{| style="width: 908px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 908px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="text-align: center; width: 91px;" | '''Button/Axis #''' | | style="text-align: center; width: 91px;" | '''Button/Axis #''' | ||
| Line 2,138: | Line 2,260: | ||
=== Controller 3 - Switches on console === | === Controller 3 - Switches on console === | ||
{| style="width: 907px;" border="1" cellspacing="1" cellpadding="1" | {| style="width: 907px;" border="1" cellspacing="1" cellpadding="1" | ||
|- | |- | ||
| style="width: 92px;" | ''' Button/Axis #''' | | style="width: 92px;" | ''' Button/Axis #''' | ||
| Line 2,212: | Line 2,334: | ||
=== Dashboard === | === Dashboard === | ||
{| style="width: 0px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 0px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="width: 26px;" | '''Key''' | | style="width: 26px;" | '''Key''' | ||
| Line 2,255: | Line 2,377: | ||
<br> | <br> | ||
|} | |} | ||
</div></div></div> | |||
= IO Maps for Old Robots = | = IO Maps for Old Robots = | ||
| Line 2,274: | Line 2,397: | ||
*[[2009:IO_Map|2009 Thunderplucker]] | *[[2009:IO_Map|2009 Thunderplucker]] | ||
*[[IO Pin Maps for Pre-2009 Robots]] | *[[IO Pin Maps for Pre-2009 Robots]] | ||
</div></div> | |||
Latest revision as of 18:43, 6 March 2025
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Brake or Coast? | Description (brief) |
Operation |
PD Board Info (8) max. 40A PDB # |
General Notes | |
| 0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 |
| |||
| 1 | Drive | Motor | Kraken X60 | Brake | Drive Motor Front Left |
|
|
| |
| 2 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Front Left |
|
|
|
|
| 3 |
Drive |
Cancoder |
|
|
Cancoder Front Left |
|
|
|
|
| 4 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Front Right |
|
|
|
|
| 5 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Front Right |
|
|
|
|
| 6 |
Drive |
Cancoder |
|
|
Cancoder Front Right |
|
|
|
|
| 7 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Back Right |
|
|
|
|
| 8 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Back Right |
|
|
|
|
|
9 |
Drive |
Cancoder |
|
|
Cancoder Back Right |
|
|
|
|
| 10 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Back Left |
|
|
|
|
| 11 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Back Left |
|
|
|
|
| 12 |
Drive |
Cancoder |
|
|
Cancoder Back Left |
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| 14 |
Drive |
Pigeon |
Pigeon |
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IMU |
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| 15 |
Elevator |
Motor |
Neo |
Brake |
Elevator Motor Right |
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| 16 |
Elevator |
Motor |
Neo |
Brake |
Elevator Motor Left |
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| 17 |
Cage |
Motor |
Neo |
? |
Hang winch |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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CAN Physical Chain Layout
<td colspan="2" "="" >NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1
| Current Device | Next Device |
| Robo Rio | Elevator Left |
| Elevator Left | Rear Left Rotational |
| Rear Left Rotational | Rear Left Drive |
| Rear Left Drive | Rear Left Cancoder |
| Rear Left Cancoder | Front Left Rotational |
| Front Left Rotational | Front Left Drive |
| Front Left Drive | Front Left Cancoder |
| Front Left Cancoder | Front Right Cancoder |
| Front Right Cancoder | Front Right Drive |
| Front Right Drive | Front Right Rotational |
| Front Right Rotational | Rear Right Rotational |
| Rear Right Rotational | Rear Right Drive |
| Rear Right Drive | Rear Right Cancoder |
| Rear Right Cancoder | Pigeon |
| Pigeon | Elevator Right |
| Elevator Right | Hang |
| Hang | PDH (Termination) |
PDB Assignments
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
|---|---|---|---|---|---|
| 0 |
Front Right Drive (Drivebase) |
40A |
|
Kraken 60 |
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| 1 |
Front Right Rotation (Drivebase) |
40A |
|
Kraken 60 |
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| 2 |
Front Left Drive (Drivebase) |
40A |
|
Kraken 60 |
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| 3 |
Front Left Rotation (Drivebase) |
40A |
|
Kraken 60 |
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| 4 |
Rear Left Drive (Drivebase) |
40A |
|
Kraken 60 |
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| 5 |
Rear Left Rotation (Drivebase) |
40A |
|
Kraken 60 |
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| 6 |
Wrist |
30A? |
|
Neo |
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| 7 |
Intake Left Motor |
30A? |
|
Neo 550 |
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| 8 |
Intake Right Motor |
30A? |
|
Neo 550 |
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| 9 |
Both Limelight Devices |
5A |
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|
Y break in wire that transfers power to both Limelights |
| 10 |
Rear Right Drive (Drivebase) |
40A |
|
Kraken 60 |
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| 11 |
Rear Right Rotation (Drivebase) |
40A |
|
Kraken 60 |
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| 12 |
Elevator Drive Left (Gamepiece) |
40A |
|
Neo |
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| 13 |
Elevator Drive Right (Gamepiece) |
40A |
|
Neo |
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| 14 |
Cage Solenoid |
20A |
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Spike Relay |
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| 15 |
Cage Winch |
40A |
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Neo |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
Radio (RCS) |
10A |
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Fused Port | |
| 21 |
RoboRio (RCS) |
10A |
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Fused Port | |
| 22 |
VRM |
10A |
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Fused Port | |
| 23 (Switchable) |
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VRM Assignments
| Port # | Device (Subteam) |
|---|---|
| 5V/2A |
Lights (RCS) |
| 5V/2A |
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| 5V/500mA |
Pigeon (RCS) |
| 5V/500mA |
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| 12V/2A |
CANCoders (except right rear) |
| 12V/2A |
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| 12V/500mA |
CANCoder - right rear |
| 12V/500mA |
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PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
Gamepiece |
Motor |
Neo 550 |
Calgae Motors (Left and Right) |
|
Brake |
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| 1 |
N/A |
LED strips |
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Addressable LED strips |
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42 total nodes |
VRM 5V | |
| 2 |
Gamepiece |
Motor |
Neo |
Calgae Wrist |
Brake | |||
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 | ||||||||
| 11 | ||||||||
LED Strip Layout and Function
| Node Numbers | Location | Function |
| 0 - 18 | Side of elevator on Robot-left. Node 0 at bottom, 18 at top | Strategy-requested features for gameplay, fun stuff |
| 19 | Base of elevator on robot front, robot-left | Cage raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both |
| 20 | Base of elevator on robot front, 1 node in from robot-left | Elevator limit raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both |
