2026:Robot IO Map: Difference between revisions
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== CAN ID Assignments == | == CAN ID Assignments == | ||
{| style="width: | {| style="width: 944px; height: 2367px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 80px;" | |- style="height: 80px;" | ||
| style="text-align: center; height: 80px; width: | | style="text-align: center; height: 80px; width: 19.55px;" | '''ID''' | ||
| style="text-align: center; height: 80px; width: | | style="text-align: center; height: 80px; width: 96.4875px;" | '''Subsystem''' | ||
| style="height: 80px; width: | | style="height: 80px; width: 97.725px;" | <p style="text-align: center">'''Component'''</p> | ||
<p style="text-align: center">'''Type'''</p> | <p style="text-align: center">'''Type'''</p> | ||
| style="text-align: center; width: | | style="text-align: center; width: 92.9625px; height: 80px;" | '''Model #''' | ||
| style="width: | | style="width: 64.05px; text-align: center; height: 80px;" | '''Brake or Coast?''' | ||
| style="width: | | style="width: 101.188px; text-align: center; height: 80px;" | '''Description'''<br>(brief) | ||
| style="width: | | style="width: 179.75px; text-align: center; height: 80px;" | '''Operation''' | ||
| style="width: | | style="width: 139.275px; text-align: center; height: 80px;" colspan="2" | | ||
'''PD Board Info''' | '''PD Board Info''' | ||
'''(8) max. 40A PDB #''' | '''(8) max. 40A PDB #''' | ||
| style="height: 80px; width: | | style="height: 80px; width: 109.012px;" | '''General Notes''' | ||
|- style="height: 75px;" | |- style="height: 75px;" | ||
| style="text-align: center; height: 75px; width: | | style="text-align: center; height: 75px; width: 19.55px;" | 0 | ||
| style="text-align: center; height: 75px; width: | | style="text-align: center; height: 75px; width: 96.4875px;" | Electrica'''l''' | ||
| style="height: 75px; width: | | style="height: 75px; width: 97.725px;" | <p style="text-align: center">PD Module</p> | ||
| style="text-align: center; width: | | style="text-align: center; width: 92.9625px; height: 75px;" | | ||
| style="width: | | style="width: 64.05px; text-align: center; height: 75px;" | | ||
| style="width: | | style="width: 101.188px; text-align: center; height: 75px;" | Power Distribution Module feedback | ||
| style="width: | | style="width: 179.75px; text-align: center; height: 75px;" | monitor PD | ||
| style="width: | | style="width: 91.325px; height: 75px;" | <p style="text-align: center">must be CAN 0</p> | ||
| style="width: | | style="width: 43.15px; height: 75px;" | | ||
| style="height: 75px; width: | | style="height: 75px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: | |- style="height: 13px;" | ||
| style="text-align: center; height: | | style="text-align: center; height: 13px; width: 19.55px;" | 1 | ||
| style="text-align: center; height: | | style="text-align: center; height: 13px; width: 96.4875px;" | | ||
| style="text-align: center; height: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 13px; width: 97.725px;" | | ||
Motor | |||
| style="text-align: center; width: 92.9625px; height: 13px;" | | |||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 13px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 101.188px; text-align: center; height: 13px;" | | ||
Front Right Encoder | |||
| style="width: 179.75px; text-align: center; height: 13px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 13px;" | | ||
<br> | <br> | ||
|- style="height: | | style="width: 43.15px; text-align: center; height: 13px;" | | ||
| style="text-align: center; height: | | style="height: 13px; width: 109.012px;" | | ||
| style="text-align: center; height: | <br> | ||
| style="text-align: center; height: | |- style="height: 1616px;" | ||
| style="text-align: center; width: | | style="text-align: center; height: 1616px; width: 19.55px;" | 2 | ||
| style="width: | | style="text-align: center; height: 1616px; width: 96.4875px;" | | ||
| style="width: | Drive Base | ||
| style="width: | | style="text-align: center; height: 1616px; width: 97.725px;" | | ||
Motor | |||
| style="text-align: center; width: 92.9625px; height: 1616px;" | | |||
Kraken X60 | |||
| style="width: 64.05px; text-align: center; height: 1616px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 1616px;" | | |||
Front Right Drive | |||
| style="width: 179.75px; text-align: center; height: 1616px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 1616px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 43.15px; text-align: center; height: 1616px;" | | ||
<br> | <br> | ||
| style="height: | | style="height: 1616px; width: 109.012px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 3 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Front Right Steer | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 43.15px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 109.012px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 4 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="text-align: center; width: 92.9625px; height: 28px;" | | |||
Kraken X60 | |||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 101.188px; text-align: center; height: 28px;" | | ||
Back Right Encoder | |||
| style="height: 28px; width: 179.75px;" | | |||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="height: 28px; width: 43.15px; text-align: center;" | | ||
<br> | |||
| style="text-align: center; height: 28px; width: 109.012px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 5 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="text-align: center; height: 28px | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="height: 28px; width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Back Right Drive | |||
| style="height: 28px; width: 179.75px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 43.15px; text-align: center;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 6 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Back Right Steer | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 43.15px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 7 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
