2020:Robot IO Map: Difference between revisions
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= Robot I/O = | = Robot I/O = | ||
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== CAN ID Assignments == | == CAN ID Assignments == | ||
{| | {| style="width: 855px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| 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; width: 112px | | style="text-align: center; width: 112px" | '''Model #''' | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | '''Brake or Coast?''' | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | '''Description'''<br/> (brief) | ||
| style="width: 224px; text-align: center" | '''Operation''' | | style="width: 224px; text-align: center" | '''Operation''' | ||
| colspan="2" rowspan="1" style="width: 175px; text-align: center" | | | colspan="2" rowspan="1" style="width: 175px; text-align: center" | | ||
'''Notes''' | '''Notes''' | ||
| Line 23: | Line 22: | ||
| 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; width: 112px | | style="text-align: center; width: 112px" | | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Power Distribution Module feedback | ||
| style="width: 224px; text-align: center" | monitor PD | | 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 32: | ||
| 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; width: 112px | | style="text-align: center; width: 112px" | | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | don't use | | style="width: 115px; text-align: center" | don't use | ||
| style="width: 55px; text-align: center" | | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 2 | | style="text-align: center" | 2 | ||
| style="text-align: center" | Intake | | style="text-align: center" | Intake | ||
| style="text-align: center" | Spark Max | | style="text-align: center" | Spark Max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo 550 | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | | ||
Pivots intake in/out of robot | Pivots intake in/out of robot | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
30A | 30A | ||
Using integrated encoder | Using integrated encoder | ||
| style="width: 55px; text-align: center" | 4 | | style="width: 55px; text-align: center" | 4 | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | Intake | | style="text-align: center" | Intake | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo 550 | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | | ||
Spins "beater bars" | Spins "beater bars" | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | 20A | | style="width: 115px; text-align: center" | 20A | ||
| style="width: 55px; text-align: center" | 5 | | style="width: 55px; text-align: center" | 5 | ||
|- | |- | ||
| style="text-align: center" | 4 | | style="text-align: center" | 4 | ||
| style="text-align: center" | Storage | | style="text-align: center" | Storage | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo 550 | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Agitates balls up the corkscrew | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | 6 | | style="width: 55px; text-align: center" | 6 | ||
|- | |- | ||
| style="text-align: center" | 5 | | style="text-align: center" | 5 | ||
| style="text-align: center" | Storage | | style="text-align: center" | Storage | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo 550 | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Feeds balls into shooter | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | 7 | | style="width: 55px; text-align: center" | 7 | ||
|- | |- | ||
| style="text-align: center" | 6 | | style="text-align: center" | 6 | ||
| style="text-align: center" | Shooter | | style="text-align: center" | Shooter | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Coast | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Spins left shooting motor | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
40A | 40A | ||
| style="width: 55px; text-align: center" | 12 | | style="width: 55px; text-align: center" | 12 | ||
|- | |- | ||
| style="text-align: center" | 7 | | style="text-align: center" | 7 | ||
| style="text-align: center" | Shooter | | style="text-align: center" | Shooter | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Coast | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Spins right shooting motor | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
40A | 40A | ||
| Line 114: | Line 113: | ||
1 might run in follower mode | 1 might run in follower mode | ||
| style="width: 55px; text-align: center" | 13 | | style="width: 55px; text-align: center" | 13 | ||
|- | |- | ||
| style="text-align: center" | 8 | | style="text-align: center" | 8 | ||
