2011:Robot IO Map: Difference between revisions
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| Line 29: | Line 29: | ||
| 03<br> | | 03<br> | ||
| Left side drive train<br> | | Left side drive train (front motor)<br> | ||
|- | |- | ||
| | | | ||
| Line 35: | Line 35: | ||
| 04<br> | | 04<br> | ||
| Right side drive train<br> | | Right side drive train (front motor)<br> | ||
|- | |- | ||
| | | | ||
| Line 47: | Line 47: | ||
| 06<br> | | 06<br> | ||
| Manipulator- | | Manipulator- bottom rollers<br> | ||
|- | |- | ||
| | | | ||
| Line 53: | Line 53: | ||
| 07<br> | | 07<br> | ||
| Manipulator- | | Manipulator- top rollers <br> | ||
|- | |- | ||
| | | | ||
| Line 71: | Line 71: | ||
| 01<br> | | 01<br> | ||
| Minibot Deployer release (servo)<br> | | Minibot Deployer release (servo) - deployment<br> | ||
|- | |- | ||
| | | | ||
| Line 89: | Line 89: | ||
| 04<br> | | 04<br> | ||
| Robot front guide release (servo)<br> | | Robot front guide release (servo) - cowcatcher<br> | ||
|- | |- | ||
| | | | ||
| Line 135: | Line 135: | ||
| 01<br> | | 01<br> | ||
| | | Compressor | ||
|- | |- | ||
| | | | ||
| Line 141: | Line 141: | ||
| 02<br> | | 02<br> | ||
| | | Valve | ||
|- | |- | ||
| | | | ||
| Line 147: | Line 147: | ||
| 03<br> | | 03<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
| Line 153: | Line 153: | ||
| 04<br> | | 04<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
| Line 213: | Line 213: | ||
| 05<br> | | 05<br> | ||
| <br> | | Banner photoelectric sensor for "Got It"<br>(Logic High = +3.6Vdc min., Logic Low = 0Vdc) | ||
|- | |- | ||
| | | | ||
| Line 219: | Line 219: | ||
| 06<br> | | 06<br> | ||
| <br> | | Photoelectric sensor for arm "Home/Park"<br> | ||
|- | |- | ||
| | | | ||
| Line 238: | Line 238: | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 01<br> | | 01<br> | ||
| Line 244: | Line 244: | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 02<br> | | 02<br> | ||
| | | Pressure Switch | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 03<br> | | 03<br> | ||
| Line 256: | Line 256: | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 04 <br> | | 04 <br> | ||
| Line 262: | Line 262: | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 05 <br> | | 05 <br> | ||
| Line 268: | Line 268: | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 06<br> | | 06<br> | ||
| Line 274: | Line 274: | ||
|- | |- | ||
| | | | ||
<br> | <br>IN | ||
| 07<br> | | 07<br> | ||
| Line 280: | Line 280: | ||
|- | |- | ||
| | | | ||
<br> | <br>IN | ||
| 08<br> | | 08<br> | ||
| Line 286: | Line 286: | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 09 <br> | | 09 <br> | ||
| | | Output for Signal Light RED<br> | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 10<br> | | 10<br> | ||
| <br> | | Output for Signal Light WHITE<br> | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 11 <br> | | 11 <br> | ||
| | | Output for Signal Light BLUE<br> | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 12 <br> | | 12 <br> | ||
| Line 310: | Line 310: | ||
|- | |- | ||
| | | | ||
<br> | IN<br> | ||
| 13 <br> | | 13 <br> | ||
| Line 316: | Line 316: | ||
|- | |- | ||
| | | | ||
<br> | OUT<br> | ||
| 14<br> | | 14<br> | ||
| | | | ||
Output for signal light GREEN "Got-It" | |||
|- | |||
| '''Pneumatics Bumper''' | |||
| | |||
| | |||
|- | |||
| | |||
| align="center" valign="middle" | 01 | |||
| Power for Floor Line Sensor Right | |||
|- | |||
| | |||
| align="center" valign="middle" | 02 | |||
| Power for Floor Line Sensor Middle | |||
|- | |||
| | |||
| align="center" valign="middle" | 03 | |||
| Power for Floor Line Sensor Left | |||
|} | |} | ||
Latest revision as of 16:10, 19 April 2011
| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
|
|
| RESERVED
|
01 |
DO NOT USE. ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id. |
|
|
02 |
|
|
|
03 |
Left side drive train (front motor) |
|
|
04 |
Right side drive train (front motor) |
|
|
05 |
Arm Drive |
|
|
06 |
Manipulator- bottom rollers |
|
|
07 |
Manipulator- top rollers |
|
|
08 |
|
|
PWM Outputs |
|
|
|
|
01 |
Minibot Deployer release (servo) - deployment |
|
|
02 |
Camera pan servo |
|
|
03 |
Camera tilt servo |
|
|
04 |
Robot front guide release (servo) - cowcatcher |
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
Compressor |
|
|
02 |
Valve |
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
Floor Line Sensor- Right |
|
|
03 |
Floor Line Sensor- Middle |
|
|
04 |
Floor Line Sensor- Left |
|
|
05 |
Banner photoelectric sensor for "Got It" (Logic High = +3.6Vdc min., Logic Low = 0Vdc) |
|
|
06 |
Photoelectric sensor for arm "Home/Park" |
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use) |
| Digital IO (GPIO) | ||
|
IN |
01 |
Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND) |
|
IN |
02 |
Pressure Switch |
|
IN |
03 |
Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND) |
|
IN |
04 |
Right drivetrain encoder, channel B (YEL=SIGB) |
|
IN |
05 |
Left arm encoder, channel A |
|
IN |
06 |
Left arm encoder, channel B |
|
|
07 |
Right arm encoder, channel A |
|
|
08 |
Right arm encoder, channel B |
|
OUT |
09 |
Output for Signal Light RED |
|
OUT |
10 |
Output for Signal Light WHITE |
|
OUT |
11 |
Output for Signal Light BLUE |
|
IN |
12 |
Photoelectric sensor for arm "Playing Position" |
|
IN |
13 |
Photoelectric sensor for arm "Reverse Position" |
|
OUT |
14 |
Output for signal light GREEN "Got-It" |
| Pneumatics Bumper | ||
| 01 | Power for Floor Line Sensor Right | |
| 02 | Power for Floor Line Sensor Middle | |
| 03 | Power for Floor Line Sensor Left |