Motor | |||
| style="text-align: center; width: 92.9625px; height: 28px;" | | |||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 101.188px; text-align: center; height: 28px;" | | ||
Front Left Encoder | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="width: 43.15px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="height: 28px; width: 109.012px; text-align: center;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 8 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="text-align: center; height: 28px | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="text-align: center; height: 28px; width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Front Left Drive | |||
| style="text-align: center; height: 28px; width: 179.75px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 43.15px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 109.012px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | | ||
9 | 9 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Front Left Steer | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 43.15px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 10 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
Motor | |||
| style="text-align: center; width: 92.9625px; height: 28px;" | | |||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 101.188px; text-align: center; height: 28px;" | | ||
Back Left Encoder | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 43.15px;" | | ||
<br> | |||
| style="text-align: center; height: 28px; width: 109.012px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 11 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Back Left Drive | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 43.15px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 12 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | Motor | ||
| style="width: | | style="text-align: center; width: 92.9625px; height: 28px;" | | ||
| style="width: | Kraken X60 | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
Brake | |||
| style="width: 101.188px; text-align: center; height: 28px;" | | |||
Back Left Steer | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 43.15px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 13 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | Drive Base | ||
| style="text-align: center; height: 28px; width: 97.725px;" | | |||
| style="width: | Pigeon | ||
| style="width: 92.9625px; text-align: center; height: 28px;" | | |||
| style="width: | Pigeon | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 101.188px; text-align: center; height: 28px;" | | ||
IMU | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px | | style="width: 43.15px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 109.012px;" | | |||
<br> | |||
|- style="height: 28px;" | |||
| style="text-align: center; width: 19.55px; height: 28px;" | 14 | |||
| style="text-align: center; width: 96.4875px; height: 28px;" | <br> | |||
| style="text-align: center; width: 97.725px; height: 28px;" | <br> | |||
| style="width: 92.9625px; text-align: center; height: 28px;" | <br> | |||
| style="width: 64.05px; text-align: center; height: 28px;" | <br> | |||
| style="width: 101.188px; text-align: center; height: 28px;" | <br> | |||
| style="width: 179.75px; text-align: center; height: 28px;" | <br> | |||
| style="width: 91.325px; text-align: center; height: 28px;" | <br> | |||
| style="width: 43.15px; text-align: center; height: 28px;" | <br> | |||
| style="text-align: center; width: 109.012px; height: 28px;" | <br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 15 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
<br> | |||
| style=" | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 92.9625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 64.05px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="width: 101.188px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 179.75px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 91.325px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="width: 43.15px; text-align: center; height: 28px;" | | |||
<br> | |||
| style="text-align: center; height: 28px; width: 109.012px;" | | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 16 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
| style="text-align: center; height: 28px; width: | <br> | ||
| style="width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
| style="width: | <br> | ||
| style="width: | | style="width: 92.9625px; text-align: center; height: 28px;" | | ||
| style="width: | <br> | ||
| style="width: 64.05px; text-align: center; height: 28px;" | | |||
<br> | |||
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<br> | <br> | ||
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<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 17 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
<br> | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 92.9625px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 64.05px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 101.188px;" | | ||
<br> | |||
| style="height: 28px; width: 179.75px;" | | |||
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| style="height: 28px; width: 91.325px;" | | |||
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| style="height: 28px; width: 43.15px;" | | |||
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| style="height: 28px; width: 109.012px;" | | |||
