2025:Robot IO Map: Difference between revisions
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<div class="mw-parser-output"> | |||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
{| class="wikitable" style="height: 252px;" | {| class="wikitable" style="height: 252px;" | ||
|+ VRM Assignments | |+ VRM Assignments | ||
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== Analog IO == | == Analog IO == | ||
<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"> | ||
=== <u>RoboRIO Analog Inputs</u> === | === <u>RoboRIO Analog Inputs</u> === | ||
{| style="width: 1030px; height: 169px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1030px; height: 169px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="height: 57px; width: 14.4px;" | ID | | style="height: 57px; width: 14.4px;" | ID | ||
| style="text-align: center; height: 57px; width: 73.65px;" | Subsystem | | style="text-align: center; height: 57px; width: 73.65px;" | Subsystem | ||
| style="width: 89.65px; height: 57px;" | <p style="text-align: center">Component</p> | | style="width: 89.65px; height: 57px;" | <p style="text-align: center;" >Component</p> | ||
<p style="text-align: center">Type</p> | <p style="text-align: center;" >Type</p> | ||
| style="width: 108.05px; text-align: center; height: 57px;" | Model # | | style="width: 108.05px; text-align: center; height: 57px;" | Model # | ||
| style="width: 200.913px; text-align: center; height: 57px;" | Description<br>(brief) | | style="width: 200.913px; text-align: center; height: 57px;" | Description<br>(brief) | ||
| Line 1,032: | Line 1,034: | ||
| style="width: 82.05px; text-align: center; height: 57px;" | Notes | | style="width: 82.05px; text-align: center; height: 57px;" | Notes | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 14.4px;" | 0 | | style="height: 28px; width: 14.4px;" | 0 | ||
| style="height: 28px; width: 73.65px;" | | | style="height: 28px; width: 73.65px;" | | ||
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| style="width: 82.05px; text-align: center; height: 28px;" | | | style="width: 82.05px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 14.4px;" | 1 | | style="text-align: center; height: 28px; width: 14.4px;" | 1 | ||
| style="text-align: center; height: 28px; width: 73.65px;" | | | style="text-align: center; height: 28px; width: 73.65px;" | | ||
| Line 1,062: | Line 1,064: | ||
| style="width: 193.55px; text-align: center; height: 28px;" | | | style="width: 193.55px; text-align: center; height: 28px;" | | ||
| style="height: 28px; width: 82.05px;" | | | style="height: 28px; width: 82.05px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 14.4px;" | 2 | | style="text-align: center; height: 28px; width: 14.4px;" | 2 | ||
| style="text-align: center; height: 28px; width: 73.65px;" | | | style="text-align: center; height: 28px; width: 73.65px;" | | ||
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| style="width: 193.55px; text-align: center; height: 28px;" | | | style="width: 193.55px; text-align: center; height: 28px;" | | ||
| style="height: 28px; width: 82.05px;" | | | style="height: 28px; width: 82.05px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 14.4px;" | 3 | | style="text-align: center; height: 28px; width: 14.4px;" | 3 | ||
| style="text-align: center; height: 28px; width: 73.65px;" | | | style="text-align: center; height: 28px; width: 73.65px;" | | ||
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=== <u>More Board Analog Inputs</u> === | === <u>More Board Analog Inputs</u> === | ||
{| style="width: 1030px" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1030px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| ID | | ID | ||
| style="text-align: center" | Subsystem | | style="text-align: center;" | Subsystem | ||
| style="width: 70px" | <p style="text-align: center">Component</p> | | style="width: 70px;" | <p style="text-align: center;" >Component</p> | ||
<p style="text-align: center">Type</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 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"> | ||
== 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"><div class="mw-parser-output"><div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== <u>RoboRio IO</u> === | === <u>RoboRio IO</u> === | ||
{| style="width: 1187px; height: 408px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1187px; height: 408px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="text-align: center; height: 57px; width: | | style="text-align: center; height: 57px; width: 41.9844px;" | '''ID''' | ||
| style="text-align: center; height: 57px; width: | | style="text-align: center; height: 57px; width: 153px;" | '''Direction'''<br>(IN/OUT) | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 57px;" | '''Subsystem''' | ||
| style="width: 119. | | style="width: 119.062px; height: 57px;" | <p style="text-align: center;" >'''Component'''</p> | ||
<p style="text-align: center;">'''Type'''</p> | <p style="text-align: center;" >'''Type'''</p> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 57px;" | '''Model #''' | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 57px;" | '''Description<br>(brief)''' | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 57px;" | '''Operation''' | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 57px;" | '''Notes''' | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 0 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
Gamepiece | Gamepiece | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
Sensor | Sensor | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
OPB720B-06Z | OPB720B-06Z | ||
| style="width: 181. | | style="width: 181.016px; height: 28px; text-align: center;" | | ||
Algae Sensor | Algae Sensor | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
Detects when Algae is present in the Calgae Intake. | |||
| style="width: 220. | | style="width: 220.016px; height: 28px; text-align: left;" | | ||
Sensor should also detect slip and make sure the motors maintain grip on the Algae. | |||
|- style="height: 51px;" | |- style="height: 51px;" | ||
| style="text-align: center; height: 51px; width: | | style="text-align: center; height: 51px; width: 41.9844px;" | 1 | ||
| style="text-align: center; height: 51px; width: | | style="text-align: center; height: 51px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 51px;" | | ||
Gamepiece | Gamepiece | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 51px;" | | ||
Sensor | Sensor | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 51px;" | | ||
OMRON | OMRON | ||
| style="width: 181. | | style="width: 181.016px; height: 51px; text-align: center;" | | ||
Coral Sensor | Coral Sensor | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 51px;" | | ||
Detects when Coral is present in the Calgae Intake. Then stops the intake motors. | |||
| style="width: 220.016px; height: 51px; text-align: left;" | | |||
<br> | <br> | ||
|- style="height: 57px;" | |||
| style="text-align: center; height: 57px; width: 41.9844px;" | 2 | |||
|- style="height: 57px;" | | style="text-align: center; height: 57px; width: 153px;" | IN | ||
| style="text-align: center; height: 57px; width: | | style="width: 76.9375px; text-align: center; height: 57px;" | | ||
| style="text-align: center; height: 57px; width: | |||
| style="width: 76. | |||
Elevator | Elevator | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 57px;" | | ||
Sensor | Sensor | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 57px;" | | ||
REV Robotics Magnetic Limit Switch<br>(REV 31-1462) | REV Robotics Magnetic Limit Switch<br>(REV 31-1462) | ||
| style="width: 181. | | style="width: 181.016px; height: 57px; text-align: center;" | | ||
Elevator Top Limit | Elevator Top Limit | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 57px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; height: 57px; text-align: left;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 3 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
Elevator | Elevator | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
Sensor | Sensor | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
REV Robotics Magnetic Limit Switch<br>(REV 31-1462) | REV Robotics Magnetic Limit Switch<br>(REV 31-1462) | ||
| style="width: 181. | | style="width: 181.016px; height: 28px; text-align: center;" | | ||
Elevator Bottom Limit | Elevator Bottom Limit | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; height: 28px; text-align: left;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 4 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
Gamepiece | Gamepiece | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
Encoder | Encoder | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
[https://www.revrobotics.com/rev-11-1271/ REV 11-1271] | [https://www.revrobotics.com/rev-11-1271/ REV 11-1271] | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
Used in absolute position mode to indicate wrist pivot angle. | Used in absolute position mode to indicate wrist pivot angle. | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 5 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | | ||
IN | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
|- style="height: 19px;" | |- style="height: 19px;" | ||
| style="text-align: center; height: 19px; width: | | style="text-align: center; height: 19px; width: 41.9844px;" | 6 | ||
| style="text-align: center; height: 19px; width: | | style="text-align: center; height: 19px; width: 153px;" | | ||
IN | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 7 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 8 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 9 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 41.9844px;" | 10 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 153px;" | IN | ||
| style="width: 76. | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 119. | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 140. | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 181. | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: 220. | | style="width: 220.016px; text-align: center; height: 28px;" | | ||
|} | |} | ||
<div class="mw-parser-output"> </div> | <div class="mw-parser-output"> </div> | ||
| Line 1,327: | Line 1,334: | ||
=== <u>Rev Robotics More Board IO</u> === | === <u>Rev Robotics More Board IO</u> === | ||
{| style="width: 1022px;" border="1" cellspacing="1" cellpadding="1" | {| style="width: 1022px;" border="1" cellspacing="1" cellpadding="1" | ||
|- | |- | ||
| style="width: 16px; text-align: center;" | '''ID''' | | style="width: 16px; text-align: center;" | '''ID''' | ||
| Line 1,484: | Line 1,491: | ||
</div> | </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> | <div class="mw-parser-output"><div class="mw-parser-output"> </div></div></div></div></div></div></div></div></div></div></div></div></div></div> | ||
== == | |||
== Junction Box For Gamepiece Communication (Base & Carriage)<br> == | |||
{| class="wikitable" style="border-collapse: collapse; width: 56.7121%; height: 253px;" | |||
|- style="height: 69px;" | |||
| style="width: 9.97904%; text-align: center; height: 69px;" | '''# '''<br>'''(left to right)''' | |||
| style="width: 5.7099%; text-align: center; height: 69px;" | '''Subsystem''' | |||
| style="width: 12.2351%; text-align: center; height: 69px;" | '''Component''' | |||
| style="width: 9.38868%; text-align: center; height: 69px;" | '''Model'''<br> | |||
| style="width: 16.4608%; text-align: center; height: 69px;" | '''Description (brief)''' | |||
| style="width: 32.0989%; text-align: center; height: 69px;" | '''Operation''' | |||
| style="width: 58.0897%; text-align: center; height: 69px;" | '''Notes''' | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 1 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | Gamepiece | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | Spark Max | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | Calgae Motor Controller | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Intake | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers. | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 2 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | Gamepiece | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | Spark Max | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | Wrist Motor Controller | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Wrist | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 3 | |||
| style="width: 5.7099%; text-align: center; height: 28px;" | | |||
Gamepiece | |||
| style="width: 12.2351%; text-align: center; height: 28px;" | | |||
Encoder | |||
| style="width: 9.38868%; text-align: center; height: 28px;" | | |||
[https://www.revrobotics.com/rev-11-1271/ REV 11-1271] | |||
| style="width: 16.4608%; text-align: center; height: 28px;" | | |||
Bore Encoder | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | Used in absolute position mode to indicate wrist pivot angle. | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 4 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | Gamepiece | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | Sensor | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | OMRON | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | Coral Sensor | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | Detects when Coral is present in the Calgae Intake. Then stops the intake motors. | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 5 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | Gamepiece | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | Sensor | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | OPB720B-06Z | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | Algae Sensor | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | Detects when Algae is present in the Calgae Intake. | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | Sensor should also detect slip and make sure the motors maintain grip on the Algae. | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 6 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 7 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | |||
|- style="height: 23px;" | |||
| style="width: 9.97904%; text-align: center; height: 23px;" | 8 | |||
| style="width: 5.7099%; text-align: center; height: 23px;" | | |||
| style="width: 12.2351%; text-align: center; height: 23px;" | | |||
| style="width: 9.38868%; text-align: center; height: 23px;" | | |||
| style="width: 16.4608%; text-align: center; height: 23px;" | | |||
| style="width: 32.0989%; text-align: center; height: 23px;" | | |||
| style="width: 58.0897%; text-align: center; height: 23px;" | | |||
|} | |||
== I2C Registers == | == I2C Registers == | ||
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| 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> | | style="width: 75px;" | <p style="text-align: center;" >'''Component'''</p> | ||
<p style="text-align: center;">'''Type'''</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)''' | ||
| Line 1,571: | Line 1,661: | ||
== SPI Devices == | == SPI Devices == | ||
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| 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)''' | ||
| Line 1,597: | Line 1,687: | ||
== USB Host Ports == | == USB Host Ports == | ||
{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | {| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| 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)''' | ||
| Line 1,630: | Line 1,720: | ||
<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"> | ||
== Pneumatics Control Modules == | == Pneumatics Control Modules == | ||
{| class="wikitable" style="width: 931px;" border="1" cellspacing="1" cellpadding="2" | {| class="wikitable" style="width: 931px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="width: 8px;" | | | style="width: 8px;" | | ||
| Line 1,641: | Line 1,732: | ||
| style="width: 1px;" | '''#''' | | style="width: 1px;" | '''#''' | ||
| style="text-align: center;" | '''Subsystem''' | | style="text-align: center;" | '''Subsystem''' | ||
| style="width: 75px;" | <p style="text-align: center;">'''Solenoid is Double or Single?'''</p> | | style="width: 75px;" | <p style="text-align: center;" >'''Solenoid is Double or Single?'''</p> | ||
| style="width: 64px;" | <p style="text-align: center;">'''Solenoid'''</p> | | style="width: 64px;" | <p style="text-align: center;" >'''Solenoid'''</p> | ||
<p style="text-align: center;">'''Model #'''</p> | <p style="text-align: center;" >'''Model #'''</p> | ||
| style="width: 183px;" | <p style="text-align: center;">'''Description'''</p> | | style="width: 183px;" | <p style="text-align: center;" >'''Description'''</p> | ||
<p style="text-align: center;">'''(brief)'''</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''' | ||
| Line 1,800: | Line 1,891: | ||
= 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"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== Controller 1 - Primary Driver === | === Controller 1 - Primary Driver === | ||
{| style="width: 908px" border="1" cellspacing="1" cellpadding="2" | {| style="width: 908px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="width: 92px" | ''' Button/Axis #''' | | style="width: 92px;" | ''' Button/Axis #''' | ||
| style="width: 414px" | '''Action/Button''' | | style="width: 414px;" | '''Action/Button''' | ||
| '''Description''' | | '''Description''' | ||
| '''Details''' | | '''Details''' | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | A-1 | ||
| style="width: 414px" | Left Joystick Y | | style="width: 414px;" | Left Joystick Y | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | A-1 | ||
| style="width: 414px" | Left Joystick X | | style="width: 414px;" | Left Joystick X | ||
| | | | ||
<br> | <br> | ||
| Line 1,834: | Line 1,922: | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | A-4 | ||
| style="width: 414px" | Right Joystick Y | | style="width: 414px;" | Right Joystick Y | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | A-4 | ||
| style="width: 414px" | Right Joystick X | | style="width: 414px;" | Right Joystick X | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-6 | ||
| style="width: 414px" | Right Bumper | | style="width: 414px;" | Right Bumper | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-5 | ||
| style="width: 414px" | Left Bumper | | style="width: 414px;" | Left Bumper | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | A-3 | ||
| style="width: 414px" | Right Trigger | | style="width: 414px;" | Right Trigger | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | A-2 | ||
| style="width: 414px" | Left Trigger | | style="width: 414px;" | Left Trigger | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-1 | ||
| style="width: 414px" | Square / A Button | | style="width: 414px;" | Square / A Button | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-3 | ||
| style="width: 414px" | Cross / X Button | | style="width: 414px;" | Cross / X Button | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-4 | ||
| style="width: 414px" | Triangle / Y Button | | style="width: 414px;" | Triangle / Y Button | ||
| | | | ||
<br> | <br> | ||
| | | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-2 | ||
| style="width: 414px" | Circle / B Button | | style="width: 414px;" | Circle / B Button | ||
| | | | ||
| | | | ||
| Line 1,896: | Line 1,984: | ||
<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></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 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></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 class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== Controller 2 - Aux Driver === | === Controller 2 - Aux Driver === | ||
{| style="width: 908px" border="1" cellspacing="1" cellpadding="2" | {| style="width: 908px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="text-align: center; | | 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; | | style="text-align: center; width: 91px;" | A-0 | ||
| style="width: 286px" | Left Joystick X-Axis | | style="width: 286px;" | Left Joystick X-Axis | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
|- | |- | ||
| style="text-align: center; | | style="text-align: center; width: 91px;" | A-1 | ||
| style="width: 286px" | Left Joystick Y-Axis | | style="width: 286px;" | Left Joystick Y-Axis | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | A-2 | ||
| style="width: 286px" | Left Trigger | | style="width: 286px;" | Left Trigger | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | A-3 | ||
| style="width: 286px" | Right Trigger | | style="width: 286px;" | Right Trigger | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | A-4 | ||
| style="width: 286px" | Right Joystick X-Axis | | style="width: 286px;" | Right Joystick X-Axis | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
| | ||
| Line 1,944: | Line 2,030: | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | A-5 | ||
| style="width: 286px" | Right Joystick Y-Axis | | style="width: 286px;" | Right Joystick Y-Axis | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-1 | ||
| style="width: 286px" | Square / A Button | | style="width: 286px;" | Square / A Button | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-2 | ||
| style="width: 286px" | Circle / B button | | style="width: 286px;" | Circle / B button | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-3 | ||
| style="width: 286px" | Cross / X Button | | style="width: 286px;" | Cross / X Button | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-4 | ||
| style="width: 286px" | Triangle / Y button | | style="width: 286px;" | Triangle / Y button | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-5 | ||
| style="width: 286px" | Left bumper | | style="width: 286px;" | Left bumper | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-6 | ||
| style="width: 286px" | Right bumper | | style="width: 286px;" | Right bumper | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-7 | ||
| style="width: 286px" | Back Button | | style="width: 286px;" | Back Button | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-8 | ||
| style="width: 286px" | Start Button | | style="width: 286px;" | Start Button | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-9 | ||
| style="width: 286px" | Left Stick Pressed | | style="width: 286px;" | Left Stick Pressed | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | B-10 | ||
| style="width: 286px" | Right Stick Pressed | | style="width: 286px;" | Right Stick Pressed | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
|- | |- | ||
| style="width: 91px; | | style="width: 91px; text-align: center;" | POV-0 | ||
| style="width: 286px" | D-pad up | | style="width: 286px;" | D-pad up | ||
| style="width: 361px" | | | style="width: 361px;" | | ||
<br> | <br> | ||
| style="width: 141px" | | | style="width: 141px;" | | ||
<br> | <br> | ||
|- | |- | ||
| Line 2,047: | Line 2,133: | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
=== Controller 3 - Switches on console === | === Controller 3 - Switches on console === | ||
{| style="width: 907px" border="1" cellspacing="1" cellpadding="1" | {| style="width: 907px;" border="1" cellspacing="1" cellpadding="1" | ||
|- | |- | ||
| style="width: 92px" | ''' Button/Axis #''' | | style="width: 92px;" | ''' Button/Axis #''' | ||
| style="width: 112px" | ''' Action/Button''' | | style="width: 112px;" | ''' Action/Button''' | ||
| style="width: 521px" | '''Description''' | | style="width: 521px;" | '''Description''' | ||
| style="width: 158px" | '''Details''' | | style="width: 158px;" | '''Details''' | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-1 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-2 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-3 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-4 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-5 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-6 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-7 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-8 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|- | |- | ||
| style="width: 92px; | | style="width: 92px; text-align: center;" | B-9 | ||
| style="width: 112px" | | | style="width: 112px;" | | ||
<br> | <br> | ||
| style="width: 521px" | | | style="width: 521px;" | | ||
<br> | <br> | ||
| style="width: 158px" | | | style="width: 158px;" | | ||
|} | |} | ||
</div></div> | </div></div> | ||
| Line 2,124: | Line 2,209: | ||
=== Dashboard === | === Dashboard === | ||
{| style="width: 0px" border="1" cellspacing="1" cellpadding="2" | {| style="width: 0px;" border="1" cellspacing="1" cellpadding="2" | ||
|- | |- | ||
| style="width: 26px;" | '''Key''' | | style="width: 26px;" | '''Key''' | ||
Revision as of 18:04, 1 February 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 |
|
||||||||
| 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) |
|
|
|
|
| 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 |
Gamepiece |
Motor |
Neo 550 |
Calgae Motors Right |
|
|
|
|
| 1 |
Gamepiece |
Motor |
Neo 550 |
Calgae Motors Left |
|
|||
| 2 |
Gamepiece |
Motor |
Neo |
Calgae Wrist |
||||
| 3 |
|
|
|
|
||||
| 4 |
|
|
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|
|
|
|
|
| 5 |
|
|
|
|||||
| 6 |
|
|
|
|
|
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|
| 7 |
|
|
|
|
|
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| |
| 8 |
|
|
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|
| 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 |
Gamepiece |
Sensor |
OPB720B-06Z |
Algae Sensor |
Detects when Algae is present in the Calgae Intake. |
Sensor should also detect slip and make sure the motors maintain grip on the Algae. |
| 1 | IN |
Gamepiece |
Sensor |
OMRON |
Coral Sensor |
Detects when Coral is present in the Calgae Intake. Then stops the intake motors. |
|
| 2 | IN |
Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Elevator Top Limit |
|
|
| 3 | IN |
Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Elevator Bottom Limit |
|
|
| 4 | IN |
Gamepiece |
Encoder |
Used in absolute position mode to indicate wrist pivot angle. |
|
| |
| 5 |
IN |
|
|
|
|
|
|
| 6 |
IN |
|
|
|
|
|
|
| 7 | IN |
|
|
|
|
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|
| 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 |
Junction Box For Gamepiece Communication (Base & Carriage)
| # (left to right) |
Subsystem | Component | Model |
Description (brief) | Operation | Notes |
| 1 | Gamepiece | Spark Max | Calgae Motor Controller | Controls Intake | After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers. | |
| 2 | Gamepiece | Spark Max | Wrist Motor Controller | Controls Wrist | ||
| 3 |
Gamepiece |
Encoder |
Bore Encoder |
Used in absolute position mode to indicate wrist pivot angle. | ||
| 4 | Gamepiece | Sensor | OMRON | Coral Sensor | Detects when Coral is present in the Calgae Intake. Then stops the intake motors. | |
| 5 | Gamepiece | Sensor | OPB720B-06Z | Algae Sensor | Detects when Algae is present in the Calgae Intake. | Sensor should also detect slip and make sure the motors maintain grip on the Algae. |
| 6 | ||||||
| 7 | ||||||
| 8 |
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 |
|
|
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|
|
| ||
| 3 |
|
| ||||||
| 4 |
|
|
|
|
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| ||
| 5 |
|
| ||||||
| 6 |
|
|
|
|
|
| ||
| 7 |
|
| ||||||
| 2 | 0 |
|
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|
| 1 |
|
| ||||||
| 2 |
|
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| ||
| 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 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