| 21 | Base of elevator on robot front, 1 node in from robot-right | Coral raw sensor status. Green if coral is sensed, red if not |
| 22 | Base of elevator on robot front, robot-right | Algae raw sensor status. Green if algae is sensed, red if not |
| 23 - 42 | Side of elevator on Robot-right. Node 23 at bottom, 42 at top | Strategy-requested features for gameplay, fun stuff |
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 |
Cage |
SPIKE relay |
|
Controls electric solenoid |
Power on to disengage pawl from ratchet, power off to engage |
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| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 |
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| 1 |
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| 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 |
Gamepiece |
Sensor |
OPB720B-06Z |
Algae Sensor |
Detects when Algae is present in the Calgae Intake. |
Sensor should also detect slip and make sure the motors maintain grip on the Algae. |
| 1 | IN |
Gamepiece |
Sensor |
OMRON |
Coral Sensor |
Detects when Coral is present in the Calgae Intake. Then stops the intake motors. |
|
| 2 | IN |
Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Elevator Top Limit |
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| 3 | IN |
Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Elevator Bottom Limit |
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| 4 | IN |
Gamepiece |
Encoder |
Used in absolute position mode to indicate wrist pivot angle. |
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| 5 |
IN |
Hang |
Sensor |
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Hang Solenoid Up |
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| 6 |
IN |
Hang |
Sensor |
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Hang Hung |
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| 7 | IN |
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| 8 | IN |
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| 9 | IN |
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| 10 | IN |
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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 |
Junction Box For Gamepiece Communication (Base & Carriage)
| # (left to right) |
Subsystem | Component | Model |
Description (brief) | Operation | Notes |
| 1 | Gamepiece | Spark Max |
|
Calgae Motor Controller
PWM Signal |
Controls Intake | After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers. |
| 2 | Gamepiece | PWM + DIO ground |
|
Shared DIO ground for everything on calgae |
|
Ground for PWM + DIO outputs
Sourced from Rio DIO 0 |
| 3 |
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| 4 | Gamepiece | Spark Max |
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Wrist Motor Controller
PWM Signal |
Controls Wrist |
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| 5 | Gamepiece | +5V Digital power |
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Shared digital power |
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Power to sensors Sourced from Rio DIO 0 |
| 6 | Gamepiece |
Encoder |
Bore Encoder |
Used in absolute position mode to indicate wrist pivot angle. |
| |
| 7 | Gamepiece | Sensor | OMRON | Coral Sensor | Detects when Coral is present in the Calgae Intake. Then stops the intake motors. |
|
| 8 | Gamepiece | Sensor | OPB720B-06Z | Algae Sensor | Detects when Algae is present in the Calgae Intake. | Sensor should also detect slip and make sure the motors maintain grip on the Algae. |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
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SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
Pneumatics Control Modules
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 6 |
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| 7 |
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| 2 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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Operator Controls
Controller 1 - Primary Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | Left Joystick Y |
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| A-1 | Left Joystick X |
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Left Joystick Press |
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| A-4 | Right Joystick Y |
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| A-4 | Right Joystick X |
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| B-6 | Right Bumper |
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| B-5 | Left Bumper |
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| A-3 | Right Trigger |
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| A-2 | Left Trigger |
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| B-1 | Square / A Button |
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| B-3 | Cross / X Button |
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| B-4 | Triangle / Y Button |
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| B-2 | Circle / B Button |
Controller 2 - Aux Driver
| Button/Axis # | Action/Button | Description | Details |
| A-0 | Left Joystick X-Axis | ||
| A-1 | Left Joystick Y-Axis |
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| A-2 | Left Trigger |
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| A-3 | Right Trigger |
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| A-4 | Right Joystick X-Axis |
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| A-5 | Right Joystick Y-Axis |
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| B-1 | Square / A Button |
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| B-2 | Circle / B button |
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| B-3 | Cross / X Button |
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| B-4 | Triangle / Y button |
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| B-5 | Left bumper |
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| B-6 | Right bumper |
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| B-7 | Back Button |
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| B-8 | Start Button |
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| B-9 | Left Stick Pressed |
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| B-10 | Right Stick Pressed |
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| POV-0 | D-pad up |
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| POV-90 | D-pad right |
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| POV-180 | D-pad down |
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| POV-270 | D-pad left |
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Controller 3 - Switches on console
| Button/Axis # | Action/Button | Description | Details |
| B-1 |
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| B-2 |
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| B-3 |
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| B-4 |
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| B-5 |
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| B-6 |
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| B-7 |
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| B-8 |
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| B-9 |
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Dashboard
| Key | Data Type | Value | Description |
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