2016:Robot IO Map: Difference between revisions
Programming (talk | contribs) No edit summary |
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| <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="text-align: center" | '''Model #''' | | style="text-align: center" | '''Model #''' | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | '''Description'''<br/>(brief) | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| style="text-align: center" | 0 | | style="text-align: center" | 0 | ||
| style="text-align: center" | ''' | | style="text-align: center" | Electrica'''l''' | ||
| <p style="text-align: center"> | | <p style="text-align: center">PD Module</p> | ||
| style="text-align: center" | <br/> | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Power Distribution Module feedback | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | monitor PD | ||
| style="width: 115px" | <p style="text-align: center"> | | style="width: 115px" | <p style="text-align: center">must be CAN 0</p> | ||
|- | |- | ||
| style="text-align: center" | 1 | | style="text-align: center" | 1 | ||
Line 25: | Line 25: | ||
| style="text-align: center" | n/a | | style="text-align: center" | n/a | ||
| style="text-align: center" | <br/> | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Factory-default<br/>allows for adding Jaguar quickly and re-assign its ID | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | don't use | ||
|- | |- | ||
| style="text-align: center" | 2 | | style="text-align: center" | 2 | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | <br/> | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | <br/> | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | <br/> | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | <br/> | ||
|- | |- | ||
| style="text-align: center" | 4 | | style="text-align: center" | 4 | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | <br/> | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | <br/> | ||
|- | |- | ||
| style="text-align: center" | 5 | | style="text-align: center" | 5 | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | <br/> | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | <br/> | ||
|- | |- | ||
| style="text-align: center" | 6 | | style="text-align: center" | 6 | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | <br/> | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | <br/> | ||
|- | |- | ||
| style="text-align: center" | 7 | | style="text-align: center" | 7 | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="text-align: center" | | | style="text-align: center" | <br/> | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | <br/> | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | <br/> | ||
|- | |- | ||
| style="text-align: center" | 8 | | style="text-align: center" | 8 | ||
| style="text-align: center" | | | style="text-align: center" | Breacher | ||
| style="text-align: center" | | | style="text-align: center" | motor | ||
| style="text-align: center" | | | style="text-align: center" | miniCIM | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Breacher Bucket rotation | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | 40A breaker (26A max calc load) | ||
|- | |- | ||
| style="text-align: center" | 9 | | style="text-align: center" | 9 | ||
| style="text-align: center" | | | style="text-align: center" | Breacher | ||
| style="text-align: center" | | | style="text-align: center" | motor | ||
| style="text-align: center" | | | style="text-align: center" | RS775 | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Ball Intake rollers | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | <br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | 40A breaker (32A max calc load) | ||
|- | |- | ||
| style="text-align: center" | 10 | | style="text-align: center" | 10 | ||
| style="text-align: center" | | | style="text-align: center" | Scaler | ||
| style="text-align: center" | | | style="text-align: center" | motor | ||
