2020:Robot IO Map: Difference between revisions
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<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<div class="mw-parser-output"><div class="mw-parser-output"> | <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 30: | Line 31: | ||
| 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 40: | Line 41: | ||
| 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" | | | style="text-align: center" | Intake | ||
| style="text-align: center" | | | style="text-align: center" | Spark Max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo Brushless 550 | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Pivots intake in/out of robot | |||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | 30A | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | 4 | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | | | style="text-align: center" | Intake | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo brushless 550 | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | | ||
Spins "beater bars" | |||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | 20A | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | 5 | ||
|- | |- | ||
| style="text-align: center" | 4 | | style="text-align: center" | 4 | ||
| style="text-align: center" | | | style="text-align: center" | Storage | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | neo Brushless 550 | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Agitates balls and moves them into the shooter | ||
| 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" | 6 | ||
|- | |- | ||
| style="text-align: center" | 5 | | style="text-align: center" | 5 | ||
| style="text-align: center" | | | style="text-align: center" | Storage | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo Brushless 550 | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Feeds balls into shooter | ||
| 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" | 7 | ||
|- | |- | ||
| style="text-align: center" | 6 | | style="text-align: center" | 6 | ||
| style="text-align: center" | | | style="text-align: center" | Shooter | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo Brushless | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Coast | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Spins the left shooting motor | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | 40A | ||
| style="width: 55px; text-align: center" | 12 | |||
|- | |- | ||
| style="text-align: center" | 7 | | style="text-align: center" | 7 | ||
| style="text-align: center" | | | style="text-align: center" | Shooter | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo Brushess | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Coast | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Spins Right shooting motor | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; | 40A | ||
1 might run in follower mode | |||
| style="width: 55px; text-align: center" | 13 | |||
|- | |- | ||
| style="text-align: center" | 8 | | style="text-align: center" | 8 | ||
| style="text-align: center" | | | style="text-align: center" | Turret | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | neo brushless 550 | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Rotates turret | ||
| 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" | 8 | ||
|- | |- | ||
| style="text-align: center" | 9 | | style="text-align: center" | 9 | ||
| style="text-align: center" | | | style="text-align: center" | WoF | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo Brushless 550 | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Rotates Wheel of Fortune | ||
| style="width: 224px; | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | 20A | ||
| style="width: 55px; | | style="width: 55px; text-align: center" | 9 | ||
|- | |- | ||
| style="text-align: center" | 10 | | style="text-align: center" | 10 | ||
| style="text-align: center" | | | style="text-align: center" | Hang | ||
| style="text-align: center" | | | style="text-align: center" | Spark max | ||
| style="text-align: center; | | style="text-align: center; width: 75px" | Neo Brushless | ||
| style="width: 81px; | | style="width: 81px; text-align: center" | Brake | ||
| style="width: 210px; | | style="width: 210px; text-align: center" | Winches robot up | ||
| 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 167: | Line 174: | ||
| 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 | ||
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| 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 190: | Line 197: | ||
| 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> </div> | ||
</div> </div> | <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> | ||
== PWM Outputs == | == PWM Outputs == | ||
Revision as of 16:46, 23 January 2020
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 | Intake | Spark Max | Neo Brushless 550 | Brake |
Pivots intake in/out of robot |
30A | 4 | |
| 3 | Intake | Spark max | Neo brushless 550 | Brake |
Spins "beater bars" |
20A | 5 | |
| 4 | Storage | Spark max | neo Brushless 550 | Brake | Agitates balls and moves them into the shooter | 6 | ||
| 5 | Storage | Spark max | Neo Brushless 550 | Brake | Feeds balls into shooter | 7 | ||
| 6 | Shooter | Spark max | Neo Brushless | Coast | Spins the left shooting motor |
40A |
12 | |
| 7 | Shooter | Spark max | Neo Brushess | Coast | Spins Right shooting motor |
40A 1 might run in follower mode |
13 | |
| 8 | Turret | Spark max | neo brushless 550 | Brake | Rotates turret |
|
8 | |
| 9 | WoF | Spark max | Neo Brushless 550 | Brake | Rotates Wheel of Fortune | 20A | 9 | |
| 10 | Hang | Spark max | Neo Brushless | Brake | Winches robot up | |||
| 11 | ||||||||
| 12 | ||||||||
| 13 | ||||||||
| 14 | ||||||||
| 15 | ||||||||
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
|
0
|
Drive base
|
Speed Controller | Spark Max | Left front drive motor | Moves left side of robot forwards/backwards | Don't know | 40A | 0 |
| Drive Base | Speed Controller | Spark max | Left rear drive motor | Don't know | 40A | 1 | ||
| 1 | Drive Base | Speed Controller | Spark Max | Right front drive motor | Moves right side of robot forwards/backwards | Don't know | 40A | 2 |
| Drive Base | Speed Controller | Spark Max | Right Rear drive Motor | Don't know | 40A | 3 | ||
| 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 |
More Board Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 |
Digital IO (GPIO)
RoboRio IO
| ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 | IN | ||||||
| 1 | IN | ||||||
| 2 | IN | ||||||
| 3 | IN | ||||||
| 4 | IN | ||||||
| 5 | IN | ||||||
| 6 | IN | ||||||
| 7 | IN | ||||||
| 8 | IN | ||||||
| 9 | IN |
Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 | IN | ||||||
| 1 | IN | ||||||
| 2 | IN | ||||||
| 3 | IN | ||||||
| 4 | IN | ||||||
| 5 | IN | ||||||
| 6 | IN | ||||||
| 7 | IN | ||||||
| 8 | IN | ||||||
| 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 |
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
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 | |||||||
| 1 | ||||||||
| 2 | ||||||||
| 3 | ||||||||
| 4 | ||||||||
| 5 | ||||||||
| 6 | ||||||||
| 7 | ||||||||
| 2 | 0 | |||||||
| 1 | ||||||||
| 2 | ||||||||
| 3 | ||||||||
| 4 | ||||||||
| 5 |
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 | Left Bumper | ||
| A-3 | Right Trigger | ||
| A-2 | Left Trigger | ||
| B-1 | A Button | ||
| B-3 | X Button | ||
| B-4 | Y Button | ||
| B-2 | B Button |
Controller 2 - Aux Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | |||
| B-1 | |||
| B-2 | |||
| B-3 | |||
| B-4 | |||
| B-5 | |||
| B-6 | |||
| B-7 | |||
| B-8 | |||
| B-9 | |||
| B-10 | |||
| B-11 | |||
| B-12 |
Controller 2 - Aux Driver (Continued)
| Button/Axis # | Action/Button | Description | Details |
| B-1 | |||
| B-2 | |||
| B-3 | |||
| B-4 | |||
| B-5 | |||
| B-6 | |||
| B-7 | |||
| B-8 | |||
| B-9 | |||
| B-10 | |||
| B-11 | |||
| B-12 |
Dashboard
| Key | Data Type | Value | Description |
| thunderdashboard_green | number |
0 - do NOT have a game piece 1 - have a game piece |
Background of dashboard goes green. |
| thunderdashboard_max | number |
0 = show normal 1 = fill screen |
fills screen or not |
