Robot I/O

Operator Controls

2020:Robot IO Map: Difference between revisions

Robot I/O

Operator Controls

IO Maps for Old Robots

Revision as of 17:42, 11 February 2020

CAN ID Assignments

PWM Outputs

Relay Outputs

Analog IO

Digital IO (GPIO)

I2C Registers

SPI Devices

USB Host Ports

Pneumatics Control Modules

Revision as of 17:42, 11 February 2020

Contents

CAN ID Assignments

PWM Outputs

Relay Outputs

Analog IO

Digital IO (GPIO)

I2C Registers

SPI Devices

USB Host Ports

Pneumatics Control Modules

Navigation menu

RoboRIO Analog Inputs

More Board Analog Inputs

RoboRio IO

Rev Robotics More Board IO

Controller 1 - Primary Driver

Controller 2 - Aux Driver

Dashboard

RoboRIO Analog Inputs

More Board Analog Inputs

RoboRio IO

Rev Robotics More Board IO

Controller 1 - Primary Driver

Controller 2 - Aux Driver

Dashboard

Page actions

Page actions

Personal tools

Navigation

Search

Build Season Pages

Subteam Portals

Tools

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		30A	6
5	Storage	Spark max	Neo 550	Brake	Feeds balls into shooter		30A	7
6	Shooter	Spark max	Neo	Coast	Spins left shooting motor		40A +: out -: in	12
7	Shooter	Spark max	Neo	Coast	Spins right shooting motor		40A Using integrated encoder. 1 might run in follower mode +: in -: out	2
8	Turret	Spark max	Neo 550	Brake	Rotates turret		30A	8
9	WoF	Spark max	Neo 550	Brake	Rotates Wheel of Fortune		20A	11
10	Hang	Spark max	Neo	Brake	Winches robot up		40A Using integrated encoder	13
11	Shooter	Spark Max	Neo	?	Primer wheel		+: in -: out
12
13
14
15

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	Rear LEDs	LED	LED	Gives connection to Rear Driver LEDs	Allows drivers to see power cell count	N/A	20A (via voltage regulator)	10
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	14
7	Drive Base	Spark Max	Neo	Left rear drive motor		Don't know	40A	15
8	Drive Base	Spark Max	Neo	Right front drive motor	Moves right side of robot forwards/backwards	Don't know	40A	0
9	Drive Base	Spark Max	Neo	Right Rear drive Motor		Don't know	40A	1
8
9

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

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	Allen-Bradley RightSight Prox Sensor	42EF-D2MPAK-F4	Senses balls when ready to shoot	1 = Ball present 0 = Ball not present
2	IN
3	IN	Shooter	Banner Opto	Q10RN6R	Senses when a ball is exiting the shooter	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 (Need to double check this)
9	IN	Hang	Optical Sensor Through-Beam	OPB815WZ	Sense when hanger is all the way retracted	1 = hanger sensed (all the way down), 0 = hanger not sensed

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

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

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1

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

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

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 (warm up)	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	Back Button	Shoots the ball	press only
B-8	Start Button	Adjusts hood control panel	press only
B-9
POV-90	D-pad up
POV-270	D-pad down

Controller 3 - Switches on console

Button/Axis #	Action/Button	Description	Details
B-1	Control Panel Mode	Determines which control panel operation to run On = rotation Off = position
B-2	Control Panel Sensor Broken	On = broken, run CP manually Off = Working, do whatever is in button 1
B-3	Intake Pivot Sensor Broken	On = broken, zero pivot based solely on startup position
B-4	Intake ball counter Broken	On = broken, don't use this sensor
B-5	Storage-shooter transition counter broken	On = broken, don't use this sensor
B-6	Shooter ball counter broken	On = broken, don't use this sensor
B-7	Hanger zero sensor broken	On = broken, don't use the sensor to zero encoder, just use startup position
B-8
B-9

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

Subsystem

Component

Type

Model #

Description
(brief)