| style="text-align: center" | Turret | | style="text-align: center" | Turret | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo 550 | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Rotates turret | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | 8 | | style="width: 55px; text-align: center" | 8 | ||
|- | |- | ||
| style="text-align: center" | 9 | | style="text-align: center" | 9 | ||
| style="text-align: center" | WoF | | style="text-align: center" | WoF | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo 550 | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Rotates Wheel of Fortune | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | 20A | | style="width: 115px; text-align: center" | 20A | ||
| style="width: 55px; text-align: center" | 9 | | style="width: 55px; text-align: center" | 9 | ||
|- | |- | ||
| style="text-align: center" | 10 | | style="text-align: center" | 10 | ||
| style="text-align: center" | Hang | | style="text-align: center" | Hang | ||
| style="text-align: center" | Spark max | | style="text-align: center" | Spark max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | Brake | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Winches robot up | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
30A | 30A | ||
Using integrated encoder | Using integrated encoder | ||
| style="width: 55px; text-align: center" | 10 | | style="width: 55px; text-align: center" | 10 | ||
|- | |- | ||
| style="text-align: center" | 11 | | style="text-align: center" | 11 | ||
| style="text-align: center" | Shooter | | style="text-align: center" | Shooter | ||
| style="text-align: center" | Spark Max | | style="text-align: center" | Spark Max | ||
| style="text-align: center; width: 112px | | style="text-align: center; width: 112px" | Neo | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | ? | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | Primer wheel | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | | | 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; width: 112px | | style="text-align: center; width: 112px" | | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 13 | | 13 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 112px | | style="width: 112px" | | ||
| style="width: 70px; text-align: center | | style="width: 70px; text-align: center" | | ||
| style="width: 110px; text-align: center | | style="width: 110px; text-align: center" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 14 | | 14 | ||
| | | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 112px | | style="width: 112px" | | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 110px | | style="width: 110px" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | | | style="width: 55px; text-align: center" | | ||
|- | |- | ||
| 15 | | 15 | ||
| | | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 112px | | style="width: 112px" | | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 110px | | style="width: 110px" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center" | | | style="width: 55px; text-align: center" | | ||
|} | |} | ||
</div> </div> <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"><div class="mw-parser-output"> | </div> </div> <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> <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"> | |||
<div class="mw-parser-output"> | |||
== PWM Outputs == | == PWM Outputs == | ||
{| | {| style="width: 902px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | '''ID''' | ||
| style="width: 70px; text-align: center | | style="width: 70px; 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; width: 94px | | style="text-align: center; width: 94px" | '''Model #''' | ||
| style="text-align: center; width: 167px | | style="text-align: center; width: 167px" | '''Description<br/> (brief)''' | ||
| style="text-align: center; width: 148px | | style="text-align: center; width: 148px" | | ||
'''Operation''' | '''Operation''' | ||
| | ||
| style="text-align: center; width: 280px" | '''Brake/Coast''' | | style="text-align: center; width: 280px" | '''Brake/Coast''' | ||
| colspan="2" rowspan="1" style="width: 198px; text-align: center" | | | colspan="2" rowspan="1" style="width: 198px; text-align: center" | | ||
'''Notes''' | '''Notes''' | ||
| Line 228: | Line 223: | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 0 | ||
| style="width: 70px | | style="width: 70px" | Hang | ||
| style="width: 76px" | Servo | | style="width: 76px" | Servo | ||
| style="width: 94px | | style="width: 94px" | | ||
| | ||
Hs-322HD | Hs-322HD | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | Engages/disingages ratchet | ||
| style="width: 148px | | style="width: 148px" | | ||
| | ||
| Line 244: | Line 239: | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 1 | ||
| style="width: 70px | | style="width: 70px" | Shooter | ||
| style="width: 76px" | Servo | | style="width: 76px" | Servo | ||
| style="width: 94px | | style="width: 94px" | | ||
Hs-785HB | Hs-785HB | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | Moves turret hood to increase/decrease shot angle | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | N/A | | style="width: 280px" | N/A | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 2 | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 76px" | | | style="width: 76px" | | ||
| style="width: 94px | | style="width: 94px" | | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | | | style="width: 280px" | | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 3 | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 76px" | | | style="width: 76px" | | ||
| style="width: 94px | | style="width: 94px" | | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | | | style="width: 280px" | | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 4 | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 76px" | | | style="width: 76px" | | ||
| style="width: 94px | | style="width: 94px" | | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | | | style="width: 280px" | | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 5 | ||
| style="width: 70px | | style="width: 70px" | Wheel of Fortune | ||
| style="width: 76px" | Servo | | style="width: 76px" | Servo | ||
| style="width: 94px | | style="width: 94px" | | ||
| style="width: 167px | | style="width: 167px" | Swing color sensor outside the frame perimeter | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | | | style="width: 280px" | | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| rowspan="1" style="width: 15px | | rowspan="1" style="width: 15px" | | ||
6 | 6 | ||
| | ||
| style="width: 70px | | style="width: 70px" | | ||
Drive base | Drive base | ||
| Line 307: | Line 302: | ||
| style="width: 76px" | Spark Max | | style="width: 76px" | Spark Max | ||
| style="width: 94px | | style="width: 94px" | Neo | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | Left front drive motor | ||
| style="width: 148px | | style="width: 148px" | Moves left side of robot forwards/backwards | ||
| style="width: 280px" | Don't know | | style="width: 280px" | Don't know | ||
| style="width: 125px; text-align: center" | 40A | | style="width: 125px; text-align: center" | 40A | ||
| style="width: 72px; text-align: center" | 0 | | style="width: 72px; text-align: center" | 0 | ||
|- | |- | ||
| rowspan="1" style="width: 15px | | rowspan="1" style="width: 15px" | | ||
7 | 7 | ||
| | ||
| style="width: 70px | | style="width: 70px" | Drive Base | ||
| style="width: 76px" | Spark Max | | style="width: 76px" | Spark Max | ||
| style="width: 94px | | style="width: 94px" | Neo | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | Left rear drive motor | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | Don't know | | style="width: 280px" | Don't know | ||
| style="width: 125px; text-align: center" | 40A | | style="width: 125px; text-align: center" | 40A | ||
| style="width: 72px; text-align: center" | 1 | | style="width: 72px; text-align: center" | 1 | ||
|- | |- | ||
| rowspan="1" style="width: 15px | | rowspan="1" style="width: 15px" | 8 | ||
| style="width: 70px | | style="width: 70px" | Drive Base | ||
| style="width: 76px" | Spark Max | | style="width: 76px" | Spark Max | ||
| style="width: 94px | | style="width: 94px" | Neo | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | Right front drive motor | ||
| style="width: 148px | | style="width: 148px" | Moves right side of robot forwards/backwards | ||
| style="width: 280px" | Don't know | | style="width: 280px" | Don't know | ||
| style="width: 125px; text-align: center" | 40A | | style="width: 125px; text-align: center" | 40A | ||
| style="width: 72px; text-align: center" | 2 | | style="width: 72px; text-align: center" | 2 | ||
|- | |- | ||
| rowspan="1" style="width: 15px | | rowspan="1" style="width: 15px" | | ||
9 | 9 | ||
| | ||
| style="width: 70px | | style="width: 70px" | Drive Base | ||
| style="width: 76px" | Spark Max | | style="width: 76px" | Spark Max | ||
| style="width: 94px | | style="width: 94px" | Neo | ||
| style="width: 167px; text-align: center | | style="width: 167px; text-align: center" | Right Rear drive Motor | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | Don't know | | style="width: 280px" | Don't know | ||
| style="width: 125px; text-align: center" | 40A | | style="width: 125px; text-align: center" | 40A | ||
| style="width: 72px; text-align: center" | 3 | | style="width: 72px; text-align: center" | 3 | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 8 | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 76px" | | | style="width: 76px" | | ||
| style="width: 94px | | style="width: 94px" | | ||
| style="width: 167px | | style="width: 167px" | | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | | | style="width: 280px" | | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| style="width: 72px" | | | style="width: 72px" | | ||
|- | |- | ||
| style="width: 15px | | style="width: 15px" | 9 | ||
| style="width: 70px | | style="width: 70px" | | ||
| style="width: 76px" | | | style="width: 76px" | | ||
| style="width: 94px | | style="width: 94px" | | ||
| style="width: 167px | | style="width: 167px" | | ||
| style="width: 148px | | style="width: 148px" | | ||
| style="width: 280px" | | | style="width: 280px" | | ||
| style="width: 125px" | | | style="width: 125px" | | ||
| Line 374: | Line 369: | ||
| | ||
<div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div></div></div></div> | <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> | ||
== Relay Outputs == | == Relay Outputs == | ||
{| | {| style="width: 927px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| '''ID''' | | '''ID''' | ||
| 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; text-align: center" | '''Model #''' | | style="width: 54px; text-align: center" | '''Model #''' | ||
| style="width: 192px; text-align: center" | '''Description<br/> (brief)''' | | style="width: 192px; text-align: center" | '''Description<br/> (brief)''' | ||
| style="width: 259px; text-align: center" | '''Operation''' | | style="width: 259px; text-align: center" | '''Operation''' | ||
| style="width: 115px; text-align: center" | '''Notes''' | | style="width: 115px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
| Line 427: | Line 421: | ||
=== <u>RoboRIO Analog Inputs</u> === | === <u>RoboRIO Analog Inputs</u> === | ||
{| | {| style="width: 1030px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| ID | | ID | ||
| 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; text-align: center" | Model # | | style="width: 54px; text-align: center" | Model # | ||
| style="width: 227px; text-align: center" | Description<br/> (brief) | | style="width: 227px; text-align: center" | Description<br/> (brief) | ||
| style="width: 262px; text-align: center" | Operation | | style="width: 262px; text-align: center" | Operation | ||
| style="width: 132px; text-align: center" | | | style="width: 132px; text-align: center" | | ||
Voltage | Voltage | ||
Range | Range | ||
| style="width: 91px; text-align: center" | Notes | | style="width: 91px; text-align: center" | Notes | ||
|- | |- | ||
| 0 | | 0 | ||
| Line 449: | Line 443: | ||
| style="width: 262px" | | | style="width: 262px" | | ||
| style="width: 132px" | | | style="width: 132px" | | ||
| style="width: 91px; text-align: center" | | | style="width: 91px; text-align: center" | | ||
|- | |- | ||
| style="text-align: center" | 1 | | style="text-align: center" | 1 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|- | |- | ||
| style="text-align: center" | 2 | | style="text-align: center" | 2 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|} | |} | ||
| Line 481: | Line 475: | ||
=== <u>More Board Analog Inputs</u> === | === <u>More Board Analog Inputs</u> === | ||
{| | {| style="width: 1030px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| ID | | ID | ||
| 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; text-align: center" | Model # | | style="width: 54px; text-align: center" | Model # | ||
| style="width: 227px; text-align: center" | Description<br/> (brief) | | style="width: 227px; text-align: center" | Description<br/> (brief) | ||
| style="width: 262px; text-align: center" | Operation | | style="width: 262px; text-align: center" | Operation | ||
| style="width: 132px; text-align: center" | | | style="width: 132px; text-align: center" | | ||
Voltage | Voltage | ||
Range | Range | ||
| style="width: 91px; text-align: center" | Notes | | style="width: 91px; text-align: center" | Notes | ||
|- | |- | ||
| style="text-align: center" | 0 | | style="text-align: center" | 0 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|- | |- | ||
| style="text-align: center" | 1 | | style="text-align: center" | 1 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|- | |- | ||
| style="text-align: center" | 2 | | style="text-align: center" | 2 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 69px; text-align: center" | | | style="width: 69px; text-align: center" | | ||
| style="width: 122px; text-align: center" | | | style="width: 122px; text-align: center" | | ||
| style="width: 139px; text-align: center" | | | style="width: 139px; text-align: center" | | ||
| style="width: 193px; text-align: center" | | | style="width: 193px; text-align: center" | | ||
| style="width: 223px; text-align: center" | | | style="width: 223px; text-align: center" | | ||
| | | | ||
|} | |} | ||
| | ||
</div> </div> </div> </div> | </div> </div> </div> </div> <div class="mw-parser-output"><div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