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|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 18 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 92.9625px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 64.05px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 101.188px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 179.75px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 43.15px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 19 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 92.9625px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 64.05px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 101.188px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 179.75px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 43.15px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 19.55px;" | 20 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 96.4875px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 97.725px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 92.9625px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 64.05px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 101.188px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 179.75px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 91.325px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 43.15px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 109.012px;" | | ||
<br> | <br> | ||
|- style="height: 51px;" | |- style="height: 51px;" | ||
| style="text-align: center; width: | | style="text-align: center; width: 19.55px; height: 51px;" | 21 | ||
| style="text-align: center; width: | | style="text-align: center; width: 96.4875px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 97.725px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 92.9625px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 64.05px; height: 51px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 101.188px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 179.75px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 91.325px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 43.15px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 109.012px; height: 51px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; width: | | style="text-align: center; width: 19.55px; height: 28px;" | 22 | ||
| style="text-align: center; width: | | style="text-align: center; width: 96.4875px; height: 28px;" | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 97.725px; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 92.9625px; height: 28px;" | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 64.05px; height: 28px;" | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 101.188px; height: 28px;" | <br> | ||
| style="width: | | style="width: 179.75px; height: 28px;" | <br> | ||
| style="width: | | style="width: 91.325px; height: 28px;" | <br> | ||
| style="width: | | style="width: 43.15px; height: 28px;" | <br> | ||
| style="width: | | style="width: 109.012px; height: 28px;" | <br> | ||
|} | |} | ||
| Line 367: | Line 458: | ||
== CAN Physical Chain Layout == | == CAN Physical Chain Layout == | ||
<td colspan="2" "="" >'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br> | <td colspan="2" "="" >'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br> | ||
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 429px;" | {| class="wikitable" style="border-collapse: collapse; width: 100%; height: 429px;" | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span> | | style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span> | ||
| Line 373: | Line 464: | ||
|- style="height: 23px;" | |- style="height: 23px;" | ||
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| style="width: 50%; height: 23px;" | | | style="width: 50%; height: 23px;" | | ||
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| style="width: 50%; height: 23px;" | | | style="width: 50%; height: 23px;" | | ||
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| style="width: 50%; height: 23px;" | | | style="width: 50%; height: 23px;" | | ||
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| style="width: 50%; height: 23px;" | | | style="width: 50%; height: 23px;" | | ||
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|- style="height: 10px;" | <br> | ||
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|} | |} | ||
| Line 438: | Line 563: | ||
| style="height: 28px; width: 177px; text-align: center;" | 0 | | style="height: 28px; width: 177px; text-align: center;" | 0 | ||
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| style="height: 28px; width: 177px; text-align: center;" | 1 | | style="height: 28px; width: 177px; text-align: center;" | 1 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
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| style="height: 28px; width: 177px; text-align: center;" | 2 | | style="height: 28px; width: 177px; text-align: center;" | 2 | ||
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| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
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| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
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|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 3 | | style="height: 28px; width: 177px; text-align: center;" | 3 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
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| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
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| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
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|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 4 | | style="height: 28px; width: 177px; text-align: center;" | 4 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
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| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
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|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 5 | | style="height: 28px; width: 177px; text-align: center;" | 5 | ||
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| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
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| style="height: 28px; width: 177px; text-align: center;" | 6 | | style="height: 28px; width: 177px; text-align: center;" | 6 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
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| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
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| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
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| style="height: 28px; width: 177px; text-align: center;" | 7 | | style="height: 28px; width: 177px; text-align: center;" | 7 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
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| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
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| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
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|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 8 | | style="height: 28px; width: 177px; text-align: center;" | 8 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
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| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
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| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
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|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 9 | | style="height: 28px; width: 177px; text-align: center;" | 9 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
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| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 10 | | style="height: 28px; width: 177px; text-align: center;" | 10 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 11 | | style="height: 28px; width: 177px; text-align: center;" | 11 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 12 | | style="height: 28px; width: 177px; text-align: center;" | 12 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 13 | | style="height: 28px; width: 177px; text-align: center;" | 13 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 14 | | style="height: 28px; width: 177px; text-align: center;" | 14 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 15 | | style="height: 28px; width: 177px; text-align: center;" | 15 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 16 | | style="height: 28px; width: 177px; text-align: center;" | 16 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 17 | | style="height: 28px; width: 177px; text-align: center;" | 17 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 18 | | style="height: 28px; width: 177px; text-align: center;" | 18 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 19 | | style="height: 28px; width: 177px; text-align: center;" | 19 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 20 | | style="height: 28px; width: 177px; text-align: center;" | 20 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 21 | | style="height: 28px; width: 177px; text-align: center;" | 21 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 22 | | style="height: 28px; width: 177px; text-align: center;" | 22 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | |||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
<br> | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable) | | style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable) | ||
| Line 610: | Line 850: | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<br><br></div></div> | <br><br></div></div> | ||
| Line 621: | Line 862: | ||
| style="height: 28px; width: 75.25px;" | 5V/2A | | style="height: 28px; width: 75.25px;" | 5V/2A | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 5V/2A | | style="height: 28px; width: 75.25px;" | 5V/2A | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 5V/500mA | | style="height: 28px; width: 75.25px;" | 5V/500mA | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 5V/500mA | | style="height: 28px; width: 75.25px;" | 5V/500mA | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/2A | | style="height: 28px; width: 75.25px;" | 12V/2A | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/2A | | style="height: 28px; width: 75.25px;" | 12V/2A | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/500mA | | style="height: 28px; width: 75.25px;" | 12V/500mA | ||
| style="height: 28px; width: 120.85px;" | | | style="height: 28px; width: 120.85px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: 75.25px;" | 12V/500mA | | style="height: 28px; width: 75.25px;" | 12V/500mA | ||
| Line 672: | Line 920: | ||
| style="width: 16.0667px; height: 28px;" | 0 | | style="width: 16.0667px; height: 28px;" | 0 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
<br> | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 75.1px; height: 28px;" | | | style="width: 75.1px; height: 28px;" | | ||
<br> | |||
| style="width: 136.167px; text-align: center; height: 28px;" | | | style="width: 136.167px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 120.15px; height: 28px;" | | | style="width: 120.15px; height: 28px;" | | ||
<br> | |||
| style="width: 211.25px; height: 28px;" | | | style="width: 211.25px; height: 28px;" | | ||
<br> | |||
| style="width: 88.1167px; height: 28px;" | | | style="width: 88.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="width: 16.0667px; height: 28px;" | 1 | | style="width: 16.0667px; height: 28px;" | 1 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
<br> | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 75.1px; height: 28px;" | | | style="width: 75.1px; height: 28px;" | | ||
<br> | |||
| style="width: 136.167px; text-align: center; height: 28px;" | | | style="width: 136.167px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 120.15px; height: 28px;" | | | style="width: 120.15px; height: 28px;" | | ||
<br> | |||
| style="width: 211.25px; height: 28px;" | | | style="width: 211.25px; height: 28px;" | | ||
<br> | |||
| style="width: 88.1167px; height: 28px;" | | | style="width: 88.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="width: 16.0667px; height: 28px;" | 2 | | style="width: 16.0667px; height: 28px;" | 2 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
<br> | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 75.1px; height: 28px;" | | | style="width: 75.1px; height: 28px;" | | ||
<br> | |||
| style="width: 136.167px; text-align: center; height: 28px;" | | | style="width: 136.167px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 120.15px; height: 28px;" | | | style="width: 120.15px; height: 28px;" | | ||
<br> | |||
