2013:Robot IO Map: Difference between revisions

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(change to "Reserved" the IO not really used as of ship day)
 
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{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1"
{| cellpadding="1" cellspacing="1" border="1" style="width: 653px; height: 344px;"
|-
|-
| '''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>


|  
|  
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| <br/>
| <br/>
|-
|-
| RESERVED  
| RESERVED




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| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| Shooter motor
| Shooter wheel motor
|-
|-
|  
|  
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|-
|-
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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; 06<br/>
| &nbsp;&nbsp;&nbsp; 06<br/>
|  
|  
<br/>Camera ring light (LED power only)
<br/>&nbsp;


|-
|-
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| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| <br/>
| Sensor +6V<br/>
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 09<br/>
| &nbsp;&nbsp;&nbsp; 09<br/>
| <br/>
| Sensor +6V (climber hooks)<br/>
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 10<br/>
| &nbsp;&nbsp;&nbsp; 10<br/>
| <br/>
| Sensor LED&nbsp;+6V (climber hooks)<br/>
|-
|-
| '''Relay Outputs'''
| '''Relay Outputs'''
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| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
|  
|  
Camera ring light (LED power only)
|-
|-
|  
|  
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| IN
| IN
| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
| Robot Vee alignment sensor
| Reserved -&nbsp;Robot Vee alignment sensor
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
|  
|  
Disc 2 present
Reserved - optional Disc 2 present


|-
|-
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| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| Disc 3 present
| Reserved - optional Disc 3 present
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
|  
|  
Climber motors rotation sensor - 10 turn potentiometer
Climber lift arms motor rotation sensor - 10 turn potentiometer


|-
|-
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| &nbsp;&nbsp; &nbsp;07
| &nbsp;&nbsp; &nbsp;07
| Right side Shooter tilt sensor (potentiometer)
| Reserved - Right side Shooter tilt sensor (potentiometer)
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
| Shooter motor rotary encoder A
| RESERVED for shooter wheel rotary encoder channel&nbsp;A - We will try feeding these into the JAGUAR itself (rather than the sidecar); if issues, we use this channel
|-
|-
|  
|  
&nbsp;
IN


| &nbsp;&nbsp; &nbsp;06<br/>
| &nbsp;&nbsp; &nbsp;06<br/>
|  
| Stationary climber hook Left Side engaged
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;07<br/>
| &nbsp;&nbsp; &nbsp;07<br/>
| Stationary climber hooks engaged (AND of LH and RH)
| Stationary climber hook Right Side engaged
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;08<br/>
| &nbsp;&nbsp; &nbsp;08<br/>
| Climber shuttle deploy position
| Climber shuttle intermediate deploy position (initial climb alignment)
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;09<br/>
| &nbsp;&nbsp; &nbsp;09<br/>
| Climber shuttle max extension
| Climber shuttle max extension (Top)
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;10<br/>
| &nbsp;&nbsp; &nbsp;10<br/>
| Climber shuttle max retraction
| Climber shuttle max retraction (Bottom)
|-
|-
| IN
| IN
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| IN
| IN
| &nbsp;&nbsp; &nbsp;12<br/>
| &nbsp;&nbsp; &nbsp;12<br/>
| Shooter position sensor - preload
| Shooter position sensor - preload (Feed)
|-
|-
| IN
| IN
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|-
|-
|  
|  
| valign="center" align="middle" | 01
| align="middle" valign="center" | 01
|  
|  
|-
|-
|  
|  
| valign="center" align="middle" | 02
| align="middle" valign="center" | 02
|  
|  
|-
|-
|  
|  
| valign="center" align="middle" | 03
| align="middle" valign="center" | 03
|  
|  
|-
|-
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| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
| OK to feed disc. off=red, on=green
|  
disc 1 present GRN
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP1<br/>
| &nbsp;&nbsp;&nbsp; GP1<br/>
| disc 1 present
|  
disc 1 present RED
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP2<br/>
| &nbsp;&nbsp;&nbsp; GP2<br/>
| disc 2 present
| disc 2 present GRN
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP3<br/>
| &nbsp;&nbsp;&nbsp; GP3<br/>
| disc 3 present
| disc&nbsp;2 present RED
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP4<br/>
| &nbsp;&nbsp;&nbsp; GP4<br/>
| disc 4 present
| disc&nbsp;3 present GRN
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP5<br/>
| &nbsp;&nbsp;&nbsp; GP5<br/>
| disc RED
| disc 3 present RED
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP6<br/>
| &nbsp;&nbsp;&nbsp; GP6<br/>
| <br/>disc GRN
| <br/>disc 4 present GRN
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP7<br/>
| &nbsp;&nbsp;&nbsp; GP7<br/>
| disc BLU
| disc 4 present RED
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
| &nbsp;&nbsp;&nbsp;&nbsp;GP0<br/>
| robot forward indicator
|  
OK to feed disc. on=green
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP1<br/>
| &nbsp;&nbsp;&nbsp; GP1<br/>
| robot rearward indicator
|  
NOT OK to feed disc. on=red
 
