2026:Robot IO Map: Difference between revisions

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<br>
<br>
== CAN Physical Chain Layout ==
== CAN Physical Chain Layout ==
'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br>
'''NOTE:''' ''CAN connection convention is YELLOW CAN wire on pin 1 (to match Kraken cap convention)''
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 429px;"
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 632px;"  
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span>
| style="width: 65.468%; height: 23px;" | <span style="font-size: 14pt;">'''Devices in Order'''</span>
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Next Device'''</span>
| style="width: 34.532%; height: 23px;" | '''Notes'''
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
<br>
RIO
| style="width: 50%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="width: 50%; height: 28px;" |
| style="width: 65.468%; height: 28px;" |
Back-right swerve motor on Battery side
| style="width: 34.532%; height: 28px;" |
<br>
<br>
| style="width: 50%; height: 28px;" |
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
Back-right swerve CANCoder
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
Back-right swerve motor on Lasagna side
| style="width: 34.532%; height: 23px;" |
<br>
<br>
| style="width: 50%; height: 23px;" |
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
Shooter motor closest to back side of robot
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 28px;"
| style="width: 65.468%; height: 28px;" | Shooter hood thru-bore encoder
| style="width: 34.532%; height: 28px;" | <br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
Shooter hood
| style="width: 34.532%; height: 23px;" |
<br>
<br>
| style="width: 50%; height: 23px;" |
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
Shooter motor furthest from back side of robot
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
Kicker motor
| style="width: 34.532%; height: 23px;" |
<br>
<br>
| style="width: 50%; height: 23px;" |
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
PDH
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
Pigeon
| style="width: 34.532%; height: 23px;" |
<br>
<br>
| style="width: 50%; height: 23px;" |
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
Intake roller motor
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
Front-right swerve motor on Lasagna side
| style="width: 34.532%; height: 23px;" |
<br>
<br>
| style="width: 50%; height: 23px;" |
|- style="height: 23px;"
| style="width: 65.468%; height: 23px;" |
Front-right swerve CANCoder
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
<br>
Front-right swerve motor on front side
| style="width: 50%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
<br>
Front-left swerve motor on front side
| style="width: 50%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
<br>
Front-left swerve CANCoder
| style="width: 50%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="width: 65.468%; height: 23px;" |
<br>
Front-left swerve motor on climber side
| style="width: 50%; height: 23px;" |
| style="width: 34.532%; height: 23px;" |
<br>
<br>
|- style="height: 47px;"
| style="height: 47px;" | Intake pivot thru-bore encoder
| style="height: 47px;" | Wiring inside rats nest! Hard to know order of these 3!
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="height: 23px;" | Intake pivot SparkMax
<br>
| style="height: 23px;" | Wiring inside rats nest! Hard to know order of these 3!
| style="width: 50%; height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="height: 23px;" | Climber SparkMax
<br>
| style="height: 23px;" | Wiring inside rats nest! Hard to know order of these 3!
| style="width: 50%; height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="height: 23px;" | Spindexer motor
<br>
| style="height: 23px;" |
| style="width: 50%; height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="height: 23px;" | Back-left swerve motor on climber side
<br>
| style="height: 23px;" |
| style="width: 50%; height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="height: 23px;" | Back-left swerve CANCoder
<br>
| style="height: 23px;" |
| style="width: 50%; height: 23px;" |
<br>
|- style="height: 23px;"
|- style="height: 23px;"
| style="width: 50%; height: 23px;" |
| style="height: 23px;" | Back-left serve motor on back side
<br>
| style="height: 23px;" | CAN terminator installed here
| style="width: 50%; height: 23px;" |
<br>
|- style="height: 10px;"
|}
|}


Line 686: Line 709:
Intake Encoder, pigeon, limelight(on hang)
Intake Encoder, pigeon, limelight(on hang)
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
20 (swap to 5 when they come in)
20
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
Line 854: Line 877:
LimeLight(on swerve)
LimeLight(on swerve)
| style="height: 28px; width: 145px; text-align: center;" |
| style="height: 28px; width: 145px; text-align: center;" |
5
5 amp&nbsp;'''fuse''' presently
| style="height: 28px; width: 181px; text-align: center;" |
| style="height: 28px; width: 181px; text-align: center;" |
<br>
<br>
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Latest revision as of 17:44, 7 March 2026

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 Base

Motor

Cancoder


Front Right Encoder



 


