2025:Robot IO Map: Difference between revisions

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== CAN ID Assignments ==
== CAN ID Assignments ==


{| style="width: 996px; height: 778px;" border="1" cellspacing="1" cellpadding="2"
{| style="width: 996px; height: 750px;" border="1" cellspacing="1" cellpadding="2"
|- style="height: 80px;"
|- style="height: 80px;"
| style="text-align: center; height: 80px; width: 20.075px;" | '''ID'''
| style="text-align: center; height: 80px; width: 20.075px;" | '''ID'''
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| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left
| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left
| style="width: 194.637px; text-align: center; height: 12px;" |
| style="width: 194.637px; text-align: center; height: 12px;" |
<br>
| style="width: 99.325px; text-align: center; height: 12px;" |
| style="width: 99.325px; text-align: center; height: 12px;" |
<br>
| style="width: 47.1625px; text-align: center; height: 12px;" | &nbsp;
| style="width: 47.1625px; text-align: center; height: 12px;" | &nbsp;
| style="height: 12px; width: 116.438px;" |
| style="height: 12px; width: 116.438px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 20.075px;" | 2
| style="text-align: center; height: 28px; width: 20.075px;" | 2
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| style="text-align: center; height: 28px; width: 20.075px;" | 15
| style="text-align: center; height: 28px; width: 20.075px;" | 15
| style="text-align: center; height: 28px; width: 99.325px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Elevator
| style="text-align: center; height: 28px; width: 100.338px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="width: 99.325px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
Neo
| style="width: 66.225px; text-align: center; height: 28px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
Brake
| style="width: 104.35px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
<br>
Elevator Motor Right
| style="width: 194.637px; text-align: center; height: 28px;" |
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
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| style="text-align: center; height: 28px; width: 20.075px;" | 16
| style="text-align: center; height: 28px; width: 20.075px;" | 16
| style="text-align: center; height: 28px; width: 99.325px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
Elevator
| style="text-align: center; height: 28px; width: 100.338px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
Motor
| style="width: 99.325px; text-align: center; height: 28px;" |
| style="width: 99.325px; text-align: center; height: 28px;" |
<br>
Neo
| style="width: 66.225px; text-align: center; height: 28px;" |
| style="width: 66.225px; text-align: center; height: 28px;" |
<br>
Brake
| style="width: 104.35px; text-align: center; height: 28px;" |
| style="width: 104.35px; text-align: center; height: 28px;" |
<br>
Elevator Motor Left
| style="width: 194.637px; text-align: center; height: 28px;" |
| style="width: 194.637px; text-align: center; height: 28px;" |
<br>
<br>
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| style="text-align: center; height: 28px; width: 20.075px;" | 17
| style="text-align: center; height: 28px; width: 20.075px;" | 17
| style="text-align: center; height: 28px; width: 99.325px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
| style="text-align: center; height: 28px; width: 100.338px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
<br>
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| style="text-align: center; height: 28px; width: 20.075px;" | 18
| style="text-align: center; height: 28px; width: 20.075px;" | 18
| style="text-align: center; height: 28px; width: 99.325px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
| style="text-align: center; height: 28px; width: 100.338px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
<br>
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| style="text-align: center; height: 28px; width: 20.075px;" | 19
| style="text-align: center; height: 28px; width: 20.075px;" | 19
| style="text-align: center; height: 28px; width: 99.325px;" |
| style="text-align: center; height: 28px; width: 99.325px;" |
<br>
| style="text-align: center; height: 28px; width: 100.338px;" |
| style="text-align: center; height: 28px; width: 100.338px;" |
<br>
<br>

Revision as of 13:36, 19 January 2025

CAN ID Assignments

ID Subsystem

Component

Type

 Model # Brake or Coast? Description
(brief) 		Operation

PD Board Info

(8) max. 40A         PDB #

General Notes
0 Electrical

PD Module

     Power Distribution Module feedback monitor PD

must be CAN 0

  


1 Drive Motor Kraken X60  Brake Drive Motor Front Left



 


2

Drive

Motor

Kraken X60  Brake

Rotation Motor Front Left





3

Drive

Cancoder



Cancoder Front Left 





4

Drive

Motor

Kraken X60  Brake

Drive Motor Front Right





5

Drive

Motor

Kraken X60  Brake

Rotation Motor Front Right





6

Drive

Cancoder



Cancoder Front Right





7

Drive

Motor

Kraken X60 Brake

Drive Motor

Back Right





8

Drive

Motor

Kraken X60  Brake

Rotation Motor Back Right





9

Drive

Cancoder



Cancoder Back Right





10

Drive

Motor

Kraken X60  Brake

Drive Motor

Back Left





11

Drive

Motor

Kraken X60  Brake

Rotation Motor Back Left





12

Drive

Cancoder



Cancoder Back Left





14

Drive

Pigeon

Pigeon


IMU (centered)





15

Elevator

Motor

Neo

Brake

Elevator Motor Right





16

Elevator

Motor

Neo

Brake

Elevator Motor Left





17










18










19










20

Cage

Motor

Neo

?

Hang Arm Right





21

Cage

Motor

Neo

?

Hang Arm Left





22









 

PDB Assignments
Port # Device (Subteam) Breaker Value Max Channel Current Motor Type Note
0

Front Right Drive (Drivebase)

40A


Kraken 60

Port is subject to change

1

Front Right Rotation (Drivebase)

40A


Kraken 60

Port is subject to change

2

Front Left Drive (Drivebase)

40A


Kraken 60

Port is subject to change

3

Front Left Rotation (Drivebase)

40A


Kraken 60

Port is subject to change

4

Rear Right Drive (Drivebase)

40A


Kraken 60

Port is subject to change

5

Rear Right Rotation (Drivebase)

40A


Kraken 60

Port is subject to change

6

Rear Left Drive (Drivebase)

40A


Kraken 60

Port is subject to change

7

Rear Left Rotation (Drivebase)

40A


Kraken 60

Port is subject to change

8

Cage Lift 1 (Cage)

40A


Neo?

Port is subject to change

9

Cage Lift 2 (Cage)

40A


Neo?

Port is subject to change

10

Elevator Drive 1 (Gamepiece)

40A?



Port is subject to change

11

Elevator Drive 2 (Gamepiece)?

40A?



Port is subject to change.  Not sure if we need multiple motors for elevator.

12

Wrist (Gamepiece)

30A?



Port is subject to change

13

Intake (Gamepiece)

30A?



Port is subject to change

14






15






16






17






18






19






20

Radio (RCS)

15A



Fused Port

21

RoboRio (RCS)

15A



Fused Port

22






23 (Switchable)






VRM Assignments
Port # Device (Subteam)
5V/2A


5V/2A


5V/500mA


5V/500mA


12V/2A


12V/2A


12V/500mA


12V/500mA


PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0








 
1





 


   
2





       
3





       
4









5



 


       
6









7





 




8









9





 




10                
11                
 
 

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






 
10 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
0






 

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


 


Left Joystick Press



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 Square / A Button


 
B-3 Cross / X Button


 
B-4 Triangle / Y Button


 
B-2 Circle / B Button    
 

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-0 Left Joystick X-Axis    
A-1 Left Joystick Y-Axis



A-2 Left Trigger



A-3 Right Trigger



A-4 Right Joystick X-Axis


 

 

A-5 Right Joystick Y-Axis


 
B-1 Square / A Button



B-2 Circle / B button



B-3 Cross / X Button



B-4 Triangle / Y button



B-5 Left bumper



B-6 Right bumper



B-7 Back Button


 
B-8 Start Button



B-9 Left Stick Pressed


 
B-10 Right Stick Pressed


 
POV-0 D-pad up



POV-90 D-pad right



POV-180 D-pad down



POV-270 D-pad left



Controller 3 - Switches on console

 Button/Axis #  Action/Button  Description Details
B-1



 
B-2



 
B-3



 
B-4



 
B-5



 
B-6



 
B-7



 
B-8



 
B-9



 

Dashboard

Key Data Type Value Description

IO Maps for Old Robots

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