2012:Robot IO Map: Difference between revisions

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{| cellpadding="1" cellspacing="1" border="1" style="width: 653px; height: 344px;"
{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1"
|-
|-
| '''Type / Function''' 
| '''Type / Function''' 
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<span style="font-weight: bold;">CAN&nbsp;ID&nbsp;Assignments</span>
<span style="font-weight: bold">CAN&nbsp;ID&nbsp;Assignments</span>
 
|
&nbsp;&nbsp;&nbsp;0-127


| &nbsp;&nbsp;&nbsp;<br/>
| <br/>
| <br/>
|-
|-
| RESERVED
| RESERVED  




| &nbsp;&nbsp;&nbsp; 01<br/>
| &nbsp;&nbsp;&nbsp; 01
| DO NOT USE.<br/>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.
| DO NOT USE.<br/>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.
|-
|-
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| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02
| Left side drivetrain motor<br/>
| Left side drivetrain motor (front)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03
| Left side drivetrain motor<br/>
| Left side drivetrain motor (rear)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04
| <br/>Right side drivetrain motor
| <br/>Right side drivetrain motor (front)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05
| <br/>Right side drivetrain motor
| <br/>Right side drivetrain motor (rear)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06
| Shooter wheel (upper)<br/>
| Shooter wheel motor&nbsp;(upper)<br/>
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 07<br/>
| &nbsp;&nbsp;&nbsp; 07<br/>
| Shooter wheel (lower)<br/>
| Shooter wheel motor (lower)<br/>
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| turret rotation<br/>
| turret rotation motor<br/>
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 09<br/>
| &nbsp;&nbsp;&nbsp; 09<br/>
| Beater Bar (?maybe relay?)<br/>
| Wing deployer motor
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 10<br/>
| &nbsp;&nbsp;&nbsp; 10<br/>
| Conveyor stage 1<br/>
|  
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 11<br/>
| &nbsp;&nbsp;&nbsp; 11<br/>
| Conveyor stage 2<br/>
|  
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 12<br/>
| &nbsp;&nbsp;&nbsp; 12<br/>
| Conveyor stage 3<br/>
|  
|-
|-
|  
|  
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|-
|-
|  
|  
<span style="font-weight: bold;">PWM&nbsp;Outputs</span>
<span style="font-weight: bold">PWM&nbsp;Outputs</span>


| &nbsp;&nbsp;&nbsp;<br/>
| &nbsp;&nbsp;&nbsp;<br/>
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| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02<br/>
| <br/>
| RESERVED
Conveyor Stage 1 Sensor - LED power only
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03<br/>
| <br/>
|  
RESERVED
 
Conveyor Stage 2 Sensor - LED power only
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04<br/>
| <br/>
| RESERVED
Conveyor Stage 3 Sensor - LED power only
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05<br/>
| <br/>
| RESERVED
Conveyor Entrance Sensor - LED power only
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06<br/>
| <br/>
|  
RESERVED
 
Camera Light - LED power only
 
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| Wing Deployer
| RESERVED (Possible Wings output)
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02<br/>
| Beater Bar&nbsp;?
| Beater Bar motor
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03<br/>
|  
| Conveyor Stage 1 motor
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04<br/>
|  
| Conveyor Stage 2 motor
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05<br/>
| <br/>
| Conveyor Stage 3 motor
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06<br/>
| <br/>
| Camera Light<br/>
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| <br/>
|  
|-
|-
|  
|  
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|-
|-
|  
|  
 
B2


| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
| <br/>
|  
Conveyor Stage 1
High for Ball in conveyor
Low when no ball present
|-
|-
|  
|  
 
B3


| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| <br/>
|  
Conveyor Stage 2
High for Ball in conveyor
Low when no ball present
|-
|-
|  
|  
 
B4


| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| <br/>
|  
Conveyor Stage 3
High for Ball in conveyor
Low when no ball present
|-
|-
|  
|  
 
P1


| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
|  
|  
Wing deployer position - potentiometer
Higher values means closer to robot
Lower values means more extended/closer to floor
|-
|-
| L3
| &nbsp;&nbsp; &nbsp;06
|  
|  
 
Turret limit switch (optical OPB815WZ)&nbsp;&nbsp;- max CW
 
High when limit is hit
| &nbsp;&nbsp; &nbsp;06<br/>
Low when limit is NOT hit
| <br/>
|-
|-
|  
|  
<br/>L4


 
| &nbsp;&nbsp; &nbsp;07
| &nbsp;&nbsp; &nbsp;07<br/>
| Turret limit switch (optical OPB815WZ)&nbsp;&nbsp;- max CCW
| <br/>
High when limit is hit
Low when limit is NOT hit
|-
|-
|  
|  
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|-
|-
|  
|  
IN/OUT/?
IN - E1


| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| <br/>
| Left drivetrain rotary encoder A
|-
|-
| IN/OUT/?
| IN - E1
| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
|  
| Left drivetrain rotary encoder B
|-
|-
|  
|  
IN/OUT/?
IN - E2


| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| <br/>
| Right drivetrain rotary encoder A
|-
|-
| IN/OUT/?<br/>
| IN - E2<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| <br/>
| Right drivetrain rotary encoder B
|-
|-
|  
|  
IN/OUT/?
IN - E3


| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
| <br/>
| Shooter upper wheel rotary encoder (E4P)
|-
|-
|  
|  
IN/OUT/?
IN - E4


