2014:Robot IO Map: Difference between revisions

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{| cellpadding="1" cellspacing="1" border="1" style="width: 653px; height: 344px;"
<br/>
= CAN ID Assignments =
{| cellpadding="2" cellspacing="1" border="1"
|-
|-
| '''Type / Function'''&nbsp;
| '''ID'''
| '''Channel'''<br/>
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
| 1
| '''RESERVED'''
| This is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.
|-
| 2
|
|  
|  
'''Connected Device'''
|-
|-
| 3
|  
|  
<span style="font-weight: bold;">CAN&nbsp;ID&nbsp;Assignments</span>
|  
|  
&nbsp;&nbsp;&nbsp;1-16
| <br/>
|-
|-
| RESERVED
| 4
 
|  
 
| &nbsp;&nbsp;&nbsp; 01
|  
|  
DO NOT USE.<br/>ID 1 is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.
|-
|-
| 5
|  
|  
| &nbsp;&nbsp;&nbsp; 02
|  
|  
|-
|-
| 6
|  
|  
| &nbsp;&nbsp;&nbsp; 03
|  
|  
|-
|-
| 7
|  
|  
| &nbsp;&nbsp;&nbsp; 04
|  
|  
|-
|-
| 8
|  
|  
| &nbsp;&nbsp;&nbsp; 05
|  
|  
|-
|-
| 9
|  
|  
| &nbsp;&nbsp;&nbsp; 06
|  
|  
|-
|-
| 10
|  
|  
| &nbsp;&nbsp;&nbsp; 07<br/>
|  
|  
|-
|-
| 11
|  
|  
| &nbsp;&nbsp;&nbsp; 08<br/>
|  
|  
|-
|-
| 12
|  
|  
| &nbsp;&nbsp;&nbsp; 09<br/>
|  
|  
|-
|-
| 13
|  
|  
| &nbsp;&nbsp;&nbsp; 10<br/>
|  
|  
|-
|-
| 14
|  
|  
| &nbsp;&nbsp;&nbsp; 11<br/>
|  
|  
|-
|-
| 15
|  
|  
| &nbsp;&nbsp;&nbsp; 12<br/>
|  
|  
|-
|-
| 16
|  
|  
|
|}


 
<br/>
| &nbsp;&nbsp;&nbsp; 13<br/>
= PWM Outputs =
| <br/>
{| cellpadding="2" cellspacing="1" border="1"
|-
| '''ID'''
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
|-
| 1
|
|  
|  
| &nbsp;&nbsp;&nbsp; 14<br/>
| <br/>
|-
|-
| 2
|
|  
|  
| &nbsp;&nbsp;&nbsp; 15<br/>
| <br/>
|-
|-
| 3
|  
|  
 
|
 
| &nbsp;&nbsp;&nbsp; 16<br/>
| <br/>
|-
|-
| 4
|
|  
|  
<span style="font-weight: bold;">PWM&nbsp;Outputs</span>
| &nbsp;&nbsp;&nbsp;<br/>
| <br/>
|-
|-
| 5
|  
|  
| &nbsp;&nbsp;&nbsp; 01<br/>
|  
|  
|-
|-
| 6
|  
|  
| &nbsp;&nbsp;&nbsp; 02<br/>
|  
|  
|-
|-
| 7
|
|  
|  
| &nbsp;&nbsp;&nbsp; 03<br/>
|
|-
|-
| 8
|  
|  
| &nbsp;&nbsp;&nbsp; 04<br/>
|  
|  
|-
|-
| 9
|  
|  
| &nbsp;&nbsp;&nbsp; 05<br/>
|  
|  
|-
|-
| 10
|  
|  
| &nbsp;&nbsp;&nbsp; 06<br/>
|  
|  
<br/>&nbsp;
|}