| style="text-align: center" | | | style="text-align: center" | RS775 | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Winch #1 for scaler extension | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | <span style="background-color:#FFFF00;">min and max extension limit switches wired directly to speed controller</span> | ||
<span style="background-color:#FFFF00;">Talon Limit Switch logic sense should be reversed to Normally Low</span> | |||
| style="width: 115px; text-align: center" | | |||
40A breaker (21A max calc load) | |||
min switch = OPB815WZ | |||
max switch = EE-SPY415 | |||
|- | |- | ||
| style="text-align: center" | 11 | | style="text-align: center" | 11 | ||
| style="text-align: center" | | | style="text-align: center" | Scaler | ||
| style="text-align: center" | | | style="text-align: center" | motor | ||
| style="text-align: center" | | | style="text-align: center" | RS775 | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Winch #2 for scaler extension | ||
| style="width: 224px" | < | | style="width: 224px; text-align: center;" | | ||
| style="width: 115px" | | <span style="line-height: 20.7999992370605px; text-align: center;"><span style="background-color:#FFFF00;">min and max extension limit switches wired directly to speed controller</span></span> | ||
<span style="line-height: 20.7999992370605px; text-align: center;"><span style="background-color:#FFFF00;">Talon Limit Switch logic sense should be reversed to Normally Low</span></span> | |||
| style="width: 115px; text-align: center;" | | |||
40A breaker (21A max calc load) | |||
<p style="line-height: 20.7999992370605px; text-align: center;">min switch = OPB815WZ</p><p style="line-height: 20.7999992370605px; text-align: center;">max switch = EE-SPY415</p> | |||
|- | |- | ||
| 12 | | 12 | ||
| | | style="text-align: center;" | Scaler | ||
| | | style="text-align: center;" | motor | ||
| | | style="text-align: center;" | Bag | ||
| style="width: 210px" | | | style="width: 210px; text-align: center;" | Arm Pivot rotation | ||
| style="width: 224px" | <br/> | | style="width: 224px" | <br/> | ||
| style="width: 115px" | | | style="width: 115px; text-align: center;" | 30A breaker (13A max calc load) | ||
|- | |- | ||
| 13 | | 13 | ||
Line 134: | Line 150: | ||
|- | |- | ||
| 15 | | 15 | ||
| | | | ||
| | | <br/> | ||
| | | <br/> | ||
| style="width: 210px" | | | style="width: 210px" | | ||
| style="width: 224px" | <br/> | | style="width: 224px" | <br/> | ||
| style="width: 115px" | | | style="width: 115px" | | ||
Line 147: | Line 163: | ||
|- | |- | ||
| '''ID''' | | '''ID''' | ||
| style="width: 82px; | | style="width: 82px; text-align: center" | '''Subsystem''' | ||
| style="width: 76px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 76px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="text-align: center; | | style="text-align: center; width: 54px" | '''Model #''' | ||
| style="text-align: center; | | style="text-align: center; width: 170px" | '''Description<br/>(brief)''' | ||
| style="text-align: center; | | style="text-align: center; width: 280px" | | ||
'''Operation''' | '''Operation''' | ||
| style="width: 125px; | | style="width: 125px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
| style="width: 82px" | | | style="width: 82px" | Drivetrain | ||
| style="width: 76px" | | | style="width: 76px" | motor | ||
| style="width: 54px" | | | style="width: 54px" | CIM | ||
| style="width: 170px" | | | style="width: 170px" | Left Drive motor | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | 40A Breaker, PWM Splits to two Spark Controllers | ||
|- | |- | ||
| 1 | | 1 | ||
| style="width: 82px" | | | style="width: 82px" | Drivetrain | ||
| style="width: 76px" | <br/> | | style="width: 76px" | <span style="line-height: 20.7999992370605px;">motor</span><br/> | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <span style="line-height: 20.7999992370605px;">CIM</span><br/> | ||
| style="width: 170px" | | | style="width: 170px" | Right<span style="line-height: 20.7999992370605px;"> Drive motor</span> | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | 40A Breaker, PWM Splits to two Spark Controllers | ||
|- | |- | ||
| 2 | | 2 | ||
| style="width: 82px" | | | style="width: 82px" | <br/> | ||
| style="width: 76px" | <br/> | | style="width: 76px" | <br/> | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <br/> | ||
| style="width: 170px" | | | style="width: 170px" | <br/> | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | <br/> | ||
|- | |- | ||
| 3 | | 3 | ||
| style="width: 82px" | | | style="width: 82px" | <br/> | ||
| style="width: 76px" | <br/> | | style="width: 76px" | <br/> | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <br/> | ||
| style="width: 170px" | | | style="width: 170px" | <br/> | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | <br/> | ||
|- | |- | ||
| 4 | | 4 | ||
| style="width: 82px" | | | style="width: 82px" | Scaler | ||
| style="width: 76px" | | | style="width: 76px" | servo | ||
| style="width: 54px" | | | style="width: 54px" | hs-322hd | ||
| style="width: 170px" | | | style="width: 170px" | scaler lock | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | | ||
Line 238: | Line 254: | ||
| style="width: 125px" | | | style="width: 125px" | | ||
|} | |} | ||
== Relay Outputs == | == Relay Outputs == | ||
Line 248: | Line 262: | ||
| style="text-align: center" | '''Subsystem''' | | style="text-align: center" | '''Subsystem''' | ||
| style="width: 69px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 69px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 54px; | | style="width: 54px; text-align: center" | '''Model #''' | ||
| style="width: 192px; | | style="width: 192px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 259px; | | style="width: 259px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
Line 295: | Line 309: | ||
| style="text-align: center" | Subsystem | | style="text-align: center" | Subsystem | ||
| style="width: 70px" | <p style="text-align: center">Component</p><p style="text-align: center">Type</p> | | style="width: 70px" | <p style="text-align: center">Component</p><p style="text-align: center">Type</p> | ||
| style="width: 54px; | | style="width: 54px; text-align: center" | Model # | ||
| style="width: 227px; | | style="width: 227px; text-align: center" | Description<br/>(brief) | ||
| style="width: 262px; | | style="width: 262px; text-align: center" | Operation<br/> | ||
| style="width: 132px; | | style="width: 132px; text-align: center" | | ||
Voltage | Voltage | ||
Range | Range | ||
| style="width: 91px; | | style="width: 91px; text-align: center" | Notes | ||
|- | |- | ||
| 0 | | 0 | ||
| | | Drivetrain | ||
| style="width: 70px" | | | style="width: 70px" | Gyro | ||
| style="width: 54px" | | | style="width: 54px" | ADW22307 | ||
| style="width: 227px" | | | style="width: 227px" | drivetrain gyro position feedback | ||
| style="width: 262px" | | | style="width: 262px" | X-Y orientation | ||
| style="width: 132px" | | | style="width: 132px" | 2.5V centered | ||
| style="width: 91px" | | | style="width: 91px" | | ||
|- | |- | ||
| 1 | | 1 | ||
| | | Breacher | ||
| style="width: 70px" | | | style="width: 70px" | Potentiometer | ||
| style="width: 54px" | | | style="width: 54px" | 3852A-282-102AL | ||
| style="width: 227px" | | | style="width: 227px" | Breacher bucket shaft rotation | ||
| style="width: 262px" | | | style="width: 262px" | absolute position of beacher rotation | ||
| style="width: 132px" | <br/> | | style="width: 132px" | <br/> | ||
| style="width: 91px" | | | style="width: 91px" | 1K ohms, linear taper | ||
|- | |- | ||
| 2 | | 2 | ||
| | | Scaler | ||
| style="width: 70px" | | | style="width: 70px" | Potentiometer | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <span style="line-height: 20.8px;">3852A-282-102AL</span><br/> | ||
| style="width: 227px" | | | style="width: 227px" | Scaler pivot position | ||
| style="width: 262px" | <br/> | | style="width: 262px" | <br/> | ||
| style="width: 132px" | <br/> | | style="width: 132px" | <br/> | ||
| style="width: 91px" | | | style="width: 91px" | <span style="line-height: 20.8px;">1K ohms, linear taper</span> | ||
|- | |- | ||
| 3 | | 3 | ||
Line 349: | Line 363: | ||
| style="text-align: center" | '''Subsystem''' | | style="text-align: center" | '''Subsystem''' | ||
