2015:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	RESERVED	n/a		Factory-default allows for adding CTRE devices quickly and re-assign its ID		don't use
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID		don't use
2	drivetrain	motor	CIM	Left Front Drive
3	drivetrain	motor	CIM	Left Rear Drive
4	drivetrain	motor	CIM	Right Front Drive
5	drivetrain	motor	CIM	Right Rear Drive
6	drivetrain	motor	CIM	Strafe		unclear on how to activate this motor
7	lifter	motor	RS775	Left lifter
8	lifter	motor	RS775	Right lifter
9	gripper	motor	RS550	Gripper/Motor
10
11
12
13
14
15	pnuematics	PCM module	N/A	Stabilizer, Shifter, Strafing		address spaces for Jaguars, SRXs, PCM, and PDP are all separate. We are limited to one PDP, and will need only one PCM
0	power dist.	PD module	N/A	Power Distribution Readback		Must be 0 (WPILib has no easy way to use another ID). We'll only ever have one

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6
7
8
9

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	drivetrain	gyro	ADW22307	drivetrain gyro rot feedback	X & Y orientation used in Autonomous. (no temp correction needed within our bounds)	2.5 V center (σ, 0.007 V/deg/sec (0.0069 to 0.0074 within ± 1σ)	New Part Number: Datasheet
1
2
3

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	drivetrain	Encoder	63R256	Left Encoder, Phase A	Drivetrain rotation - calculate Position measurement
1	IN	-	-	-	Left Encoder, Phase B	B-channel	May not be present
2	IN	drivetrain	Encoder	63R256	Right Encoder, Phase A	Drivetrain rotation - calculate Position measurement
3	IN	-	-	-	Right Encoder, Phase B	B-channel	May not be present
4	IN	lifter	Encoder	63R256	Lifter Encoder, Phase A	Lifter drive rotation -  calculate Height Zeroed with Lifter Flag Sensor. Channel A
5	IN	-	-	-	Lifter Encoder, Phase B	B-channel
6	IN	lifter	Flag Sensor	OPB815	Home Position At Bottom	Lower position
7	IN	gripper	Encoder	63R256	Gripper Encoder, Phase A	Gripper drive rotation - calculate Position
8	IN	-	-	-	Gripper Encoder, Phase B	B-channel
9	IN	gripper	Flag Sensor	OPB815	Home Gripper Position A	Inner position home flag (Primary)

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	gripper	Banner	Q10AN6R	Gripper Tote Detection	Beam break sensor to check for tote presence	sensor open collector output.  pullup in roborio
1	IN	lifter	Flag	OPB815	Lift encoder high flag	Lifter upper flag, for safety and to help calibration
2	IN	gripper	Flag Sensor	OPB815	Home Gripper Position B	Inner position Backup
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
0
1
2
3
4
5
6

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
kOnBoardCS0	drivetrain	accelerometer	ADXL345	accelerometer, right by the gyro	to improve autonomous drive code

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Camera	Camera	HD-3000	USB camera	Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto
1	Logging	USB Stick	?	USB Stick to log info	record match and state information at high rate, for postmortem match analysis

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes	Pressure Circuit
0	Drivetrain	Single Solenoid	SY3140-6LZ	shifter LOW (default high)	shifts down	double action cylinder (vented no action)	A (4 total, 40-60 psi tbd)
1	Drivetrain	Single Solenoid	SY3140-6LZ	strafing wheel DOWN (default up)	lowers strafing wheel	single action, spring retract cylinder (vented up)	B (3 total, 20-60 psi tbd)
2	Stabilizer	Single Solenoid	SY3140-6LZ	Stabilizer Gripper IN (default out)	closes stabilizer	double action cylinder (vented no action)	A
3	Lifter	Single Solenoid	SY3140-6LZ	Lifter brake OPEN (default locked)	pnuematic cylinder engages bicycle brake to lock lift elevator	double action cylinder (vented open, spring on brake)	A
4
5
6
7

Operator Controls

There are two drive modes:

• Porcupine
• Arcade

Joystick 1/Left

Button/Axis	Description (brief)	Operation (Porcupine)	Operation (Arcade)	Notes
Y-Axis	6Move Forward/Backward	Corresponds to forward motion of left side (unless #3 is pressed)	Moves whole robot forward
X-Axis		Corresponds to 1/2 of lateral robot motion	Moves whole robot sideways (right is right)
1/trigger	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2	Raise center wheel	On state transitions from no #2 buttons pressed to one or more #2 buttons pressed, the center wheel toggles from up to down and vica versa.
3	Straight	Drive straight forward and back with only Y axis of left joystick
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 2/Right

Button/Axis	Description (brief)	Operation (Porcupine)	Operation (Arcade)	Notes
Y-axis	Move Forward/Backward	Corresponds to forward motion of right side (unless #3 is on left Joystick is pressed)
X-axis	Move Left/Right	Corresponds to 1/2 of lateral robot motion	X axis determines rotation (around robot center, unless #4,#5 are pressed)
1	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2	Raise center wheel	On state transitions from no #2 buttons pressed to one or more #2 buttons pressed, the center wheel toggles from up to down and vica versa.
3	Signal	When pressed, make the lights blink to signal to the human player
4	Pivot over left		While pressed, center of rotation is halfway on left side
5	Pivot over right		While pressed, center of rotation is halfway on right side
6
7
8
9
10
11
12
Z-axis

Joystick 3

Button/Axis	Description (brief)	Operation	Notes
X-axis
Y-axis	Move up/down	Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement.	Forward is down, back pulls up
1/trigger	Close lower grips	Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released.
2	Open lower grips	Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released.
3	Level 3 Preset	Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height.
4	TBD - RC gripper
5	TBD - RC gripper
6	Opens Stabilizer Arms	compress pistons to open arms when pressed
7	Closes Stabilizer Arms	extend pistons to close arms when pressed
8
9
10
11
12
Z-axis

Joystick 4/LaunchPad

Button/Axis	Description (brief)	Operation	Notes
1	Auto 'main'	Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode.
2	Auto 'dashboard'	Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used.
3	Broken #1	Lift position sensors broken	left-most switch on top row
4	Broken #2	Gripper position sensors broken	located to the right of Broken #1
5	Broken #3	enable arcade drive (has priority over #4)	located to the left of Broken #4
6	Broken #4	future	right-most switch on top row
7	Broken #5	future	left-most switch on bottom row
8	Broken #6	set alternate camera	located to the right of Broken #5
9	Broken #7	future	located to the left of Broken #8
10	Broken #8	future	Right-most switch on bottom row

Output Byte	Is 1 If and Only If...	Notes
1	Autonomous Mode is active (either disabled or running)
2	TeleOperated Mode is active (either disabled or running)
3	The alliance color is Red
4	The drive is in pure tank/pure strafe mode
5	The drive is in arcade mode
6	The drive is in porcupine mode
7	The FMS is attached
8	The Roborio has declared brownout
9	The alliance color is in an indeterminate state
10	The Driver Station is Enabled (Either Auto, Tele, Test is running)
11	We are in station 1 or 3 (false=station 2 or invalid)
12	We are in station 2 or 3 (false=station 1 or invalid)
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

SmartDashboard

Screen	Description (brief)	Operation	Notes	Variable Name	Data Type
Main	Camera Feed	Direct feed from the camera	--	--	--
Main	Auto Choice	Will be used to control which autononomous mode is used.	The auto mode should only be able to be changed if the three way switch is in the down position.	auto_choice	double
Main	Auto Switch Position	Will be used to determine if autononomous mode from dashboard is used.	The auto mode should only be able to be changed in the dashboard if the three way switch is in the down position.	auto_switch	double
Main	Gripper Position	A meter used to show the position of the grippers.	Will show a percent as a label, 0% means closed and 100% means fully opened.	gripper_position	double
Main	Lifter Position	A meter used to show the position of the lifter.	Will show a percent as a label, 0% means home position and 100% means the lifter is at full height.	lifter_position	double
Main	Auto Mode Description	Describes the currently selected auto mode.	--	auto_description	string

IO Maps for Old Robots

• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots