2020:Robot IO Map

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	Coast	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	9
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	Feeds into the shooter	+: in -: out	8
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	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

 

 

 

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	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

 

 

 

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

Disable Xbox Controller

DisableXbox.docx

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 (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	Preheat Shooter	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

 

 

 

 

Dashboard

Key	Data Type	Value	Description
thunderdashboard_wheel	number	0 - do NOT know 1 - Red 2 - Green 3 - Blue 4 - Yellow	The color the robot's sensor is seeing
thunderdashboard_wheel_end	number	see thunderdashboard_wheel	The color FMS is asking for in the final stage
thunderdashboard_shooter_speed	number	0 - 100	the speed the shooter is running at: 0 is min and 100 is max
thunderdashboard_shooter_pos	number	0 - 360	the position of the turret, in degrees from home position: 0 is home
thunderdashboard_shooter_hood	number	0 - 100	the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_pos	number	0 - 100	the position of the arm, for hang: 0 is full retracted, 100 is full extended
thunderdashboard_hang_lock	number	0 - hang ratched is not locked 1 - hang ratched is locked	indicates whether the ratchet, for hang, is engaged or not
thunderdashboard_intake_pos	number	0 - intake is down (deployed) 1 - intake is up (retracted)	indicates whether the intake is up or not
thunderdashboard_ballcount	number	-1 - do not know 0 - 5	Number of balls (game pieces) the robot thinks it has
thunderdashboard_gyro	number	0 - dashboard background not based on this 1 - dashboard background goes red	used when: gyro is calibrating
thunderdashboard_yellow	number	0 - dashboard background not based on this 1 - dashboard background goes yellow	used when: TBD NOTE: thunderdashboard_gyro takes precedence
thunderdashboard_green	number	0 - dashboard background not based on this 1 - dashboard background goes green	used when: TBD NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_inpitmode	number	0 = dashboard background not based on this 1 = dashboard background is power blue	used when: robot is operating in 'pit mode' (for safer operatin in the pits) NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_max	number	0 = show normal 1 = fills screen	whether to fill the laptop screen with the dashboard or not
thunderdashboard_starting_count	number	0-5	editable, set initial count of power cells in robot before auto

IO Maps for Old Robots

• 2019 IO Map
• 2018 IO Map
• 2017 IO Map
• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots