2013:Robot IO Map: Difference between revisions
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| Robot Vee sensor | | Robot Vee sensor | ||
|- | |- | ||
| | | IN | ||
| 03<br/> | | 03<br/> | ||
| | | | ||
Disc 2 present | |||
|- | |- | ||
| | | | ||
<br/> | IN<br/> | ||
| 04<br/> | | 04<br/> | ||
| | | Disc 3 present | ||
|- | |- | ||
| | | | ||
Line 301: | Line 301: | ||
| IN | | IN | ||
| 02<br/> | | 02<br/> | ||
| Left side | | Moving climber hook Left side engaged | ||
|- | |- | ||
| | | | ||
Line 313: | Line 313: | ||
| 04<br/> | | 04<br/> | ||
| Right side | | Moving climber hook Right side engaged | ||
|- | |- | ||
| | | | ||
Line 333: | Line 333: | ||
| IN | | IN | ||
| 08<br/> | | 08<br/> | ||
| | | Climber shuttle deploy position | ||
|- | |- | ||
| IN | | IN |
Revision as of 15:51, 27 January 2013
Type / Function | Channel |
Connected Device |
CAN ID Assignments |
1-16 |
|
RESERVED
|
01 |
DO NOT USE. |
|
02 | Left side drivetrain motor (front) |
|
03 | Reserved for optional 2nd Left side drivetrain motor (rear) |
|
04 | Right side drivetrain motor (front) |
|
05 | Reserved for optional 2nd Right side drivetrain motor (rear) |
|
06 | Left side Climber motor |
|
07 |
Right side Climber motor |
|
08 |
Shooter motor |
|
09 |
Shooter Tilt motor |
|
10 |
Shooter Carousel motor |
|
11 |
|
|
12 |
|
|
13 |
|
|
14 |
|
|
15 |
|
|
16 |
|
PWM Outputs |
|
|
|
01 |
Camera Tilt servo |
|
02 |
Climber deploy LH servo |
|
03 |
|
|
04 |
Shooter load blocker servo |
|
05 |
Shooter load pusher servo |
|
06 |
|
|
07 |
|
|
08 |
|
|
09 |
|
|
10 |
|
Relay Outputs | ||
|
01 |
|
|
02 |
|
|
03 |
|
|
04 |
|
|
05 |
|
|
06 |
|
|
07 |
|
|
08 |
|
Analog Inputs |
||
IN |
01 |
Gyro |
IN | 02 |
Robot Vee sensor |
IN | 03 |
Disc 2 present |
IN |
04 |
Disc 3 present |
|
05 |
|
IN
|
06 | Left side Shooter tilt sensor (potentiometer) |
IN |
07 | Right side Shooter tilt sensor (potentiometer) |
|
08 |
Battery Voltage input (Do not use for any other device) |
Digital IO (GPIO) | ||
IN |
01 |
Left drivetrain rotary encoder A |
IN | 02 |
Moving climber hook Left side engaged |
IN |
03 |
Right drivetrain rotary encoder A |
IN |
04 |
Moving climber hook Right side engaged |
IN |
05 |
Shooter motor rotary encoder A |
IN |
06 |
Climber motors rotary encoder A (10 turn potentiometer?) |
IN | 07 |
Stationary climber hooks engaged (AND of LH and RH) |
IN | 08 |
Climber shuttle deploy position |
IN | 09 |
Climber shuttle max extension |
IN | 10 |
Climber shuttle max retraction |
IN | 11 |
Shooter Disc 1 present |
IN | 12 |
Shooter position sensor - preload |
IN | 13 |
Shooter position sensor - load shooter |
IN | 14 |
Ready to shoot sensor (disc-dropped-into-shooter) |
Pneumatics Bumper | ||
01 | ||
02 | ||
03 | ||
I2C Registers | ||
Address 0100111X |
GP0 |
OK to feed disc. off=red, on=green |
Address 0100111X |
GP1 |
|
Address 0100111X |
GP2 |
|
Address 0100111X |
GP3 |
|
Address 0100111X |
GP4 |
|
Address 0100111X |
GP5 |
|
Address 0100111X |
GP6 |
|
Address 0100111X |
GP7 |