2026:Robot IO Map: Difference between revisions

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Line 35: Line 35:
Motor
Motor
| style="text-align: center; width: 85px; height: 17px;" |
| style="text-align: center; width: 85px; height: 17px;" |
Kraken X60
Cancoder
| style="width: 59px; text-align: center; height: 17px;" |
| style="width: 59px; text-align: center; height: 17px;" |
<br>
<br>
Line 94: Line 94:
Motor
Motor
| style="text-align: center; width: 85px; height: 28px;" |
| style="text-align: center; width: 85px; height: 28px;" |
Kraken X60
Cancoder
| style="width: 59px; text-align: center; height: 28px;" |
| style="width: 59px; text-align: center; height: 28px;" |
<br>
<br>
Line 154: Line 154:
Motor
Motor
| style="text-align: center; width: 85px; height: 28px;" |
| style="text-align: center; width: 85px; height: 28px;" |
Kraken X60
Cancoder
| style="width: 59px; text-align: center; height: 28px;" |
| style="width: 59px; text-align: center; height: 28px;" |
<br>
<br>
Line 215: Line 215:
Motor
Motor
| style="text-align: center; width: 85px; height: 28px;" |
| style="text-align: center; width: 85px; height: 28px;" |
Kraken X60
Cancoder
| style="width: 59px; text-align: center; height: 28px;" |
| style="width: 59px; text-align: center; height: 28px;" |
<br>
<br>
Line 301: Line 301:
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 17px;" | 15
| style="text-align: center; height: 28px; width: 17px;" | 15
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; width: 90px;" | Intake
Spindexer
| style="text-align: center; width: 91px;" | Encoder
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; width: 85px;" | Throughbore Encoder
Motor
| style="text-align: center; width: 59px;" | <br>
| style="width: 85px; text-align: center; height: 28px;" |
| style="text-align: center; width: 94px;" | Intake Pos Shaft Encoder
Kraken X60
| style="width: 59px; text-align: center; height: 28px;" |
<br>
| style="width: 94px; text-align: center; height: 28px;" |
Spindexer Encoder
| style="width: 147px; text-align: center; height: 28px;" |
| style="width: 147px; text-align: center; height: 28px;" |
<br>
<br>
Line 322: Line 317:
| style="text-align: center; height: 28px; width: 17px;" | 16
| style="text-align: center; height: 28px; width: 17px;" | 16
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
Spindexer
Intake
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
Motor
Motor
| style="width: 85px; text-align: center; height: 28px;" |
| style="text-align: center; height: 28px; width: 85px;" |
Kraken X60
Kraken X60
| style="width: 59px; text-align: center; height: 28px;" |
| style="text-align: center; width: 59px;" |  
<br>
| style="text-align: center; width: 94px;" | Intake Pos Drive
| style="width: 94px; text-align: center; height: 28px;" |
Spindexer Drive
| style="width: 147px; text-align: center; height: 28px;" |
| style="width: 147px; text-align: center; height: 28px;" |
<br>
<br>
Line 341: Line 334:
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 17px;" | 17
| style="text-align: center; height: 28px; width: 17px;" | 17
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; width: 90px;" | Intake
Kicker
| style="text-align: center; width: 91px;" | Motor
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; width: 85px;" | Kraken X60
Motor
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; width: 94px;" | Intake Speed Drive
Kraken X60
| style="text-align: center; height: 28px; width: 59px;" |
<br>
| style="text-align: center; height: 28px; width: 94px;" |
Kicker Encoder
| style="height: 28px; width: 147px;" |
| style="height: 28px; width: 147px;" |
<br>
<br>
Line 362: Line 350:
| style="text-align: center; height: 28px; width: 17px;" | 18
| style="text-align: center; height: 28px; width: 17px;" | 18
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
Kicker
Spindexer
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
Motor
Motor
| style="text-align: center; height: 28px; width: 85px;" |
| style="width: 85px; text-align: center; height: 28px;" |
Kraken X60
Kraken X60
| style="text-align: center; height: 28px; width: 59px;" |
| style="width: 59px; text-align: center; height: 28px;" |
<br>
<br>
| style="text-align: center; height: 28px; width: 94px;" |
| style="width: 94px; text-align: center; height: 28px;" |
Kicker Drive
Spindexer Drive
| style="height: 28px; width: 147px;" |
| style="height: 28px; width: 147px;" |
<br>
<br>
Line 382: Line 370:
| style="text-align: center; height: 28px; width: 17px;" | 19
| style="text-align: center; height: 28px; width: 17px;" | 19
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
Shooter
Kicker
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