== Digital IO (GPIO) == | == Digital IO (GPIO) == | ||
<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"><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"><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"><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"> | ||
| Line 828: | Line 820: | ||
| style="width: 141px" | | | style="width: 141px" | | ||
|} | |} | ||
</div> <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div></div> | </div> <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> | ||
== I2C Registers == | == I2C Registers == | ||
{| | {| style="width: 1007px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="text-align: center" | '''Address'''<br/> (e.g. 0100111X) | | style="text-align: center" | '''Address'''<br/> (e.g. 0100111X) | ||
| style="width: 37px; text-align: center" | '''Pin'''<br/> (e.g. GP0) | | style="width: 37px; text-align: center" | '''Pin'''<br/> (e.g. GP0) | ||
| style="width: 76px; text-align: center" | '''Subsystem''' | | 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; text-align: center" | '''Model #''' | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; text-align: center" | '''Description<br/> (brief)''' | | style="width: 205px; text-align: center" | '''Description<br/> (brief)''' | ||
| style="width: 241px; text-align: center" | '''Operation''' | | style="width: 241px; text-align: center" | '''Operation''' | ||
| style="width: 112px; text-align: center" | '''Notes''' | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| style="text-align: center | | style="text-align: center" | 0x52 | ||
| style="width: 37px; text-align: center | | style="width: 37px; text-align: center" | | ||
| style="width: 76px; text-align: center | | style="width: 76px; text-align: center" | Wheel of Fortune | ||
| style="width: 75px; text-align: center | | style="width: 75px; text-align: center" | Color Sensor | ||
| style="width: 53px; text-align: center | | style="width: 53px; text-align: center" | REV-31-1557 | ||
| style="width: 205px; text-align: center | | style="width: 205px; text-align: center" | Reads colors of wheel | ||
| style="width: 241px; text-align: center | | style="width: 241px; text-align: center" | Provides these channels: Red, Green, Blue, Alpha, and Proximity | ||
| style="width: 112px" | | | style="width: 112px" | | ||
|- | |- | ||
| Line 909: | Line 900: | ||
== SPI Devices == | == SPI Devices == | ||
{| | {| style="width: 1007px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="text-align: center" | '''#''' | | style="text-align: center" | '''#''' | ||
| style="width: 76px; text-align: center" | '''Subsystem''' | | 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; text-align: center" | '''Model #''' | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; text-align: center" | '''Description (brief)''' | | style="width: 205px; text-align: center" | '''Description (brief)''' | ||
| style="width: 241px; text-align: center" | '''Operation''' | | style="width: 241px; text-align: center" | '''Operation''' | ||
| style="width: 112px; text-align: center" | '''Notes''' | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| | | | ||
| Line 937: | Line 928: | ||
== USB Host Ports == | == USB Host Ports == | ||
{| | {| style="width: 1007px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="text-align: center" | '''Address''' | | style="text-align: center" | '''Address''' | ||
| style="width: 76px; text-align: center" | '''Subsystem''' | | 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; text-align: center" | '''Model #''' | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; text-align: center" | '''Description (brief)''' | | style="width: 205px; text-align: center" | '''Description (brief)''' | ||
| style="width: 241px; text-align: center" | '''Operation''' | | style="width: 241px; text-align: center" | '''Operation''' | ||
| style="width: 112px; text-align: center" | '''Notes''' | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
| Line 966: | Line 957: | ||
== Pneumatics Control Modules == | == Pneumatics Control Modules == | ||
{| | {| style="width: 931px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="width: 8px" | | | style="width: 8px" | | ||
| Line 978: | Line 969: | ||
| style="width: 64px" | <p style="text-align: center">'''Solenoid'''</p> <p style="text-align: center">'''Model #'''</p> | | style="width: 64px" | <p style="text-align: center">'''Solenoid'''</p> <p style="text-align: center">'''Model #'''</p> | ||
| style="width: 183px" | <p style="text-align: center">'''Description'''</p> <p style="text-align: center">'''(brief)'''</p> | | style="width: 183px" | <p style="text-align: center">'''Description'''</p> <p style="text-align: center">'''(brief)'''</p> | ||
| style="width: 290px; text-align: center" | '''Operation''' | | style="width: 290px; text-align: center" | '''Operation''' | ||
| style="width: 118px; text-align: center" | '''Circuit Pressure''' | | style="width: 118px; text-align: center" | '''Circuit Pressure''' | ||
| style="width: 118px; text-align: center" | '''PDB #''' | | style="width: 118px; text-align: center" | '''PDB #''' | ||
|- | |- | ||
| rowspan="8" style="width: 8px" | 1 | | rowspan="8" style="width: 8px" | 1 | ||
| Line 1,070: | Line 1,061: | ||
| style="width: 290px" | | | style="width: 290px" | | ||
|} | |} | ||
<div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> | <div class="mw-parser-output"><div class="mw-parser-output"> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> | ||
= Operator Controls = | = Operator Controls = | ||
<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"> | ||
| Line 1,143: | Line 1,133: | ||
| | | | ||
|} | |} | ||
</div> <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"><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"><div class="mw-parser-output"><div class="mw-parser-output"> | </div> <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"><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"><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"> | |||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | |||
=== Controller 2 - Aux Driver === | === Controller 2 - Aux Driver === | ||
{| | {| style="width: 908px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="text-align: center; width: 91px" | '''Button/Axis #''' | | style="text-align: center; width: 91px" | '''Button/Axis #''' | ||
| style="width: 286px" | '''Action/Button''' | | style="width: 286px" | '''Action/Button''' | ||
| style="width: 361px" | '''Description''' | | style="width: 361px" | '''Description''' | ||
| style="width: 141px" | '''Details''' | | style="width: 141px" | '''Details''' | ||
|- | |- | ||
| style="text-align: center; width: 91px" | A-1 | | style="text-align: center; width: 91px" | A-1 | ||
| style="width: 286px" | Left Trigger | | style="width: 286px" | Left Trigger | ||
| style="width: 361px" | Outtake-Just intake mechanism (not helix) | | style="width: 361px" | Outtake-Just intake mechanism (not helix) | ||
| style="width: 141px" | Press | | style="width: 141px" | Press hold, release to stop | ||
|- | |- | ||
| style="width: 91px; text-align: center" | A-2 | | style="width: 91px; text-align: center" | A-2 | ||
| style="width: 286px" | Right Trigger | | style="width: 286px" | Right Trigger | ||
| style="width: 361px" | Runs shooter/helix | | style="width: 361px" | Runs shooter/helix | ||
| style="width: 141px" | binary action, press hold | | style="width: 141px" | binary action, press hold | ||
|- | |- | ||
| style="width: 91px; text-align: center" | A-3? | | style="width: 91px; text-align: center" | A-3? | ||
| style="width: 286px" | Left Dial | | style="width: 286px" | Left Dial | ||
| style="width: 361px" | Rotates turret | | style="width: 361px" | Rotates turret | ||
| style="width: 141px" | Positional rotation | | style="width: 141px" | Positional rotation | ||
|- | |- | ||
| style="width: 91px; text-align: center" | A-4? | | style="width: 91px; text-align: center" | A-4? | ||
| style="width: 286px" | Right Dial | | style="width: 286px" | Right Dial | ||
| style="width: 361px" | Controls shooter speed | | style="width: 361px" | Controls shooter speed | ||
| Line 1,181: | Line 1,167: | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-1 | | style="width: 91px; text-align: center" | B-1 | ||
| style="width: 286px" | A Button | | style="width: 286px" | A Button | ||
| style="width: 361px" | Moves hang in retract direction | | style="width: 361px" | Moves hang in retract direction | ||
| style="width: 141px" | press hold, release to stop | | style="width: 141px" | press hold, release to stop | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-2 | | style="width: 91px; text-align: center" | B-2 | ||
| style="width: 286px" | B button | | style="width: 286px" | B button | ||
| style="width: 361px" | Adjusts hood to wall | | style="width: 361px" | Adjusts hood to wall | ||
| style="width: 141px" | Press only | | style="width: 141px" | Press only | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-3 | | style="width: 91px; text-align: center" | B-3 | ||
| style="width: 286px" | X Button | | style="width: 286px" | X Button | ||
| style="width: 361px" | Adjusts hood to initiation line | | style="width: 361px" | Adjusts hood to initiation line | ||
| style="width: 141px" | Press only | | style="width: 141px" | Press only | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-4 | | style="width: 91px; text-align: center" | B-4 | ||
| style="width: 286px" | Y button | | style="width: 286px" | Y button | ||
| style="width: 361px" | Moves | | style="width: 361px" | Moves hang in extend direction | ||
| style="width: 141px" | press hold, release to stop | | style="width: 141px" | press hold, release to stop | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-5 | | style="width: 91px; text-align: center" | B-5 | ||
| style="width: 286px" | Left bumper | | style="width: 286px" | Left bumper | ||
| style="width: 361px" | Run control panel | | style="width: 361px" | Run control panel | ||
| style="width: 141px" | press | | style="width: 141px" | press | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-6 | | style="width: 91px; text-align: center" | B-6 | ||
| style="width: 286px" | Right bumper | | style="width: 286px" | Right bumper | ||
| style="width: 361px" | Run intake/drive helix up | | style="width: 361px" | Run intake/drive helix up | ||
| style="width: 141px" | press hold, release to stop | | style="width: 141px" | press hold, release to stop | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-7 | | style="width: 91px; text-align: center" | B-7 | ||
| style="width: 286px" | | | style="width: 286px" | | ||
| style="width: 361px" | | | style="width: 361px" | | ||
| style="width: 141px" | | | style="width: 141px" | | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-8 | | style="width: 91px; text-align: center" | B-8 | ||
| style="width: 286px" | Start Button | | style="width: 286px" | Start Button | ||
| style="width: 361px" | Adjusts hood control panel | | style="width: 361px" | Adjusts hood control panel | ||
| style="width: 141px" | press only | | style="width: 141px" | press only | ||
|- | |- | ||
| style="width: 91px; text-align: center" | B-9 | | style="width: 91px; text-align: center" | B-9 | ||
| style="width: 286px" | | | style="width: 286px" | | ||
| style="width: 361px" | | | style="width: 361px" | | ||
| style="width: 141px" | | | style="width: 141px" | | ||
|- | |- | ||
| style="width: 91px; text-align: center" | POV-90 | | style="width: 91px; text-align: center" | POV-90 | ||
| style="width: 286px" | D-pad up | | style="width: 286px" | D-pad up | ||
| style="width: 361px" | move intake down | | style="width: 361px" | move intake down | ||
| style="width: 141px" | Press only | | style="width: 141px" | Press only | ||
|- | |- | ||
| style="width: 91px; text-align: center" | POV-270 | | style="width: 91px; text-align: center" | POV-270 | ||
| style="width: 286px" | D-pad down | | style="width: 286px" | D-pad down | ||
| style="width: 361px" | move intake up | | style="width: 361px" | move intake up | ||
| Line 1,239: | Line 1,225: | ||
'''Controller 2 - Aux Driver (Continued) ''' | '''Controller 2 - Aux Driver (Continued) ''' | ||
{| | {| style="width: 907px" cellspacing="1" cellpadding="1" border="1" | ||
|- | |- | ||
| style="width: 92px" | ''' Button/Axis #''' | | style="width: 92px" | ''' Button/Axis #''' | ||
| Line 1,246: | Line 1,232: | ||
| style="width: 158px" | '''Details''' | | style="width: 158px" | '''Details''' | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-1 | | style="width: 92px; text-align: center" | B-1 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-2 | | style="width: 92px; text-align: center" | B-2 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-3 | | style="width: 92px; text-align: center" | B-3 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-4 | | style="width: 92px; text-align: center" | B-4 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-5 | | style="width: 92px; text-align: center" | B-5 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-6 | | style="width: 92px; text-align: center" | B-6 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-7 | | style="width: 92px; text-align: center" | B-7 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-8 | | style="width: 92px; text-align: center" | B-8 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-9 | | style="width: 92px; text-align: center" | B-9 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-10 | | style="width: 92px; text-align: center" | B-10 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-11 | | style="width: 92px; text-align: center" | B-11 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|- | |- | ||
| style="width: 92px; text-align: center" | B-12 | | style="width: 92px; text-align: center" | B-12 | ||
| style="width: 112px" | | | style="width: 112px" | | ||
| style="width: 521px" | | | style="width: 521px" | | ||
| style="width: 158px" | | | style="width: 158px" | | ||
|} | |} | ||
</div> </div> </div> </div> </div> </div> </div> </div> </div> <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> </div> </div> </div> </div> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> <div class="mw-parser-output"> </div> </div></div></div></div></div> | </div> </div> </div> </div> </div> </div> </div> </div> </div> <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> </div> </div> </div> </div> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> <div class="mw-parser-output"> </div> </div> </div> </div> </div> </div> | ||