| style="width: 70px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 70px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 54px; | | style="width: 54px; text-align: center" | '''Model #''' | ||
| style="width: 227px; | | style="width: 227px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 262px; | | style="width: 262px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 132px; | | style="width: 132px; text-align: center" | | ||
'''Voltage''' | '''Voltage''' | ||
'''Range''' | '''Range''' | ||
| style="width: 91px; | | style="width: 91px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| AIN0 | | AIN0 | ||
Line 418: | Line 432: | ||
=== <u>RoboRio IO</u> === | === <u>RoboRio IO</u> === | ||
{| | {| cellpadding="2" cellspacing="1" border="1" style="width: 998px;" | ||
|- | |- | ||
| '''ID''' | | '''ID''' | ||
| '''Direction'''<br/>(IN/OUT) | | '''Direction'''<br/>(IN/OUT) | ||
| style="text-align: center; | | style="width: 69px; text-align: center;" | '''Subsystem''' | ||
| style="width: 73px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 73px;" | <p style="text-align: center;">'''Component'''</p><p style="text-align: center;">'''Type'''</p> | ||
| style="width: 52px; | | style="width: 52px; text-align: center;" | '''Model #''' | ||
| style="width: 194px; | | style="width: 194px; text-align: center;" | '''Description<br/>(brief)''' | ||
| style="width: 253px; | | style="width: 253px; text-align: center;" | '''Operation'''<br/> | ||
| style="width: 118px; | | style="width: 118px; text-align: center;" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Drivetrain | ||
| style="width: 73px" | | | style="width: 73px;" | Shaft Encoder | ||
| style="width: 52px" | | | style="width: 52px;" | E4T-360-250 | ||
| style="width: 194px" | | | style="width: 194px;" | Left Encoder, Phase A | ||
| style="width: 253px" | | | style="width: 253px;" | Drivetrain rotation | ||
| style="width: 118px" | <br/> | | style="width: 118px;" | <br/> | ||
|- | |- | ||
| 1 | | 1 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Drivetrain | ||
| style="width: 73px" | | | style="width: 73px;" | Shaft Encoder | ||
| style="width: 52px" | | | style="width: 52px;" | <span style="line-height: 20.79px;">E4T-360-250</span> | ||
| style="width: 194px" | | | style="width: 194px;" | Left Encoder, Phase B | ||
| style="width: 253px" | | | style="width: 253px;" | <span style="line-height: 20.79px;">Drivetrain rotation</span> | ||
| style="width: 118px" | | | style="width: 118px;" | | ||
|- | |- | ||
| 2 | | 2 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Drivetrain | ||
| style="width: 73px" | | | style="width: 73px;" | Shaft Encoder | ||
| style="width: 52px" | | | style="width: 52px;" | <span style="line-height: 20.79px;">E4T-360-250</span> | ||
| style="width: 194px" | | | style="width: 194px;" | Right Encoder, Phase A | ||
| style="width: 253px" | | | style="width: 253px;" | <span style="line-height: 20.79px;">Drivetrain rotation</span> | ||
| style="width: 118px" | | | style="width: 118px;" | | ||
|- | |- | ||
| 3 | | 3 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Drivetrain | ||
| style="width: 73px" | | | style="width: 73px;" | Shaft Encoder | ||
| style="width: 52px" | | | style="width: 52px;" | <span style="line-height: 20.79px;">E4T-360-250</span> | ||
| style="width: 194px" | | | style="width: 194px;" | Left Encoder, Phase B | ||
| style="width: 253px" | | | style="width: 253px;" | <span style="line-height: 20.79px;">Drivetrain rotation</span> | ||
| style="width: 118px" | | | style="width: 118px;" | | ||
|- | |- | ||
| 4 | | 4 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Scaler | ||
| style="width: 73px" | | | style="width: 73px;" | Shaft Encoder | ||
| style="width: 52px" | | | style="width: 52px;" | 61KS256 | ||
| style="width: 194px" | | | style="width: 194px;" | Arm Rotation, Phase A | ||
| style="width: 253px" | | | style="width: 253px;" | Scaler arm extention | ||
| style="width: 118px" | | | style="width: 118px;" | | ||
|- | |- | ||
| 5 | | 5 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Scaler | ||
| style="width: 73px" | | | style="width: 73px;" | Shaft Encoder | ||
| style="width: 52px" | | | style="width: 52px;" | 61KS256 | ||
| style="width: 194px" | | | style="width: 194px;" | Arm Rotation,Phase B | ||
| style="width: 253px" | | | style="width: 253px;" | Scaler arm extention | ||
| style="width: 118px" | <br/> | | style="width: 118px;" | <br/> | ||
|- | |- | ||
| 6 | | 6 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Breacher | ||
| style="width: 73px" | | | style="width: 73px;" | Banner Opto | ||
| style="width: 52px" | | | style="width: 52px;" | Q10RN6R | ||
| style="width: 194px" | | | style="width: 194px;" | Ball Intake | ||
| style="width: 253px" | | | style="width: 253px;" | Trips for ball fully into bucket | ||
| style="width: 118px" | | | style="width: 118px;" | | ||
w/Q106E emitter, | |||
sensor open-collector out | |||
|- | |- | ||
| 7 | | 7 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Breacher | ||
| style="width: 73px" | | | style="width: 73px;" | limit switch | ||
| style="width: 52px" | | | style="width: 52px;" | | ||
| style="width: 194px" | | AAP2T51Z11 | ||
| style="width: 253px" | | |||
| style="width: 118px" | | | style="width: 194px;" | breacher rotation upper limit | ||
| style="width: 253px;" | | |||
| style="width: 118px;" | monster switch | |||
|- | |- | ||
| 8 | | 8 | ||
| | | IN | ||
| style="width: 69px" | | | style="width: 69px;" | Breacher | ||
| style="width: 73px" | | | style="width: 73px;" | limit switch | ||
| style="width: 52px" | | | style="width: 52px;" | AAP2T51Z11 | ||
| style="width: 194px" | | | style="width: 194px;" | breacher rotation lower limit | ||
| style="width: 253px" | | | style="width: 253px;" | | ||
| style="width: 118px" | | | style="width: 118px;" | monster switch | ||
|- | |- | ||
| 9 | | 9 | ||
| | | OUT | ||
| style="width: 69px" | | | style="width: 69px;" | Drive | ||
| style="width: 73px" | | | style="width: 73px;" | LED | ||
| style="width: 52px" | | | style="width: 52px;" | | ||
| style="width: 194px" | | | style="width: 194px;" | Gryo calibrating | ||
| style="width: 253px" | | | style="width: 253px;" | Lights up when gyro is calibrating | ||
| style="width: 118px" | | | style="width: 118px;" | | ||
|} | |} | ||
Line 524: | Line 544: | ||
{| style="width: 1022px" border="1" cellpadding="1" cellspacing="1" | {| style="width: 1022px" border="1" cellpadding="1" cellspacing="1" | ||
|- | |- | ||
| style="width: 16px; | | style="width: 16px; text-align: center" | '''ID''' | ||
| style="width: 56px; | | style="width: 56px; text-align: center" | '''Direction (IN/OUT)''' | ||
| style="width: 74px; | | style="width: 74px; text-align: center" | '''Subsystem''' | ||
| style="width: 74px; | | style="width: 74px; text-align: center" | '''Component Type''' | ||
| style="width: 56px; | | style="width: 56px; text-align: center" | '''Model #''' | ||
| style="width: 197px; | | style="width: 197px; text-align: center" | '''Description (brief)''' | ||
| style="width: 254px; | | style="width: 254px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 141px; | | style="width: 141px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| style="width: 16px" | 0 | | style="width: 16px" | 0 | ||
Line 548: | Line 568: | ||
| style="width: 56px" | | | style="width: 56px" | | ||
| style="width: 197px" | | | style="width: 197px" | | ||
| style="width: 254px" | | | style="width: 254px" | | ||
| style="width: 141px" | | | style="width: 141px" | | ||
|- | |- | ||
| style="width: 16px" | 2 | | style="width: 16px" | 2 | ||
Line 683: | Line 703: | ||
|- | |- | ||
| style="text-align: center" | '''Address'''<br/>(e.g. 0100111X) | | style="text-align: center" | '''Address'''<br/>(e.g. 0100111X) | ||
| style="width: 37px; | | style="width: 37px; text-align: center" | '''Pin'''<br/>(e.g. GP0) | ||
| style="width: 76px; | | style="width: 76px; text-align: center" | '''Subsystem''' | ||
| style="width: 75px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 75px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 53px; | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; | | style="width: 205px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 241px; | | style="width: 241px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 112px; | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