| style="width: 211.25px; height: 28px;" | | | style="width: 211.25px; height: 28px;" | | ||
<br> | |||
| style="width: 88.1167px; height: 28px;" | | | style="width: 88.1167px; height: 28px;" | | ||
<br> | |||
| style="width: 52.0667px; height: 28px;" | | | style="width: 52.0667px; height: 28px;" | | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| Line 853: | Line 1,122: | ||
| style="height: 28px; width: 27.15px;" | 0 | | style="height: 28px; width: 27.15px;" | 0 | ||
| style="height: 28px; width: 139.633px;" | | | style="height: 28px; width: 139.633px;" | | ||
<br> | |||
| style="width: 80.4px; height: 28px;" | | | style="width: 80.4px; height: 28px;" | | ||
<br> | |||
| style="width: 51.25px; height: 28px;" | | | style="width: 51.25px; height: 28px;" | | ||
<br> | |||
| style="width: 166.75px; height: 28px;" | | | style="width: 166.75px; height: 28px;" | | ||
<br> | |||
| style="width: 217.983px; height: 28px;" | | | style="width: 217.983px; height: 28px;" | | ||
<br> | |||
| style="width: 182.833px; height: 28px;" | | | style="width: 182.833px; height: 28px;" | | ||
<br> | <br> | ||
| Line 890: | Line 1,164: | ||
== 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> === | ||
| Line 1,016: | Line 1,292: | ||
</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> === | ||
| Line 1,037: | Line 1,318: | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 0 | | style="text-align: center; height: 28px; width: 41.9844px;" | 0 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 28px;" | | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 28px;" | | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 181.016px; height: 28px; text-align: center;" | | | style="width: 181.016px; height: 28px; text-align: center;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 28px;" | | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 220.016px; height: 28px; text-align: left;" | | | style="width: 220.016px; height: 28px; text-align: left;" | | ||
<br> | |||
|- style="height: 51px;" | |- style="height: 51px;" | ||
| style="text-align: center; height: 51px; width: 41.9844px;" | 1 | | style="text-align: center; height: 51px; width: 41.9844px;" | 1 | ||
| style="text-align: center; height: 51px; width: 153px;" | | | style="text-align: center; height: 51px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 51px;" | | | style="width: 76.9375px; text-align: center; height: 51px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 51px;" | | | style="width: 119.062px; text-align: center; height: 51px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 51px;" | | | style="width: 140.016px; text-align: center; height: 51px;" | | ||
<br> | |||
| style="width: 181.016px; height: 51px; text-align: center;" | | | style="width: 181.016px; height: 51px; text-align: center;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 51px;" | | | style="width: 213.969px; text-align: center; height: 51px;" | | ||
<br> | |||
| style="width: 220.016px; height: 51px; text-align: left;" | | | style="width: 220.016px; height: 51px; text-align: left;" | | ||
<br> | |||
|- style="height: 57px;" | |- style="height: 57px;" | ||
| style="text-align: center; height: 57px; width: 41.9844px;" | 2 | | style="text-align: center; height: 57px; width: 41.9844px;" | 2 | ||
| style="text-align: center; height: 57px; width: 153px;" | | | style="text-align: center; height: 57px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 57px;" | | | style="width: 76.9375px; text-align: center; height: 57px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 57px;" | | | style="width: 119.062px; text-align: center; height: 57px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 57px;" | | | style="width: 140.016px; text-align: center; height: 57px;" | | ||
<br> | |||
| style="width: 181.016px; height: 57px; text-align: center;" | | | style="width: 181.016px; height: 57px; text-align: center;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 57px;" | | | style="width: 213.969px; text-align: center; height: 57px;" | | ||
<br> | |||
| style="width: 220.016px; height: 57px; text-align: left;" | | | style="width: 220.016px; height: 57px; text-align: left;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 3 | | style="text-align: center; height: 28px; width: 41.9844px;" | 3 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 28px;" | | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 28px;" | | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 181.016px; height: 28px; text-align: center;" | | | style="width: 181.016px; height: 28px; text-align: center;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 28px;" | | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,075: | Line 1,382: | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 4 | | style="text-align: center; height: 28px; width: 41.9844px;" | 4 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 28px;" | | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 28px;" | | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 181.016px; text-align: center; height: 28px;" | | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 28px;" | | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,086: | Line 1,398: | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 5 | | style="text-align: center; height: 28px; width: 41.9844px;" | 5 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 28px;" | | | style="width: 119.062px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 28px;" | | | style="width: 140.016px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 181.016px; text-align: center; height: 28px;" | | | style="width: 181.016px; text-align: center; height: 28px;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 28px;" | | | style="width: 213.969px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,097: | Line 1,414: | ||
| style="text-align: center; height: 19px; width: 41.9844px;" | 6 | | style="text-align: center; height: 19px; width: 41.9844px;" | 6 | ||
| style="text-align: center; height: 19px; width: 153px;" | | | style="text-align: center; height: 19px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 19px;" | | | style="width: 76.9375px; text-align: center; height: 19px;" | | ||