=== Dashboard === | === Dashboard === | ||
| Line 1,390: | Line 1,375: | ||
| | | | ||
|} | |} | ||
</div> </div> </div> | </div> </div> </div> | ||
= IO Maps for Old Robots = | = IO Maps for Old Robots = | ||
| Line 1,406: | Line 1,390: | ||
*[[2009:IO_Map|2009 Thunderplucker]] | *[[2009:IO_Map|2009 Thunderplucker]] | ||
*[[IO_Pin_Maps_for_Pre-2009_Robots|IO Pin Maps for Pre-2009 Robots]] | *[[IO_Pin_Maps_for_Pre-2009_Robots|IO Pin Maps for Pre-2009 Robots]] | ||
</div> </div> </div> | </div> </div> </div> | ||
</div> | |||
Revision as of 11:48, 2 February 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 550 | Brake |
Pivots intake in/out of robot |
30A Using integrated encoder |
4 | |
| 3 | Intake | Spark max | Neo 550 | Brake |
Spins "beater bars" |
20A | 5 | |
| 4 | Storage | Spark max | Neo 550 | Brake | Agitates balls up the corkscrew | 6 | ||
| 5 | Storage | Spark max | Neo 550 | Brake | Feeds balls into shooter | 7 | ||
| 6 | Shooter | Spark max | Neo | Coast | Spins left shooting motor |
40A |
12 | |
| 7 | Shooter | Spark max | Neo | Coast | Spins right shooting motor |
40A Using integrated encoder. 1 might run in follower mode |
13 | |
| 8 | Turret | Spark max | Neo 550 | Brake | Rotates turret |
|
8 | |
| 9 | WoF | Spark max | Neo 550 | Brake | Rotates Wheel of Fortune | 20A | 9 | |
| 10 | Hang | Spark max | Neo | Brake | Winches robot up |
30A Using integrated encoder |
10 | |
| 11 | Shooter | Spark Max | Neo | ? | Primer wheel | |||
| 12 | ||||||||
| 13 | ||||||||
| 14 | ||||||||
| 15 | ||||||||
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 | Hang | Servo |
Hs-322HD |
Engages/disingages ratchet |
|
N/A | ||
| 1 | Shooter | Servo |
Hs-785HB |
Moves turret hood to increase/decrease shot angle | N/A | |||
| 2 | ||||||||
| 3 | ||||||||
| 4 | ||||||||
| 5 | Wheel of Fortune | Servo | Swing color sensor outside the frame perimeter | |||||
|
6
|
Drive base
|
Spark Max | Neo | Left front drive motor | Moves left side of robot forwards/backwards | Don't know | 40A | 0 |
|
7
|
Drive Base | Spark Max | Neo | Left rear drive motor | Don't know | 40A | 1 | |
| 8 | Drive Base | Spark Max | Neo | Right front drive motor | Moves right side of robot forwards/backwards | Don't know | 40A | 2 |
|
9
|
Drive Base | Spark Max | Neo | Right Rear drive Motor | Don't know | 40A | 3 | |
| 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 | Intake | Banner Opto | Q10RN6R | Senses Incoming Power Cells |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
| 1 | IN | Storage | Banner Opto | Q10RN6R | Senses balls when ready to shoot |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
| 2 | IN | ||||||
| 3 | IN | Storage/Shooter | Banner Opto | Q10RN6R | Senses presence of ready-to-shoot power cels |
1 = Ball not present 0 = Ball Present |
w/Q106E emitter, sensor open-collector out |
| 4 | IN | Drive base | Phase A Left Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 5 | IN | Drive base | Phase B Left Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 6 | IN | Drive base | Phase A Right Encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 7 | IN | Drive base | Phase B right encoder | REV-11-1271 | measures rotation of drive wheels | 2048 cycles per revolution | |
| 8 | IN | Intake | Omron Reflective | EE-SPY415 | Senses the presence of the intake mechanism to zero the rotation motor encoder |
1 = not present 0 = present |
|
| 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 |
| 0x52 | Wheel of Fortune | Color Sensor | REV-31-1557 | Reads colors of wheel | Provides these channels: Red, Green, Blue, Alpha, and Proximity | ||
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 | Left Trigger | Outtake-Just intake mechanism (not helix) | Press hold, release to stop |
| A-2 | Right Trigger | Runs shooter/helix | binary action, press hold |
| A-3? | Left Dial | Rotates turret | Positional rotation |
| A-4? | Right Dial | Controls shooter speed |
Positional rotation
|
| B-1 | A Button | Moves hang in retract direction | press hold, release to stop |
| B-2 | B button | Adjusts hood to wall | Press only |
| B-3 | X Button | Adjusts hood to initiation line | Press only |
| B-4 | Y button | Moves hang in extend direction | press hold, release to stop |
| B-5 | Left bumper | Run control panel | press |
| B-6 | Right bumper | Run intake/drive helix up | press hold, release to stop |
| B-7 | |||
| B-8 | Start Button | Adjusts hood control panel | press only |
| B-9 | |||
| POV-90 | D-pad up | move intake down | Press only |
| POV-270 | D-pad down | move intake up | Press only |
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 |