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP2<br/>
| &nbsp;&nbsp;&nbsp; GP2<br/>
|  
|  
robot forward indicator
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP3<br/>
| &nbsp;&nbsp;&nbsp; GP3<br/>
|  
|  
robot rearward indicator
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP4<br/>
| &nbsp;&nbsp;&nbsp; GP4<br/>
|  
|  
&nbsp;
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; GP5<br/>
| &nbsp;&nbsp;&nbsp; GP5<br/>
|  
|  
&nbsp;
|-
|-
|  
|  

Latest revision as of 17:19, 21 February 2013

Type / Function  Channel

Connected Device

CAN ID Assignments

   1-16


RESERVED


    01

DO NOT USE.
ID 1 is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.


    02 Left side drivetrain motor (front)


    03 Reserved for optional 2nd Left side drivetrain motor (rear)


    04 Right side drivetrain motor (front)


    05 Reserved for optional 2nd Right side drivetrain motor (rear)


    06 Left side Climber motor


    07
 Right side Climber motor


    08
 Shooter wheel motor


    09
 Shooter Tilt motor


    10
 Shooter Carousel motor


    11


    12


    13


    14


    15


    16

PWM Outputs

   


    01
 Camera Tilt servo


    02
 Climber deploy LH servo


    03


Climber deploy RH servo


    04
 Shooter load blocker servo


    05
 Shooter load pusher servo


    06


 


    07


    08
 Sensor +6V


     09
 Sensor +6V (climber hooks)


     10
 Sensor LED +6V (climber hooks)
Relay Outputs


    01

Camera ring light (LED power only)


    02


    03


    04


    05


    06


    07


    08

Analog Inputs



IN

    01
 Gyro
 
IN     02
 Reserved - Robot Vee alignment sensor
IN     03

Reserved - optional Disc 2 present

IN
 

    04
 Reserved - optional Disc 3 present

IN

    05

Climber lift arms motor rotation sensor - 10 turn potentiometer

IN

 

    06 Left side Shooter tilt sensor (potentiometer)

IN

    07 Reserved - Right side Shooter tilt sensor (potentiometer)


RESERVED

    08
 Battery Voltage input (Do not use for any other device)
Digital IO (GPIO)

IN

    01
 Left drivetrain rotary encoder A
IN     02
 Moving climber hook Left side engaged

IN

    03
 Right drivetrain rotary encoder A

IN

    04
 Moving climber hook Right side engaged

IN

    05
 RESERVED for shooter wheel rotary encoder channel A - We will try feeding these into the JAGUAR itself (rather than the sidecar); if issues, we use this channel

IN

    06
 Stationary climber hook Left Side engaged
IN     07
 Stationary climber hook Right Side engaged
IN     08
 Climber shuttle intermediate deploy position (initial climb alignment)
IN     09
 Climber shuttle max extension (Top)
IN     10
 Climber shuttle max retraction (Bottom)
IN     11
 Shooter Disc 1 present
IN     12
 Shooter position sensor - preload (Feed)
IN     13

Shooter position sensor - load shooter

IN     14
 Ready to shoot sensor (disc-dropped-into-shooter)
Pneumatics Bumper
01
02
03
I2C Registers

Address

0100111X

    GP0

disc 1 present GRN

Address

0100111X

    GP1

disc 1 present RED

Address

0100111X

    GP2
 disc 2 present GRN

Address

0100111X

    GP3
 disc 2 present RED

Address

0100111X

    GP4
 disc 3 present GRN

Address

0100111X

    GP5
 disc 3 present RED

Address

0100111X

    GP6
disc 4 present GRN

Address

0100111X

    GP7
 disc 4 present RED

Address

0100000X

    GP0

OK to feed disc. on=green

Address

0100000X

    GP1

NOT OK to feed disc. on=red

Address

0100000X

    GP2

robot forward indicator

Address

0100000X

    GP3

robot rearward indicator

Address

0100000X

    GP4

 

Address

0100000X

    GP5

 

Address

0100000X

    GP6

Address

0100000X

    GP7


Archives

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