Operation

@@ Line 2: / Line 2: @@
 = Robot I/O =
 <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 7: / Line 8: @@
 == CAN ID Assignments ==
-{| border="1" cellpadding="2" cellspacing="1" style="width: 855px"
+{| style="width: 855px" cellspacing="1" cellpadding="2" border="1"
 |-
 | style="text-align: center" | '''ID'''
 | style="text-align: center" | '''Subsystem'''
 | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>
-| style="text-align: center; width: 112px" | '''Model #'''
+| style="text-align: center;  width: 112px" | '''Model #'''
-| style="width: 70px; text-align: center" | '''Brake or Coast?'''
+| style="width: 70px;  text-align: center" | '''Brake or Coast?'''
-| style="width: 110px; text-align: center" | '''Description'''<br/> (brief)
+| 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'''
@@ Line 25: / Line 26: @@
 | style="text-align: center" | Electrica'''l'''
 | <p style="text-align: center">PD Module</p>
-| style="text-align: center; width: 112px" | &nbsp;
+| style="text-align: center;  width: 112px" | &nbsp;
-| style="width: 70px; text-align: center" | &nbsp;
+| style="width: 70px;  text-align: center" | &nbsp;
-| style="width: 110px; text-align: center" | Power Distribution Module feedback
+| 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: 55px" | &nbsp;
@@ Line 35: / Line 36: @@
 | style="text-align: center" | '''RESERVED'''
 | style="text-align: center" | n/a
-| style="text-align: center; width: 112px" | &nbsp;
+| style="text-align: center;  width: 112px" | &nbsp;
-| style="width: 70px; text-align: center" | &nbsp;
+| style="width: 70px;  text-align: center" | &nbsp;
-| style="width: 110px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID
+| 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" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" | don't use
+| style="width: 115px;  text-align: center" | don't use
-| style="width: 55px; text-align: center" | &nbsp;
+| style="width: 55px;  text-align: center" | &nbsp;
 |-
 | style="text-align: center" | 2
 | style="text-align: center" | Intake
 | style="text-align: center" | Spark Max
-| style="text-align: center; width: 112px" | Neo 550
+| style="text-align: center;  width: 112px" | Neo 550
-| style="width: 70px; text-align: center" | Brake
+| 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
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" |
+| style="width: 115px;  text-align: center" |
 A
 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" | Intake
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo 550
+| style="text-align: center;  width: 112px" | Neo 550
-| style="width: 70px; text-align: center" | Brake
+| style="width: 70px;  text-align: center" | Brake
-| style="width: 110px; text-align: center" |
+| style="width: 110px;  text-align: center" |
 Spins "beater bars"
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| 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" | Storage
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo 550
+| style="text-align: center;  width: 112px" | Neo 550
-| style="width: 70px; text-align: center" | Brake
+| style="width: 70px;  text-align: center" | Brake
-| style="width: 110px; text-align: center" | Agitates balls up the corkscrew
+| style="width: 110px;  text-align: center" | Agitates balls up the corkscrew
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" | 30A
+| style="width: 115px;  text-align: center" | 30A
-| style="width: 55px; text-align: center" | 6
+| style="width: 55px;  text-align: center" | 6
 |-
 | style="text-align: center" | 5
 | style="text-align: center" | Storage
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo 550
+| style="text-align: center;  width: 112px" | Neo 550
-| style="width: 70px; text-align: center" | Brake
+| style="width: 70px;  text-align: center" | Brake
-| style="width: 110px; text-align: center" | Feeds balls into shooter
+| style="width: 110px;  text-align: center" | Feeds balls into shooter
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" | 30A
+| style="width: 115px;  text-align: center" | 30A
-| style="width: 55px; text-align: center" | 7
+| style="width: 55px;  text-align: center" | 7
 |-
 | style="text-align: center" | 6
 | style="text-align: center" | Shooter
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo
+| style="text-align: center;  width: 112px" | Neo
-| style="width: 70px; text-align: center" | Coast
+| style="width: 70px;  text-align: center" | Coast
-| style="width: 110px; text-align: center" | Spins left shooting motor
+| style="width: 110px;  text-align: center" | Spins left shooting motor
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" |
+| style="width: 115px;  text-align: center" |
 A
-| style="width: 55px; text-align: center" | 12
++: out
+-: in
+| style="width: 55px;  text-align: center" | 12
 |-
 | style="text-align: center" | 7
 | style="text-align: center" | Shooter
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo
+| style="text-align: center;  width: 112px" | Neo
-| style="width: 70px; text-align: center" | Coast
+| style="width: 70px;  text-align: center" | Coast
-| style="width: 110px; text-align: center" | Spins right shooting motor
+| style="width: 110px;  text-align: center" | Spins right shooting motor
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" |
+| style="width: 115px;  text-align: center" |
 A
@@ Line 116: / Line 121: @@
 might run in follower mode
-| style="width: 55px; text-align: center" | 2