Motor
Motor
Line 390: Line 378:
<br>
<br>
| style="text-align: center; height: 28px; width: 94px;" |
| style="text-align: center; height: 28px; width: 94px;" |
Shooter Encoder Left
Kicker Drive
| style="height: 28px; width: 147px;" |
| style="height: 28px; width: 147px;" |
<br>
<br>
Line 421: Line 409:
|- style="height: 51px;"
|- style="height: 51px;"
| style="text-align: center; width: 17px; height: 51px;" | 21
| style="text-align: center; width: 17px; height: 51px;" | 21
| style="text-align: center; height: 51px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
Shooter
Shooter
| style="text-align: center; height: 51px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
Motor
Motor
| style="text-align: center; height: 51px; width: 85px;" |
| style="text-align: center; height: 28px; width: 85px;" |
Kraken X60
Kraken X60
| style="text-align: center; width: 59px; height: 51px;" |
| style="text-align: center; width: 59px; height: 28px;" | <br>
<br>
| style="text-align: center; width: 94px; height: 28px;" | Shooter Drive Right
| style="text-align: center; width: 94px; height: 51px;" |
Shooter Encoder Right
| style="width: 147px; height: 51px;" |
| style="width: 147px; height: 51px;" |
<br>
<br>
Line 441: Line 427:
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; width: 17px; height: 28px;" | 22
| style="text-align: center; width: 17px; height: 28px;" | 22
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; width: 90px; height: 51px;" | Shooter Hood
Shooter
| style="text-align: center; width: 91px; height: 51px;" | Encoder
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; width: 85px; height: 51px;" | Throughbore Encoder
Motor
| style="text-align: center; width: 59px; height: 51px;" | <br>
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; width: 94px; height: 51px;" | Hood Shaft Encoder
Kraken X60
| style="text-align: center; width: 59px; height: 28px;" | <br>
| style="text-align: center; width: 94px; height: 28px;" | Shooter Drive Right
| style="width: 147px; height: 28px;" | <br>
| style="width: 147px; height: 28px;" | <br>
| style="width: 74px; height: 28px;" | <br>
| style="width: 74px; height: 28px;" | <br>
| style="width: 34px; height: 28px;" | <br>
| style="width: 34px; height: 28px;" | <br>
| style="width: 93px; height: 28px;" | <br>
| style="width: 93px; height: 28px;" | <br>
|- style="height: 51px;"  
|- style="height: 51px;"
| style="text-align: center; width: 17px; height: 51px;" | 23
| style="text-align: center; width: 17px; height: 51px;" | 23
| style="text-align: center; width: 90px; height: 51px;" | Shooter Hood
| style="text-align: center; width: 91px; height: 51px;" | Motor
| style="text-align: center; width: 85px; height: 51px;" | Kraken X44
| style="text-align: center; width: 59px; height: 51px;" | <br>
| style="text-align: center; width: 94px; height: 51px;" | Hood Kraken Encoder
| style="width: 147px; height: 51px;" | <br>
| style="width: 74px; height: 51px;" | <br>
| style="width: 34px; height: 51px;" | <br>
| style="width: 93px; height: 51px;" | <br>
|- style="height: 28px;"
| style="text-align: center; width: 17px; height: 28px;" | 24
| style="text-align: center; width: 90px; height: 28px;" | Shooter Hood
| style="text-align: center; width: 90px; height: 28px;" | Shooter Hood
| style="text-align: center; width: 91px; height: 28px;" | Motor
| style="text-align: center; width: 91px; height: 28px;" | Motor
Line 471: Line 443:
| style="text-align: center; width: 59px; height: 28px;" | <br>
| style="text-align: center; width: 59px; height: 28px;" | <br>
| style="text-align: center; width: 94px; height: 28px;" | Hood Drive
| style="text-align: center; width: 94px; height: 28px;" | Hood Drive
| style="width: 147px; height: 51px;" | <br>
| style="width: 74px; height: 51px;" | <br>
| style="width: 34px; height: 51px;" | <br>
| style="width: 93px; height: 51px;" | <br>
|- style="height: 28px;"
| style="text-align: center; width: 17px; height: 28px;" | 24
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 91px;" |
| style="width: 85px; text-align: center; height: 28px;" |
| style="width: 59px; text-align: center; height: 28px;" |
| style="width: 94px; text-align: center; height: 28px;" |
| style="width: 147px; height: 28px;" | <br>
| style="width: 147px; height: 28px;" | <br>
| style="width: 74px; height: 28px;" | <br>
| style="width: 74px; height: 28px;" | <br>
| style="width: 34px; height: 28px;" | <br>
| style="width: 34px; height: 28px;" | <br>
| style="width: 93px; height: 28px;" | <br>
| style="width: 93px; height: 28px;" | <br>
|- style="height: 51px;"  
|- style="height: 51px;"
| style="text-align: center; width: 17px; height: 51px;" | 25
| style="text-align: center; width: 17px; height: 51px;" | 25
| style="text-align: center; width: 90px; height: 51px;" | Shooter Hood
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; width: 91px; height: 51px;" | Encoder
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; width: 85px; height: 51px;" | Throughbore Encoder
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; width: 59px; height: 51px;" | <br>
| style="text-align: center; height: 28px; width: 59px;" |
| style="text-align: center; width: 94px; height: 51px;" | Hood Shaft Encoder
| style="text-align: center; height: 28px; width: 94px;" |
| style="width: 147px; height: 51px;" | <br>
| style="width: 147px; height: 51px;" | <br>
| style="width: 74px; height: 51px;" | <br>
| style="width: 74px; height: 51px;" | <br>
| style="width: 34px; height: 51px;" | <br>
| style="width: 34px; height: 51px;" | <br>
| style="width: 93px; height: 51px;" | <br>
| style="width: 93px; height: 51px;" | <br>
|-
|-  
| style="text-align: center; width: 17px;" | 26
| style="text-align: center; width: 17px;" | 26
| style="text-align: center; width: 90px;" | Intake
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; width: 91px;" | Motor
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; width: 85px;" | Kraken X60
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; height: 28px; width: 59px;" |
| style="text-align: center; width: 94px;" | Intake Pos Kraken Encoder&nbsp;
| style="text-align: center; height: 28px; width: 94px;" |
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
| style="width: 34px;" | <br>
| style="width: 34px;" | <br>
| style="width: 93px;" | <br>
| style="width: 93px;" | <br>
|-
|-  
| style="text-align: center; width: 17px;" | 27
| style="text-align: center; width: 17px;" | 27
| style="text-align: center; width: 90px;" | Intake
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; width: 91px;" | Motor
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; width: 85px;" | Kraken X60
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; width: 59px; height: 28px;" |
| style="text-align: center; width: 94px;" | Intake Pos Drive
| style="text-align: center; width: 94px; height: 28px;" |
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
| style="width: 34px;" | <br>
| style="width: 34px;" | <br>
| style="width: 93px;" | <br>
| style="width: 93px;" | <br>
|-
|-  
| style="text-align: center; width: 17px;" | 28
| style="text-align: center; width: 17px;" | 28
| style="text-align: center; width: 90px;" | Intake
| style="text-align: center; width: 90px; height: 51px;" |
| style="text-align: center; width: 91px;" | Encoder
| style="text-align: center; width: 91px; height: 51px;" |
| style="text-align: center; width: 85px;" | Throughbore Encoder
| style="text-align: center; width: 85px; height: 51px;" |
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; width: 59px; height: 51px;" |
| style="text-align: center; width: 94px;" | Intake Pos Shaft Encoder
| style="text-align: center; width: 94px; height: 51px;" |
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
| style="width: 34px;" | <br>
| style="width: 34px;" | <br>
| style="width: 93px;" | <br>
| style="width: 93px;" | <br>
|-
|-  
| style="text-align: center; width: 17px;" | 29
| style="text-align: center; width: 17px;" | 29
| style="text-align: center; width: 90px;" | Intake
| style="text-align: center; width: 90px; height: 28px;" |
| style="text-align: center; width: 91px;" | Motor
| style="text-align: center; width: 91px; height: 28px;" |
| style="text-align: center; width: 85px;" | Kraken X60
| style="text-align: center; width: 85px; height: 28px;" |
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; width: 59px; height: 28px;" |
| style="text-align: center; width: 94px;" | Intake Speed Encoder
| style="text-align: center; width: 94px; height: 28px;" |
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
| style="width: 34px;" | <br>
| style="width: 34px;" | <br>
| style="width: 93px;" | <br>
| style="width: 93px;" | <br>
|-
|-  
| style="text-align: center; width: 17px;" | 30
| style="text-align: center; width: 17px;" | 30
| style="text-align: center; width: 90px;" | Intake
| style="text-align: center; width: 90px;" |
| style="text-align: center; width: 91px;" | Motor
| style="text-align: center; width: 91px;" |
| style="text-align: center; width: 85px;" | Kraken X60
| style="text-align: center; width: 85px;" |
| style="text-align: center; width: 59px;" | <br>
| style="text-align: center; width: 59px;" |
| style="text-align: center; width: 94px;" | Intake Speed Drive
| style="text-align: center; width: 94px;" |
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
Line 940: Line 923:


<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 1,253: Line 1,237:
== 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 1,379: Line 1,365:
&nbsp;</div></div>
&nbsp;</div></div>
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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">
== 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 1,875: Line 1,866:


<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 14:12, 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

  


1

Drive Base

Motor

Cancoder


Front Right Encoder



 


2

Drive Base

Motor

Kraken X60

Brake

Front Right Drive





3

Drive Base

Motor

Kraken X60

Brake

Front Right Steer





4

Drive Base

Motor

Cancoder


Back Right Encoder





5

Drive Base

Motor

Kraken X60

Brake

Back Right Drive





6

Drive Base

Motor

Kraken X60

Brake

Back Right Steer





7

Drive Base

Motor

Cancoder


Front Left Encoder





8

Drive Base

Motor

Kraken X60

Brake

Front Left Drive





9

Drive Base

Motor

Kraken X60

Brake

Front Left Steer





10

Drive Base

Motor

Cancoder


Back Left Encoder





11

Drive Base

Motor

Kraken X60

Brake

Back Left Drive





12

Drive Base

Motor

Kraken X60

Brake

Back Left Steer





13

Drive Base

Pigeon

Pigeon


IMU





14 Climber Motor Neo 2.0 ? Climb



15 Intake Encoder Throughbore Encoder
Intake Pos Shaft Encoder





16

Intake

Motor

Kraken X60

Intake Pos Drive





17 Intake Motor Kraken X60
Intake Speed Drive





18

Spindexer

Motor

Kraken X60


Spindexer Drive





19

Kicker

Motor

Kraken X60


Kicker Drive





20

Shooter

Motor

Kraken X60


Shooter Drive Left





21

Shooter

Motor

Kraken X60


Shooter Drive Right





22 Shooter Hood Encoder Throughbore Encoder
Hood Shaft Encoder



23 Shooter Hood Motor Kraken X44
Hood Drive



24



25



26



27



28



29



30




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



































PDB Assignments

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






1






2






3






4






5






6






7






8






9






10






11






12






13






14






15






16






17






18






19






20






21






22






23 (Switchable)








VRM Assignments

Port # Device (Subteam)
5V/2A


5V/2A


5V/500mA


5V/500mA


12V/2A


12V/2A


12V/500mA


12V/500mA


PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0








 
1








 
2








 
3





       
4









5



 


       
6









7





 




8









9





 




10                
11                

Relay Outputs

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation Notes
0







1            
2            
3            

 

Analog IO

RoboRIO Analog Inputs

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation

Voltage

Range

Notes
0








1






   
2              
3              
 

More Board Analog Inputs

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation

Voltage

Range

Notes
0              
1              
2              
3              
 

Digital IO (GPIO)

RoboRio IO

ID Direction
(IN/OUT) 		Subsystem

Component

Type

 Model # Description
(brief) 		Operation Notes
0 IN

Elevator

Sensor

 REV Robotics Magnetic Limit Switch
(REV 31-1462)

Climb Top Limit



1 IN Elevator Sensor REV Robotics Magnetic Limit Switch
(REV 31-1462)

Climb Bottom Limit



2








3








4








5








6








7







 
8







 
9







 
10







 
 
 
 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0


           
1


           
2


           
3


           
4


           
5


           
6


           
7


           
8


           
9              
10              
11              
12              
13              
14              
15              
 


I2C Registers

Address
(e.g. 0100111X) 		Pin
(e.g. GP0) 		Subsystem

Component

Type

 Model # Description
(brief) 		Operation Notes


 






 
               
               
               
               
               
               

SPI Devices

# Subsystem

Component Type

 Model # Description (brief) Operation Notes
0






 

USB Host Ports

Address Subsystem

Component Type

 Model # Description (brief) Operation Notes
0






 
1            

Pneumatics Control Modules

PCM

ID

# Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

 Operation Circuit Pressure PDB #
1 0








1



2







3



4







5



6







7



2 0








1



2







3



4







5



Operator Controls

IO Maps for Old Robots

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