| &nbsp;&nbsp; &nbsp;06<br/>
| &nbsp;&nbsp; &nbsp;06<br/>
| <br/>
| Shooter lower wheel rotary encoder (E4P)
|-
|-
| IN/OUT/?
| IN - E5/E6
| &nbsp;&nbsp; &nbsp;07<br/>
| &nbsp;&nbsp; &nbsp;07<br/>
| <br/>
| Turret motor shaft -&nbsp;rotary encoder (E4P) or turret sprocket position - opto-reflective rotary encoder
|-
|-
| IN/OUT/?
|  
IN - B1
 
| &nbsp;&nbsp; &nbsp;08<br/>
| &nbsp;&nbsp; &nbsp;08<br/>
| <br/>
|  
conveyor stage 1 entrance - beam break sensor (homemade, 1" cube)
High for Ball in conveyor
Low when no ball present
|-
|-
| IN/OUT/?
| OUT
| &nbsp;&nbsp; &nbsp;09<br/>
| &nbsp;&nbsp; &nbsp;09<br/>
| <br/>
| LED - Red
|-
|-
| IN/OUT/?
| OUT
| &nbsp;&nbsp; &nbsp;10<br/>
| &nbsp;&nbsp; &nbsp;10<br/>
| <br/>
| LED - Green
|-
|-
| IN/OUT/?
| OUT
| &nbsp;&nbsp; &nbsp;11<br/>
| &nbsp;&nbsp; &nbsp;11<br/>
| <br/>
| LED - Blue
|-
|-
| IN/OUT/?
| OUT
| &nbsp;&nbsp; &nbsp;12<br/>
| &nbsp;&nbsp; &nbsp;12<br/>
| <br/>
| LED Strip 1 - Select
|-
|-
| IN/OUT/?
| OUT
| &nbsp;&nbsp; &nbsp;13<br/>
| &nbsp;&nbsp; &nbsp;13
| <br/>
|  
LED Strip 2 - Select
 
|-
|-
| IN/OUT/?
| OUT
| &nbsp;&nbsp; &nbsp;14<br/>
| &nbsp;&nbsp; &nbsp;14<br/>
|  
| LED Strip 3 - Select
|-
|-
| '''Pneumatics Bumper'''
| '''Pneumatics Bumper'''
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|-
|-
|  
|  
| align="middle" valign="center" | 01
| valign="center" align="middle" | 01
|  
|  
|-
|-
|  
|  
| align="middle" valign="center" | 02
| valign="center" align="middle" | 02
|  
|  
|-
|-
|  
|  
| align="middle" valign="center" | 03
| valign="center" align="middle" | 03
|  
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|}
|}

Latest revision as of 12:17, 11 February 2012

Type / Function  Channel

Connected Device

CAN ID Assignments

   0-127


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 Left side drivetrain motor (front)


    03 Left side drivetrain motor (rear)


    04
Right side drivetrain motor (front)


    05
Right side drivetrain motor (rear)


    06 Shooter wheel motor (upper)


     07
 Shooter wheel motor (lower)


     08
 turret rotation motor


     09
 Wing deployer motor


    10


    11


    12


    13


    14


    15


    16

PWM Outputs

   


    01
 Camera Tilt servo


     02
 RESERVED

Conveyor Stage 1 Sensor - LED power only


    03

RESERVED

Conveyor Stage 2 Sensor - LED power only


    04
 RESERVED

Conveyor Stage 3 Sensor - LED power only


    05
 RESERVED

Conveyor Entrance Sensor - LED power only


    06

RESERVED

Camera Light - LED power only


    07


    08


    09


    10
Relay Outputs


    01
 RESERVED (Possible Wings output)


    02
 Beater Bar motor


    03
 Conveyor Stage 1 motor


    04
 Conveyor Stage 2 motor


    05
 Conveyor Stage 3 motor


    06
 Camera Light


     07


    08

Analog Inputs




    01
 Gyro

B2

    02

Conveyor Stage 1 High for Ball in conveyor Low when no ball present

B3

    03

Conveyor Stage 2 High for Ball in conveyor Low when no ball present

B4

    04

Conveyor Stage 3 High for Ball in conveyor Low when no ball present

P1

    05

Wing deployer position - potentiometer Higher values means closer to robot Lower values means more extended/closer to floor

L3     06

Turret limit switch (optical OPB815WZ)  - max CW High when limit is hit Low when limit is NOT hit


L4

    07 Turret limit switch (optical OPB815WZ)  - max CCW

High when limit is hit Low when limit is NOT hit

RESERVED

    08
 Battery Voltage Input (Don't use for other devices)
Digital IO (GPIO)

IN - E1

    01
 Left drivetrain rotary encoder A
IN - E1     02
 Left drivetrain rotary encoder B

IN - E2

    03
 Right drivetrain rotary encoder A
IN - E2
     04
 Right drivetrain rotary encoder B

IN - E3

    05
 Shooter upper wheel rotary encoder (E4P)

IN - E4

    06
 Shooter lower wheel rotary encoder (E4P)
IN - E5/E6     07
 Turret motor shaft - rotary encoder (E4P) or turret sprocket position - opto-reflective rotary encoder

IN - B1

    08

conveyor stage 1 entrance - beam break sensor (homemade, 1" cube) High for Ball in conveyor Low when no ball present

OUT     09
 LED - Red
OUT     10
 LED - Green
OUT     11
 LED - Blue
OUT     12
 LED Strip 1 - Select
OUT     13

LED Strip 2 - Select

OUT     14
 LED Strip 3 - Select
Pneumatics Bumper
01
02
03



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