Line 760: | Line 780: | ||
|- | |- | ||
| style="text-align: center" | '''#'''<br/> | | style="text-align: center" | '''#'''<br/> | ||
| style="width: 76px; | | style="width: 76px; text-align: center" | '''Subsystem''' | ||
| style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | | style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | ||
| style="width: 53px; | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; | | style="width: 205px; text-align: center" | '''Description (brief)''' | ||
| style="width: 241px; | | style="width: 241px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 112px; | | style="width: 112px; text-align: center" | '''Notes'''<br/> | ||
|- | |- | ||
| | | | ||
Line 788: | Line 808: | ||
|- | |- | ||
| style="text-align: center" | '''Address'''<br/> | | style="text-align: center" | '''Address'''<br/> | ||
| style="width: 76px; | | style="width: 76px; text-align: center" | '''Subsystem''' | ||
| style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | | style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | ||
| style="width: 53px; | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; | | style="width: 205px; text-align: center" | '''Description (brief)''' | ||
| style="width: 241px; | | style="width: 241px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 112px; | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
Line 821: | Line 841: | ||
| style="width: 51px" | <p style="text-align: center">'''Model #'''</p> | | style="width: 51px" | <p style="text-align: center">'''Model #'''</p> | ||
| style="width: 211px" | <p style="text-align: center">'''Description'''</p><p style="text-align: center">'''(brief)'''</p> | | style="width: 211px" | <p style="text-align: center">'''Description'''</p><p style="text-align: center">'''(brief)'''</p> | ||
| style="width: 290px; | | style="width: 290px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 118px; | | style="width: 118px; text-align: center" | '''Notes''' | ||
| style="width: 118px; | | style="width: 118px; text-align: center" | '''Pressure Circuit''' | ||
|- | |- | ||
| 0 | | 0 | ||
Line 831: | Line 851: | ||
| style="width: 211px" | | | style="width: 211px" | | ||
| style="width: 290px" | | | style="width: 290px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
|- | |- | ||
| 1 | | 1 | ||
| | | | ||
| style="width: 75px" | | | style="width: 75px" | | ||
| style="width: 51px" | | | style="width: 51px" | | ||
| style="width: 211px" | | | style="width: 211px" | | ||
| style="width: 290px" | | | style="width: 290px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
|- | |- | ||
Line 900: | Line 920: | ||
= Operator Controls = | = Operator Controls = | ||
=== Controller 1 - Primary Driver === | |||
{| cellpadding="2" cellspacing="1" border="1" style="width: 908px;" | |||
|- | |||
| Action/Button | |||
| Description | |||
| Details | |||
|- | |||
| Left Joystick Y | |||
| Moves the robot forward / back | |||
| | |||
"Up drive the robot forward (Breacher Side)<br/>Down drives the robot backward (Scaler Side)" | |||
NOTE: will do the opposite if drive is toggled | |||
|- | |||
| Right Joystick X | |||
| Turns the robot Left / Right | |||
| | |||
""Right will turn the robot clockwise and vice<br/>versa. With no input from the left Joytick,<br/>does point turn. With input from left, does<br/>curve turn"" | |||
NOTE: will do the opposite if drive is toggled | |||
|- | |||
| Left Bumper | |||
| Slow mode for left wheels<br/> | |||
| "decreases the range of power to the left<br/>motors by a set amount. Amount tbd"<br/> | |||
|- | |||
| Right Bumper | |||
| Slow mode for Right wheels<br/> | |||
| "decreases the range of power to the Righ<br/>motors by a set amount. Amount tbd"<br/> | |||
|- | |||
| | |||
Left Trigger | |||
| turbo mode for left wheels<br/> | |||
| "Increases the range of power to the left motors by a set amount. Amount tbd"<br/> | |||
|- | |||
| Right Trigger<br/> | |||
| turbo mode for right wheels<br/> | |||
| "Increases the range of power to the right motors by a set amount. Amount tbd"<br/> | |||
|- | |||
| Y button | |||
| toggle camera feed | |||
| | |||
|- | |||
| A button | |||
| toggle drive | |||
| | |||
|} | |||
=== Controller 2 - Aux Driver === | |||
{| cellpadding="2" cellspacing="1" border="1" style="width: 908px;" | |||
|- | |||
| Action/Button | |||
| Description | |||
| Details | |||
|- | |||
| Left Joystick Up | |||
| Breacher down | |||
| Breacher Rotates forward / toward the ground | |||
|- | |||
| Left Joystick Down | |||
| Breacher up | |||
| Breacher Rotates backward / toward the sky | |||
|- | |||
| Right Joystick Up | |||
| Scaler extend | |||
| Scaler telescopes upward | |||
|- | |||
| Right Joystick Down | |||
| Scaler retract Scaler | |||
| telescopes downward | |||
|- | |||
| Right Bumper | |||
| intake | |||
| "Spins the intake wheels as to intake a ball<br/>into the robot" | |||
|- | |||
| Right Trigger | |||
| Shoot | |||
| "Spins the intake wheels as to outtake a ball<br/>out of the robot" | |||
|- | |||
| Dpad Left | |||
| Rotate Scaler up | |||
| Scaler rotates upward | |||
|- | |||
| Dpad Right | |||
| Rotate Scaler downward | |||
| Scaler rotates downward | |||
|- | |||
| "Left Trigger + Dpad<br/>down" | |||
| Arm Lock | |||
| Rotates servo to lock Scaler arm in place | |||
|- | |||
| "Left Bumper + Dpad<br/>Up" | |||
| Arm Unlock | |||
| "Rotate servo to unlock Scaler arm and allow<br/>telescoping action" | |||
|- | |||
| A button | |||
| Toggle camera feed | |||
| | |||
|- | |||
| Y button | |||
| Pivot Intake to the Drawbridge position | |||
| Byers use Intake::Drawbridge_Position(). If the Y button is not pressed, call Intake::Stop_Goto() | |||
|} | |||
=== Broken Switches === | |||
{| style="width: 908px;" cellpadding="2" cellspacing="1" border="1" | |||
|- | |||
| Broken Switch1 | |||
| Breacher Pivot | |||
| Potentiometer broken | |||
|- | |||
| Broken Switch2 | |||
| Breacher Intake | |||
| Beam Break Broken | |||
|- | |||
| Broken Switch3 | |||
| Arm rotate | |||
| "???????????<br/>Encoder" | |||
|- | |||
| Broken Switch4 | |||
| Arm telescope | |||
| "Encoder<br/> ???????????"<br/> | |||
|- | |||
| Broken Switch5<br/> | |||
| not used yet<br/> | |||
| <br/> | |||
|- | |||
| Broken Switch6<br/> | |||
| not used yet<br/> | |||
| <br/> | |||
|- | |||
| Broken Switch7<br/> | |||
| Tank drive<br/> | |||
| use tank drive instead of default drive mode<br/> | |||
|} | |||
= IO Maps for Old Robots = | = IO Maps for Old Robots = | ||
*[[2015:Robot IO Map|2015 IO Map]] | |||
*[[2015:Robot IO Map| | |||
*[[2014:Robot IO Map|2014 IO Map]] | *[[2014:Robot IO Map|2014 IO Map]] | ||
*[[2013:Robot IO Map|2013 IO Map]] | *[[2013:Robot IO Map|2013 IO Map]] |
Latest revision as of 10:02, 23 April 2016
Robot I/O
CAN ID Assignments
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 | |
1 | RESERVED | n/a | Factory-default allows for adding Jaguar quickly and re-assign its ID |
don't use | ||
2 | ||||||
3 | ||||||
4 | ||||||
5 | ||||||
6 | ||||||
7 | ||||||
8 | Breacher | motor | miniCIM | Breacher Bucket rotation | 40A breaker (26A max calc load) | |
9 | Breacher | motor | RS775 | Ball Intake rollers | 40A breaker (32A max calc load) | |
10 | Scaler | motor | RS775 | Winch #1 for scaler extension |
min and max extension limit switches wired directly to speed controller Talon Limit Switch logic sense should be reversed to Normally Low |
40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415 |
11 | Scaler | motor | RS775 | Winch #2 for scaler extension |
min and max extension limit switches wired directly to speed controller Talon Limit Switch logic sense should be reversed to Normally Low |
40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415 |
12 | Scaler | motor | Bag | Arm Pivot rotation | 30A breaker (13A max calc load) | |
13 | ||||||
14 | ||||||
15 |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes |
0 | Drivetrain | motor | CIM | Left Drive motor | 40A Breaker, PWM Splits to two Spark Controllers | |
1 | Drivetrain | motor |
CIM |
Right Drive motor | 40A Breaker, PWM Splits to two Spark Controllers | |
2 | ||||||
3 | ||||||
4 | Scaler | servo | hs-322hd | scaler lock | ||
