2019:Robot IO Map: Difference between revisions
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= Robot I/O = | = Robot I/O = | ||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
== CAN ID Assignments == | == CAN ID Assignments == | ||
{| | {| border="1" cellpadding="2" cellspacing="1" style="width: 855px" | ||
|- | |- | ||
| style="text-align: center" | '''ID''' | | style="text-align: center" | '''ID''' | ||
| style="text-align: center" | '''Subsystem''' | | style="text-align: center" | '''Subsystem''' | ||
| <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; | | style="text-align: center; width: 75px" | '''Model #''' | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | '''Brake or Coast?''' | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | '''Description'''<br/> (brief) | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | '''Operation''' | ||
| colspan="2" rowspan="1" style="width: 175px; | | colspan="2" rowspan="1" style="width: 175px; text-align: center" | | ||
'''Notes''' | '''Notes''' | ||
| Line 23: | Line 24: | ||
| style="text-align: center" | Electrica'''l''' | | style="text-align: center" | Electrica'''l''' | ||
| <p style="text-align: center">PD Module</p> | | <p style="text-align: center">PD Module</p> | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| 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">must be CAN 0</p> | | style="width: 115px" | <p style="text-align: center">must be CAN 0</p> | ||
| style="width: 55px" | | | style="width: 55px" | | ||
| Line 33: | Line 34: | ||
| style="text-align: center" | '''RESERVED''' | | style="text-align: center" | '''RESERVED''' | ||
| style="text-align: center" | n/a | | style="text-align: center" | n/a | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | don't use | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 2 | | style="text-align: center" | 2 | ||
| style="text-align: center" | Cargo | | style="text-align: center" | Cargo | ||
| style="text-align: center" | Talon-SRX | | style="text-align: center" | Talon-SRX | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | 775 Pro | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Intakes or expels cargo. | Intakes or expels cargo. | ||
Left half motor | Left half motor | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
(+) = intake cargo | (+) = intake cargo | ||
(-) = expel cargo | (-) = expel cargo | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | Cargo | | style="text-align: center" | Cargo | ||
| style="text-align: center" | Talon SRX | | style="text-align: center" | Talon SRX | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | 775 Pro | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Intakes or expels cargo | Intakes or expels cargo | ||
Right half motor | Right half motor | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
(+) = intake cargo | (+) = intake cargo | ||
(-) = expel cargo | (-) = expel cargo | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 4 | | style="text-align: center" | 4 | ||
| style="text-align: center" | Elevator | | style="text-align: center" | Elevator | ||
| style="text-align: center" | Talon SRX | | style="text-align: center" | Talon SRX | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | 775 Pro | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Moves elevator up/down. | Moves elevator up/down. | ||
Primary motor "A"/Left | Primary motor "A"/Left | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
(+) = elevator up | (+) = elevator up | ||
(-) = elevator down | (-) = elevator down | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 5 | | style="text-align: center" | 5 | ||
| style="text-align: center" | Elevator | | style="text-align: center" | Elevator | ||
| style="text-align: center" | Talon SRX | | style="text-align: center" | Talon SRX | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | 775 Pro | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Moves elevator up/down | Moves elevator up/down | ||
Secondary motor "B"/Right | Secondary motor "B"/Right | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
(+) = elevator up | (+) = elevator up | ||
(-) = elevator down | (-) = elevator down | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 6 | | style="text-align: center" | 6 | ||
| style="text-align: center" | Hab | | style="text-align: center" | Hab | ||
| style="text-align: center" | Talon SRX | | style="text-align: center" | Talon SRX | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | 775 Pro | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Drive "back legs" | Drive "back legs" | ||
Primary motor; left"leg" | Primary motor; left"leg" | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
(+) = move foward | (+) = move foward | ||
(-) = move reverse | (-) = move reverse | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 7 | | style="text-align: center" | 7 | ||
| style="text-align: center" | Hab | | style="text-align: center" | Hab | ||
| style="text-align: center" | Victor SPX | | style="text-align: center" | Victor SPX | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | 775 Pro | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Drive "back legs" | Drive "back legs" | ||
Secondary motor; right"leg" | Secondary motor; right"leg" | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
(+) = move foward | (+) = move foward | ||
(-) = move reverse | (-) = move reverse | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 8 | | style="text-align: center" | 8 | ||
| style="text-align: center" | | | style="text-align: center" | Pnuematics | ||
