2012:Robot IO Map: Difference between revisions
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|- | |- | ||
| | | | ||
IN | IN | ||
| 01<br/> | | 01<br/> | ||
| <br/> | | Left drivetrain rotary encoder A<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 02<br/> | | 02<br/> | ||
| | | Left drivetrain rotary encoder B | ||
|- | |- | ||
| | | | ||
IN | IN | ||
| 03<br/> | | 03<br/> | ||
| <br/> | | Right drivetrain rotary encoder A<br/> | ||
|- | |- | ||
| IN | | IN<br/> | ||
| 04<br/> | | 04<br/> | ||
| <br/> | | Right drivetrain rotary encoder B<br/> | ||
|- | |- | ||
| | | | ||
IN | IN | ||
| 05<br/> | | 05<br/> | ||
| <br/> | | Shooter upper wheel rotary encoder<br/> | ||
|- | |- | ||
| | | | ||
IN | IN | ||
| 06<br/> | | 06<br/> | ||
| <br/> | | Shooter lower wheel rotary encoder<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 07<br/> | | 07<br/> | ||
| <br/> | | Wing limit switch - full deploy<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 08<br/> | | 08<br/> | ||
| <br/> | | Wing limit switch - full retract<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 09<br/> | | 09<br/> | ||
| <br/> | | conveyor stage 1 entrance - beam break sensor<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 10<br/> | | 10<br/> | ||
| <br/> | | conveyor stage 1 exit - beam break sensor<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 11<br/> | | 11<br/> | ||
| <br/> | | conveyor stage 2 exit - beam break sensor<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 12<br/> | | 12<br/> | ||
| <br/> | | conveyor stage 3 exit - beam break sensor<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 13<br/> | | 13<br/> | ||
| <br/> | | turret position - encoder<br/> | ||
|- | |- | ||
| IN/OUT/? | | IN/OUT/? | ||
Revision as of 18:55, 23 January 2012
| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
|
|
| RESERVED
|
01 |
DO NOT USE. ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id. |
|
|
02 |
Left side drivetrain motor |
|
|
03 |
Left side drivetrain motor |
|
|
04 |
Right side drivetrain motor |
|
|
05 |
Right side drivetrain motor |
|
|
06 |
Shooter wheel (upper) |
|
|
07 |
Shooter wheel (lower) |
|
|
08 |
turret rotation |
|
|
09 |
Beater Bar (?maybe relay?) |
|
|
10 |
Conveyor stage 1 |
|
|
11 |
Conveyor stage 2 |
|
|
12 |
Conveyor stage 3 |
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
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|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
Wing Deployer |
|
|
02 |
Beater Bar ? |
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use for other devices) |
| Digital IO (GPIO) | ||
|
IN |
01 |
Left drivetrain rotary encoder A |
| IN | 02 |
Left drivetrain rotary encoder B |
|
IN |
03 |
Right drivetrain rotary encoder A |
| IN |
04 |
Right drivetrain rotary encoder B |
|
IN |
05 |
Shooter upper wheel rotary encoder |
|
IN |
06 |
Shooter lower wheel rotary encoder |
| IN | 07 |
Wing limit switch - full deploy |
| IN | 08 |
Wing limit switch - full retract |
| IN | 09 |
conveyor stage 1 entrance - beam break sensor |
| IN | 10 |
conveyor stage 1 exit - beam break sensor |
| IN | 11 |
conveyor stage 2 exit - beam break sensor |
| IN | 12 |
conveyor stage 3 exit - beam break sensor |
| IN | 13 |
turret position - encoder |
| IN/OUT/? | 14 |
|
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 |