<br> | |||
| style="width: 119.062px; text-align: center; height: 19px;" | | | style="width: 119.062px; text-align: center; height: 19px;" | | ||
<br> | |||
| style="width: 140.016px; text-align: center; height: 19px;" | | | style="width: 140.016px; text-align: center; height: 19px;" | | ||
<br> | |||
| style="width: 181.016px; text-align: center; height: 19px;" | | | style="width: 181.016px; text-align: center; height: 19px;" | | ||
<br> | |||
| style="width: 213.969px; text-align: center; height: 19px;" | | | style="width: 213.969px; text-align: center; height: 19px;" | | ||
<br> | <br> | ||
| style="width: 220.016px; text-align: center; height: 19px;" | | | style="width: 220.016px; text-align: center; height: 19px;" | | ||
<br> | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 7 | | style="text-align: center; height: 28px; width: 41.9844px;" | 7 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,121: | Line 1,445: | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 8 | | style="text-align: center; height: 28px; width: 41.9844px;" | 8 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
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| Line 1,135: | Line 1,460: | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 9 | | style="text-align: center; height: 28px; width: 41.9844px;" | 9 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
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| Line 1,149: | Line 1,475: | ||
| style="text-align: center; height: 28px; width: 41.9844px;" | 10 | | style="text-align: center; height: 28px; width: 41.9844px;" | 10 | ||
| style="text-align: center; height: 28px; width: 153px;" | | | style="text-align: center; height: 28px; width: 153px;" | | ||
<br> | |||
| style="width: 76.9375px; text-align: center; height: 28px;" | | | style="width: 76.9375px; text-align: center; height: 28px;" | | ||
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| Line 1,179: | Line 1,506: | ||
| style="width: 16px;" | 0 | | style="width: 16px;" | 0 | ||
| style="width: 56px; text-align: center;" | | | style="width: 56px; text-align: center;" | | ||
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<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 == | ||
Revision as of 12:12, 31 January 2026
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 |
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| 1 |
Drive Base |
Motor |
Kraken X60 |
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Front Right Encoder |
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| 2 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Drive |
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| 3 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Steer |
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| 4 |
Drive Base |
Motor |
Kraken X60 |
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Back Right Encoder |
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| 5 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Drive |
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| 6 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Steer |
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| 7 |
Drive Base |
Motor |
Kraken X60 |
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Front Left Encoder |
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| 8 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Drive |
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9 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Steer |
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| 10 |
Drive Base |
Motor |
Kraken X60 |
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Back Left Encoder |
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| 11 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Drive |
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| 12 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Steer |
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| 13 |
Drive Base |
Pigeon |
Pigeon |
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IMU |
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| 14 | |||||||||
| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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CAN Physical Chain Layout
<td colspan="2" "="" >NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1
| Current Device | Next Device |
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PDB Assignments
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
|---|---|---|---|---|---|
| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 (Switchable) |
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VRM Assignments
| Port # | Device (Subteam) |
|---|---|
| 5V/2A |
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| 5V/2A |
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| 5V/500mA |
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| 5V/500mA |
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| 12V/2A |
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| 12V/2A |
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| 12V/500mA |
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| 12V/500mA |
|
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 | ||||||||
| 11 | ||||||||
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 |
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| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 |
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| 1 |
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| 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 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 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 |
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SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
Pneumatics Control Modules
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 2 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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