| style="text-align: center" | | | style="text-align: center" | PCM 1 | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Controls the solenoids | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | Solenoids | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 9 | | style="text-align: center" | 9 | ||
| style="text-align: center" | | | style="text-align: center" | Pnuematics | ||
| style="text-align: center" | | | style="text-align: center" | PCM 2 | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Controls more of the solenoids | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | Solenoids | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 10 | | style="text-align: center" | 10 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 11 | | style="text-align: center" | 11 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 12 | | 12 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 13 | | 13 | ||
| Line 202: | Line 203: | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 75px" | | | style="width: 75px" | | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 14 | | 14 | ||
| Line 215: | Line 216: | ||
| style="width: 210px" | | | style="width: 210px" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 15 | | 15 | ||
| Line 225: | Line 226: | ||
| style="width: 210px" | | | style="width: 210px" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | | ||
|} | |} | ||
| | ||
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> </div> | <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> </div></div> | ||
== PWM Outputs == | == PWM Outputs == | ||
Revision as of 08:22, 26 January 2019
Robot I/O
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Brake or Coast? | Description (brief) |
Operation |
Notes (8) max. 40A PDB # | |
| 0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 |
|||
| 1 | RESERVED | n/a | Factory-default allows for adding new device quickly and re-assign its ID |
don't use | ||||
| 2 | Cargo | Talon-SRX | 775 Pro |
Intakes or expels cargo. Left half motor |
(+) = intake cargo (-) = expel cargo |
|||
| 3 | Cargo | Talon SRX | 775 Pro |
Intakes or expels cargo Right half motor |
(+) = intake cargo (-) = expel cargo |
|||
| 4 | Elevator | Talon SRX | 775 Pro |
Moves elevator up/down. Primary motor "A"/Left |
(+) = elevator up (-) = elevator down |
|||
| 5 | Elevator | Talon SRX | 775 Pro |
Moves elevator up/down Secondary motor "B"/Right |
(+) = elevator up (-) = elevator down |
|||
| 6 | Hab | Talon SRX | 775 Pro |
Drive "back legs" Primary motor; left"leg" |
(+) = move foward (-) = move reverse |
|||
| 7 | Hab | Victor SPX | 775 Pro |
Drive "back legs" Secondary motor; right"leg" |
(+) = move foward (-) = move reverse |
|||
| 8 | Pnuematics | PCM 1 | Controls the solenoids | Solenoids | ||||
| 9 | Pnuematics | PCM 2 | Controls more of the solenoids | Solenoids | ||||
| 10 | ||||||||
| 11 | ||||||||
| 12 | ||||||||
| 13 | ||||||||
| 14 | ||||||||
| 15 | ||||||||
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes (8) max. 40A PDB # | |
| 0 | Drivetrain | SPARK | CIM |
Left front drive motor |
+ Moves left side of robot forward - Moves left side of robot reverts |
40 | |
| Drivetrain | SPARK | CIM | Left rear drive motor | 40 | |||
| 1 | Drivetraiin | SPARK | CIM | Right front drive motor |
+ Moves left side of robot forward - Moves left side of robot reverts |
40 | |
| Drivetraiin | SPARK | CIM | Right reardrive motor | 40 | |||
| 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 | |||||||
| 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 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 | |||||||
| 4 | |||||||
| 5 | |||||||
| 6 | |||||||
| 7 | |||||||
| 8 | |||||||
| 9 |
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 Modules
| ID | # | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | Notes |
| 1 | 0 | Hatch | Double | SY3240-6LZ | Hold hatch | Extends cylinder to raise hook | 50 | |
| 1 | Allow hatch to release | Retract cylinder to lower hook | ||||||
| 2 | Cargo | Double | SY3240-6LZ | Enables cargo mechanism | Extends cargo cylinders (2) to extend cargo mechism to usable position | 50 | ||
| 3 | Store cargo, enable hatch | Retracts cargo cylinders (2) to store cargo mechanism out of way of hatch mechanism | ||||||
| 4 | Elevator | Double | SY3240-6LZ | Lowers elevator to inside robot frame | Extends cylinder to lower entire elevator | 50 | ||
| 5 | Raises elevator to usable position | Retracts cylinder to raise elevator to usable position for game piece | ||||||
| 6 | Elevator | Double | SY3240-6LZ | Engage brake | Extends cylinder to engage elevator brake | 50 | ||
| 7 | Release brake | Retracts cylinder to release elevator brake | ||||||
| 2 | 0 | Habitat | Double | SY3240-6LZ | Lift front of robot | Extends cylinders (2) to lift front end of robot | 50 |
Operator Controls
Controller 1 - Primary Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | Left Joystick Y | ||
| A-1 | Left Joystick X | ||
| A-4 | Right Joystick Y | ||
| A-4 | Right Joystick X | ||
| B-6 | Right Bumper | ||
| B-5 | Right Bumper | ||
| A-3 | Right Trigger | ||
| A-2 | Left Trigger |
Controller 2 - Aux Driver
| Button/Axis # | Action/Button | Description | Details |
| A-5 | Right Joystick Y | ||
| B-5 | Left Bumper | ||
| B-6 | Right Bumper | ||
| A-3 | Right Trigger | ||
| A-2 | Left Trigger | ||
| POV-0 | Dpad Up | ||
| POV-180 | Dpad Down | ||
| B-4 | Y button | ||
| B-1 | A button | ||
| B-2 | B button | ||
| B-3 | X button | ||
| B-7 + B-8 | Start + Select |
Broken Switches
| Switch | Description | Details |
| Broken Switch1 | ||
| Broken Switch2 | ||
| Broken Switch3 | ||
| Broken Switch4 | ||
| Broken Switch5 | ||
| Broken Switch6 |
Dashboard
| Feature | Control | Key | Value |