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 position feedback | X-Y orientation | 2.5V centered | |
1 | Breacher | Potentiometer | 3852A-282-102AL | Breacher bucket shaft rotation | absolute position of beacher rotation | 1K ohms, linear taper | |
2 | Scaler | Potentiometer | 3852A-282-102AL |
Scaler pivot position | 1K ohms, linear taper | ||
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 | Shaft Encoder | E4T-360-250 | Left Encoder, Phase A | Drivetrain rotation | |
1 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase B | Drivetrain rotation | |
2 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Right Encoder, Phase A | Drivetrain rotation | |
3 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase B | Drivetrain rotation | |
4 | IN | Scaler | Shaft Encoder | 61KS256 | Arm Rotation, Phase A | Scaler arm extention | |
5 | IN | Scaler | Shaft Encoder | 61KS256 | Arm Rotation,Phase B | Scaler arm extention | |
6 | IN | Breacher | Banner Opto | Q10RN6R | Ball Intake | Trips for ball fully into bucket |
w/Q106E emitter, sensor open-collector out |
7 | IN | Breacher | limit switch |
AAP2T51Z11 |
breacher rotation upper limit | monster switch | |
8 | IN | Breacher | limit switch | AAP2T51Z11 | breacher rotation lower limit | monster switch | |
9 | OUT | Drive | LED | Gryo calibrating | Lights up when gyro is calibrating |
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 |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 |
SPI Devices
# |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
USB Host Ports
Address |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
0 | ||||||
1 |
Pneumatics Control Module
ID | Subsystem | Component Type |
Model # |
Description (brief) |
Operation |
Notes | Pressure Circuit |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 | |||||||
7 |
Operator Controls
Controller 1 - Primary Driver
Action/Button | Description | Details |
Left Joystick Y | Moves the robot forward / back |
"Up drive the robot forward (Breacher Side) NOTE: will do the opposite if drive is toggled |
Right Joystick X | Turns the robot Left / Right |
""Right will turn the robot clockwise and vice NOTE: will do the opposite if drive is toggled |
Left Bumper | Slow mode for left wheels |
"decreases the range of power to the left motors by a set amount. Amount tbd" |
Right Bumper | Slow mode for Right wheels |
"decreases the range of power to the Righ motors by a set amount. Amount tbd" |
Left Trigger |
turbo mode for left wheels |
"Increases the range of power to the left motors by a set amount. Amount tbd" |
Right Trigger |
turbo mode for right wheels |
"Increases the range of power to the right motors by a set amount. Amount tbd" |
Y button | toggle camera feed | |
A button | toggle drive |
Controller 2 - Aux Driver
Action/Button | Description | Details |
Left Joystick Up | Breacher down | Breacher Rotates forward / toward the ground |
Left Joystick Down | Breacher up | Breacher Rotates backward / toward the sky |
Right Joystick Up | Scaler extend | Scaler telescopes upward |
Right Joystick Down | Scaler retract Scaler | telescopes downward |
Right Bumper | intake | "Spins the intake wheels as to intake a ball into the robot" |
Right Trigger | Shoot | "Spins the intake wheels as to outtake a ball out of the robot" |
Dpad Left | Rotate Scaler up | Scaler rotates upward |
Dpad Right | Rotate Scaler downward | Scaler rotates downward |
"Left Trigger + Dpad down" |
Arm Lock | Rotates servo to lock Scaler arm in place |
"Left Bumper + Dpad Up" |
Arm Unlock | "Rotate servo to unlock Scaler arm and allow telescoping action" |
A button | Toggle camera feed | |
Y button | Pivot Intake to the Drawbridge position | Byers use Intake::Drawbridge_Position(). If the Y button is not pressed, call Intake::Stop_Goto() |
Broken Switches
Broken Switch1 | Breacher Pivot | Potentiometer broken |
Broken Switch2 | Breacher Intake | Beam Break Broken |
Broken Switch3 | Arm rotate | "??????????? Encoder" |
Broken Switch4 | Arm telescope | "Encoder ???????????" |
Broken Switch5 |
not used yet |
|
Broken Switch6 |
not used yet |
|
Broken Switch7 |
Tank drive |
use tank drive instead of default drive mode |