2

Drive Base

Motor

Kraken X60

Brake

Front Right Drive



18


3

Drive Base

Motor

Kraken X60

Brake

Front Right Steer



19


4

Drive Base

Motor

Cancoder


Back Right Encoder





5

Drive Base

Motor

Kraken X60

Brake

Back Right Drive



10


6

Drive Base

Motor

Kraken X60

Brake

Back Right Steer



11


7

Drive Base

Motor

Cancoder


Front Left Encoder





8

Drive Base

Motor

Kraken X60

Brake

Front Left Drive



16


9

Drive Base

Motor

Kraken X60

Brake

Front Left Steer



17


10

Drive Base

Motor

Cancoder


Back Left Encoder





11

Drive Base

Motor

Kraken X60

Brake

Back Left Drive



12


12

Drive Base

Motor

Kraken X60

Brake

Back Left Steer



13


13

Drive Base

Pigeon

Pigeon


IMU



1*


14 Climber Motor Neo 2.0 ? Climb

2
15 Intake Encoder Throughbore Encoder
Intake Pos Shaft Encoder



1*


16

Intake

Motor

Neo 2.0


Intake Pos Drive



3


17 Intake Motor Kraken X60
Intake Speed Drive



0


18

Spindexer

Motor

Kraken X60


Spindexer Drive



14


19

Kicker

Motor

Kraken X60


Kicker Drive



5


20

Shooter

Motor

Kraken X60


Shooter Drive Left



8


21

Shooter

Motor

Kraken X60


Shooter Drive Right



7


22 Shooter Hood Encoder Throughbore Encoder
Hood Shaft Encoder



23 Shooter Hood Motor Kraken X44
Hood Drive

6
24










25










26










27










28










29










30











CAN Physical Chain Layout

NOTE: CAN connection convention is YELLOW CAN wire on pin 1 (to match Kraken cap convention)

Devices in Order Notes

RIO


Back-right swerve motor on Battery side


Back-right swerve CANCoder


Back-right swerve motor on Lasagna side


Shooter motor closest to back side of robot


Shooter hood thru-bore encoder

Shooter hood


Shooter motor furthest from back side of robot


Kicker motor


PDH


Pigeon


Intake roller motor


Front-right swerve motor on Lasagna side


Front-right swerve CANCoder


Front-right swerve motor on front side


Front-left swerve motor on front side


Front-left swerve CANCoder


Front-left swerve motor on climber side


Intake pivot thru-bore encoder Wiring inside rats nest! Hard to know order of these 3!
Intake pivot SparkMax Wiring inside rats nest! Hard to know order of these 3!
Climber SparkMax Wiring inside rats nest! Hard to know order of these 3!
Spindexer motor
Back-left swerve motor on climber side
Back-left swerve CANCoder
Back-left serve motor on back side CAN terminator installed here

PDB Assignments

Port # Device (Subteam) Breaker Value Max Channel Current Motor Type Note
0

Intake speed / rollers

40


Kraken X60


1

Intake Encoder, pigeon, limelight(on hang)

20


N/A


2

Climber

40


Neo 2.0


3

Intake Position

40


Neo 2.0


4






5

Kicker

40


Kraken X60


6

Shooter Hood

40


Kraken X44


7

Shooter Right

40


Kraken X60


8

Shooter Left

40


Kraken X60


9

LEDs

5


N/A


10

Back Right Drive

40


Kraken X60


11

Back Right Steer

40


Kraken X60


12

Back Left Drive

40


Kraken X60


13

Back Left Steer

40


Kraken X60


14

Spindexer

40


Kraken X60


15

LimeLight(on swerve)

5 amp fuse presently


LimeLight


16

Front Left Drive

40


Kraken X60


17

Front Left Steer

40


Kraken X60


18

Front Right Drive

40


Kraken X60


19

Front Right Steer

40


Kraken X60


20

RoboRIO

10


N/A


21

Radio

10


N/A


22






23 (Switchable)








VRM Assignments

Port # Device (Subteam)
5V/2A


5V/2A


5V/500mA


5V/500mA


12V/2A


12V/2A


12V/500mA


12V/500mA


PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0








 
1








 
2








 
3





       
4









5



 


       
6









7





 




8









9

Lights




 




10                
11                

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

Hang

Distance Sensor

Sharp/Socle GP2Y0A41SK0F Analog Distance Sensor 4-30cm





1






   
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

Elevator

Sensor

 REV Robotics Magnetic Limit Switch
(REV 31-1462)

Climb Top Limit



1 IN Elevator Sensor REV Robotics Magnetic Limit Switch
(REV 31-1462)

Climb Bottom Limit



2

IN

shooter - hood

beam break

OPB815

hood "0" beam break sensor



3








4








5








6








7







 
8







 
9







 
10







 
 
 
 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0


           
1


           
2


           
3


           
4


           
5


           
6


           
7


           
8


           
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


 






 
               
               
               
               
               
               

SPI Devices

# Subsystem

Component Type

 Model # Description (brief) Operation Notes
0






 

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



Operator Controls

IO Maps for Old Robots

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