2012:Robot IO Map: Difference between revisions
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{| | {| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1" | ||
|- | |- | ||
| '''Type / Function''' | | '''Type / Function''' | ||
| Line 8: | Line 8: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold | <span style="font-weight: bold">CAN ID Assignments</span> | ||
| <br/> | | <br/> | ||
| <br/> | | <br/> | ||
|- | |- | ||
| RESERVED | | RESERVED | ||
| Line 65: | Line 65: | ||
| 09<br/> | | 09<br/> | ||
| Beater Bar | | RESERVED - possible Beater Bar<br/> | ||
|- | |- | ||
| | | | ||
| Line 71: | Line 71: | ||
| 10<br/> | | 10<br/> | ||
| Conveyor stage 1<br/> | | RESERVED - possible Conveyor stage 1<br/> | ||
|- | |- | ||
| | | | ||
| Line 77: | Line 77: | ||
| 11<br/> | | 11<br/> | ||
| Conveyor stage 2<br/> | | RESERVED - possible Conveyor stage 2<br/> | ||
|- | |- | ||
| | | | ||
| Line 83: | Line 83: | ||
| 12<br/> | | 12<br/> | ||
| Conveyor stage 3<br/> | | RESERVED - possible Conveyor stage 3<br/> | ||
|- | |- | ||
| | | | ||
| Line 110: | Line 110: | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold | <span style="font-weight: bold">PWM Outputs</span> | ||
| <br/> | | <br/> | ||
| Line 189: | Line 189: | ||
| 02<br/> | | 02<br/> | ||
| Beater Bar | | Beater Bar | ||
|- | |- | ||
| | | | ||
| Line 195: | Line 195: | ||
| 03<br/> | | 03<br/> | ||
| | | Conveyor Stage 1 | ||
|- | |- | ||
| | | | ||
| Line 201: | Line 201: | ||
| 04<br/> | | 04<br/> | ||
| | | Conveyor Stage 2 | ||
|- | |- | ||
| | | | ||
| Line 207: | Line 207: | ||
| 05<br/> | | 05<br/> | ||
| <br/> | | Conveyor Stage 3<br/> | ||
|- | |- | ||
| | | | ||
| Line 319: | Line 319: | ||
| IN | | IN | ||
| 07<br/> | | 07<br/> | ||
| Wing limit switch - full deploy<br/> | | Wing limit switch (optical) - full deploy<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 08<br/> | | 08<br/> | ||
| Wing limit switch - full retract<br/> | | Wing limit switch (optical) - full retract<br/> | ||
|- | |- | ||
| IN | | IN | ||
| Line 345: | Line 345: | ||
| turret position - encoder<br/> | | turret position - encoder<br/> | ||
|- | |- | ||
| IN | | IN | ||
| 14<br/> | | 14<br/> | ||
| | | Wing position rotary encoder | ||
|- | |- | ||
| '''Pneumatics Bumper''' | | '''Pneumatics Bumper''' | ||
| Line 354: | Line 354: | ||
|- | |- | ||
| | | | ||
| | | valign="center" align="middle" | 01 | ||
| | | | ||
|- | |- | ||
| | | | ||
| | | valign="center" align="middle" | 02 | ||
| | | | ||
|- | |- | ||
| | | | ||
| | | valign="center" align="middle" | 03 | ||
| | | | ||
|} | |} | ||
Revision as of 10:22, 25 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 |
RESERVED - possible Beater Bar |
|
|
10 |
RESERVED - possible Conveyor stage 1 |
|
|
11 |
RESERVED - possible Conveyor stage 2 |
|
|
12 |
RESERVED - possible Conveyor stage 3 |
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
Wing Deployer |
|
|
02 |
Beater Bar |
|
|
03 |
Conveyor Stage 1 |
|
|
04 |
Conveyor Stage 2 |
|
|
05 |
Conveyor Stage 3 |
|
|
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 (optical) - full deploy |
| IN | 08 |
Wing limit switch (optical) - 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 | 14 |
Wing position rotary encoder |
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 |