++: in
+-: out
+| style="width: 55px;  text-align: center" | 2
 |-
 | style="text-align: center" | 8
 | style="text-align: center" | Turret
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo 550
+| style="text-align: center;  width: 112px" | Neo 550
-| style="width: 70px; text-align: center" | Brake
+| style="width: 70px;  text-align: center" | Brake
-| style="width: 110px; text-align: center" | Rotates turret
+| style="width: 110px;  text-align: center" | Rotates turret
-| style="width: 224px; text-align: center" |
+| style="width: 224px;  text-align: center" |
 &nbsp;
-| style="width: 115px; text-align: center" | 30A
+| style="width: 115px;  text-align: center" | 30A
-| style="width: 55px; text-align: center" | 8
+| style="width: 55px;  text-align: center" | 8
 |-
 | style="text-align: center" | 9
 | style="text-align: center" | WoF
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo 550
+| style="text-align: center;  width: 112px" | Neo 550
-| style="width: 70px; text-align: center" | Brake
+| style="width: 70px;  text-align: center" | Brake
-| style="width: 110px; text-align: center" | Rotates Wheel of Fortune
+| style="width: 110px;  text-align: center" | Rotates Wheel of Fortune
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" | 20A
+| style="width: 115px;  text-align: center" | 20A
-| style="width: 55px; text-align: center" | 11
+| style="width: 55px;  text-align: center" | 11
 |-
 | style="text-align: center" | 10
 | style="text-align: center" | Hang
 | style="text-align: center" | Spark max
-| style="text-align: center; width: 112px" | Neo&nbsp;
+| style="text-align: center;  width: 112px" | Neo&nbsp;
-| style="width: 70px; text-align: center" | Brake
+| style="width: 70px;  text-align: center" | Brake
-| style="width: 110px; text-align: center" | Winches robot up
+| style="width: 110px;  text-align: center" | Winches robot up
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" |
+| style="width: 115px;  text-align: center" |
 A
 Using integrated encoder
-| style="width: 55px; text-align: center" | 13
+| style="width: 55px;  text-align: center" | 13
 |-
 | style="text-align: center" | 11
 | style="text-align: center" | Shooter
 | style="text-align: center" | Spark Max
-| style="text-align: center; width: 112px" | Neo
+| style="text-align: center;  width: 112px" | Neo
-| style="width: 70px; text-align: center" | &nbsp;?
+| style="width: 70px;  text-align: center" | &nbsp;?
-| style="width: 110px; text-align: center" | Primer wheel
+| style="width: 110px;  text-align: center" | Primer wheel
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" | &nbsp;
+| style="width: 115px;  text-align: center" |
-| style="width: 55px; text-align: center" | &nbsp;
++: in
+-: out
+| style="width: 55px;  text-align: center" | &nbsp;
 |-
 | 12
 | style="text-align: center" | &nbsp;
 | style="text-align: center" | &nbsp;
-| style="text-align: center; width: 112px" | &nbsp;
+| style="text-align: center;  width: 112px" | &nbsp;
-| style="width: 70px; text-align: center" | &nbsp;
+| style="width: 70px;  text-align: center" | &nbsp;
-| style="width: 110px; text-align: center" | &nbsp;
+| style="width: 110px;  text-align: center" | &nbsp;
-| style="width: 224px; text-align: center" | &nbsp;
+| style="width: 224px;  text-align: center" | &nbsp;
-| style="width: 115px; text-align: center" | &nbsp;
+| style="width: 115px;  text-align: center" | &nbsp;
-| style="width: 55px; text-align: center" | &nbsp;
+| style="width: 55px;  text-align: center" | &nbsp;
 |-
 | 13
@@ Line 178: / Line 191: @@
 | style="text-align: center" | &nbsp;
 | style="width: 112px" | &nbsp;
-| style="width: 70px; text-align: center" | &nbsp;
+| style="width: 70px;  text-align: center" | &nbsp;
-| style="width: 110px; text-align: center" | &nbsp;
+| style="width: 110px;  text-align: center" | &nbsp;
 | style="width: 224px" | &nbsp;
-| style="width: 115px; text-align: center" | &nbsp;
+| style="width: 115px;  text-align: center" | &nbsp;
-| style="width: 55px; text-align: center" | &nbsp;
+| style="width: 55px;  text-align: center" | &nbsp;
 |-
 | 14
@@ Line 191: / Line 204: @@
 | style="width: 110px" | &nbsp;
 | style="width: 224px" | &nbsp;
-| style="width: 115px; text-align: center" | &nbsp;
+| style="width: 115px;  text-align: center" | &nbsp;
-| style="width: 55px; text-align: center" | &nbsp;
+| style="width: 55px;  text-align: center" | &nbsp;
 |-
 | 15
@@ Line 201: / Line 214: @@
 | style="width: 110px" | &nbsp;
 | style="width: 224px" | &nbsp;
-| style="width: 115px; text-align: center" | &nbsp;
+| style="width: 115px;  text-align: center" | &nbsp;
-| style="width: 55px; text-align: center" | &nbsp;
+| style="width: 55px;  text-align: center" | &nbsp;
 |}
-</div> </div> <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div> </div> </div> <div class="mw-parser-output">&nbsp;</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">&nbsp;</div> </div> </div> </div> </div> </div></div> <div class="mw-parser-output">&nbsp;</div> </div>
+</div> </div> <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div> </div> </div> <div class="mw-parser-output">&nbsp;</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">&nbsp;</div> </div> </div> </div> </div> </div></div> <div class="mw-parser-output">&nbsp;</div> </div> <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div> </div> </div>
-<div class="mw-parser-output">
-<div class="mw-parser-output">
 == PWM Outputs ==