2012:Robot IO Map: Difference between revisions

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| &nbsp;&nbsp;&nbsp; 01<br/>
| &nbsp;&nbsp;&nbsp; 01
| DO NOT USE.<br/>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.
| DO NOT USE.<br/>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.
|-
|-
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| &nbsp;&nbsp;&nbsp; 02<br/>
| &nbsp;&nbsp;&nbsp; 02
| Left side drivetrain motor (front)<br/>
| Left side drivetrain motor (front)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 03<br/>
| &nbsp;&nbsp;&nbsp; 03
| Left side drivetrain motor (rear)<br/>
| Left side drivetrain motor (rear)
|-
|-
|  
|  




| &nbsp;&nbsp;&nbsp; 04<br/>
| &nbsp;&nbsp;&nbsp; 04
| <br/>Right side drivetrain motor (front)
| <br/>Right side drivetrain motor (front)
|-
|-
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| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05
| <br/>Right side drivetrain motor (rear)
| <br/>Right side drivetrain motor (rear)
|-
|-
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| &nbsp;&nbsp;&nbsp; 06<br/>
| &nbsp;&nbsp;&nbsp; 06
| Shooter wheel (upper)<br/>
| Shooter wheel (upper)<br/>
|-
|-
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Conveyor Stage 2 Sensor - LED power only
Conveyor Stage 2 Sensor - LED power only


|-
|-
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| RESERVED  
| RESERVED  
Conveyor Stage 3 Sensor - LED power only
Conveyor Stage 3 Sensor - LED power only


|-
|-
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| RESERVED  
| RESERVED  
Conveyor Entrance Sensor - LED power only
Conveyor Entrance Sensor - LED power only


|-
|-
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| &nbsp;&nbsp;&nbsp; 05<br/>
| &nbsp;&nbsp;&nbsp; 05<br/>
| Conveyor Stage 3<br/>
| Conveyor Stage 3
|-
|-
|  
|  
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| &nbsp;&nbsp;&nbsp; 08<br/>
| &nbsp;&nbsp;&nbsp; 08<br/>
| <br/>
|  
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;02<br/>
| &nbsp;&nbsp; &nbsp;02<br/>
| <br/>
|  
Wing limit switch (optical OPB815WZ)&nbsp;- full deploy
Wing limit switch (optical OPB815WZ)&nbsp;- full deploy


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| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| <br/>
|  
Wing limit switch (optical OPB815WZ)&nbsp;- full retract
Wing limit switch (optical OPB815WZ)&nbsp;- full retract


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| &nbsp;&nbsp; &nbsp;06<br/>
| &nbsp;&nbsp; &nbsp;06
|  
|  
Turret limit switch (optical OPB815WZ)&nbsp;&nbsp;- max CCW
Turret limit switch (optical OPB815WZ)&nbsp;&nbsp;- max CCW
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| &nbsp;&nbsp; &nbsp;07<br/>
| &nbsp;&nbsp; &nbsp;07
| <br/>
|  
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;01<br/>
| &nbsp;&nbsp; &nbsp;01<br/>
| Left drivetrain rotary encoder A<br/>
| Left drivetrain rotary encoder A
|-
|-
| IN
| IN
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| &nbsp;&nbsp; &nbsp;03<br/>
| &nbsp;&nbsp; &nbsp;03<br/>
| Right drivetrain rotary encoder A<br/>
| Right drivetrain rotary encoder A
|-
|-
| IN<br/>
| IN<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| &nbsp;&nbsp; &nbsp;04<br/>
| Right drivetrain rotary encoder B<br/>
| Right drivetrain rotary encoder B
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;05<br/>
| &nbsp;&nbsp; &nbsp;05<br/>
| Shooter upper wheel rotary encoder<br/>
| Shooter upper wheel rotary encoder
|-
|-
|  
|  
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| &nbsp;&nbsp; &nbsp;06<br/>
| &nbsp;&nbsp; &nbsp;06<br/>
| Shooter lower wheel rotary encoder<br/>
| Shooter lower wheel rotary encoder
|-
|-
| IN
| IN
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| IN
| IN
| &nbsp;&nbsp; &nbsp;09<br/>
| &nbsp;&nbsp; &nbsp;09<br/>
| conveyor stage 1 entrance - beam break sensor<br/>
| conveyor stage 1 entrance - beam break sensor
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;10<br/>
| &nbsp;&nbsp; &nbsp;10<br/>
| conveyor stage 1 exit - beam break sensor<br/>
| conveyor stage 1 exit - beam break sensor
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;11<br/>
| &nbsp;&nbsp; &nbsp;11<br/>
| conveyor stage 2 exit - beam break sensor<br/>
| conveyor stage 2 exit - beam break sensor
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;12<br/>
| &nbsp;&nbsp; &nbsp;12<br/>
| conveyor stage 3 exit - beam break sensor<br/>
| conveyor stage 3 exit - beam break sensor
|-
|-
| IN
| IN
| &nbsp;&nbsp; &nbsp;13<br/>
| &nbsp;&nbsp; &nbsp;13
|  
|  
&nbsp;
&nbsp;

Revision as of 11:02, 28 January 2012

Type / Function  Channel

Connected Device

CAN ID Assignments

   0-127


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 (front)


    03 Left side drivetrain motor (rear)


    04
Right side drivetrain motor (front)


    05
Right side drivetrain motor (rear)


    06 Shooter wheel (upper)


     07
 Shooter wheel (lower)


     08
 turret rotation


     09
 Wing Deployer


    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
 RESERVED

Conveyor Stage 1 Sensor - LED power only


    03

RESERVED

Conveyor Stage 2 Sensor - LED power only


    04
 RESERVED

Conveyor Stage 3 Sensor - LED power only


    05
 RESERVED

Conveyor Entrance Sensor - LED power only


    06


    07


    08


    09


    10
Relay Outputs


    01
 RESERVED (Possible Wings output)


    02
 Beater Bar


    03
 Conveyor Stage 1


    04
 Conveyor Stage 2


    05
 Conveyor Stage 3


    06


    07


    08

Analog Inputs




    01
 Gyro


    02

Wing limit switch (optical OPB815WZ) - full deploy


    03

Wing limit switch (optical OPB815WZ) - full retract


    04

Potentiometer -Wings


    05
Turret limit switch (optical OPB815WZ)  - max CW


    06

Turret limit switch (optical OPB815WZ)  - max CCW


    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
 Turret motor shaft - rotary encoder
IN     08

turret sprocket position - rotary encoder

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

 

OUT     14
 Camera Light(s)
Pneumatics Bumper
01
02
03



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