<br/>
= Relay Outputs =
{| cellpadding="2" cellspacing="1" border="1"
|-
|-
| '''ID'''
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
| 1
|
|  
|  
| &nbsp;&nbsp;&nbsp; 07<br/>
| <br/>
|-
|-
| 2
|  
|  
| &nbsp;&nbsp;&nbsp; 08<br/>
|  
|  
|-
|-
| 3
|  
|  
| &nbsp;&nbsp;&nbsp; 09<br/>
|  
|  
|-
|-
| 4
|  
|  
| &nbsp;&nbsp;&nbsp; 10<br/>
|  
|  
|-
|-
| '''Relay Outputs'''
| 5
| <br/>
|  
| <br/>
|  
|-
|-
| 6
|  
|  
| &nbsp;&nbsp; &nbsp;01<br/>
|  
|  
|-
|-
| 7
|  
|  
| &nbsp;&nbsp;&nbsp; 02<br/>
|  
|  
|-
|-
| 8
|  
|  
|
|-
|}


 
<br/>
| &nbsp;&nbsp;&nbsp; 03<br/>
= Analog Inputs =
{| cellpadding="2" cellspacing="1" border="1"
|-
| '''ID'''
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
| 1
|
|  
|  
|-
|-
| 2
|  
|  
| &nbsp;&nbsp;&nbsp; 04<br/>
|  
|  
|-
|-
| 3
|  
|  
| &nbsp;&nbsp;&nbsp; 05<br/>
|  
|  
|-
|-
| 4
|  
|  
| &nbsp;&nbsp;&nbsp; 06<br/>
|  
|  
|-
|-
| 5
|
|  
|  
| &nbsp;&nbsp;&nbsp; 07<br/>
| <br/>
|-
|-
| 6
|  
|  
| &nbsp;&nbsp;&nbsp; 08<br/>
|  
|  
|-
|-
| 7
|  
|  
'''Analog Inputs'''
|
|-
| 8
| '''RESERVED'''
| Battery Voltage input (Do not use for any other device)
|-
|}


| <br/>
<br/>
| <br/>
= Digital IO (GPIO) =
{| cellpadding="2" cellspacing="1" border="1"
|-
|-
| '''ID'''
| '''Direction'''<br/>(IN/OUT)
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
| 1
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;01<br/>
|  
|  
|-
|-
| IN
| 2
| &nbsp;&nbsp; &nbsp;02<br/>
|
|
|  
|  
|-
|-
| IN
| 3
| &nbsp;&nbsp; &nbsp;03<br/>
|
|
|  
|  
|-
|-
| 4
|  
|  
IN<br/>&nbsp;
|
 
| &nbsp;&nbsp; &nbsp;04<br/>
|  
|  
|-
|-
| 5
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;05<br/>
|  
|  
|-
|-
| 6
|  
|  
IN
|
 
&nbsp;
 
| &nbsp;&nbsp; &nbsp;06
|  
|  
|-
|-
| 7
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;07
|  
|  
|-
|-
| 8
|
|
|  
|  
<br/>RESERVED
| &nbsp;&nbsp; &nbsp;08<br/>
| Battery Voltage input (Do not use for any other device)
|-
|-
| '''Digital IO (GPIO)'''
| 9
| <br/>
|
| <br/>
|
|  
|-
|-
| 10
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;01<br/>
|  
|  
|-
|-
| IN
| 11
| &nbsp;&nbsp; &nbsp;02<br/>
|
|
|  
|  
|-
|-
| 12
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;03<br/>
|  
|  
|-
|-
| 13
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;04<br/>
|  
|  
|-
|-
| 14
|  
|  
IN
|
 
| &nbsp;&nbsp; &nbsp;05<br/>
|  
|  
|-
|-
|  
|}
IN


| &nbsp;&nbsp; &nbsp;06<br/>
<br/>
|  
= Pneumatics Bumper =
{| cellpadding="2" cellspacing="1" border="1"
|-
| '''ID'''
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
|-
|-
| IN
| 1
| &nbsp;&nbsp; &nbsp;07<br/>
|  
|  
|-
| IN
| &nbsp;&nbsp; &nbsp;08<br/>
|  
|  
|-
|-
| IN
| 2
| &nbsp;&nbsp; &nbsp;09<br/>
|  
|  
|-
| IN
| &nbsp;&nbsp; &nbsp;10<br/>
|  
|  
|-
|-
| IN
| 3
| &nbsp;&nbsp; &nbsp;11<br/>
|  
|  
|-
| IN
| &nbsp;&nbsp; &nbsp;12<br/>
|  
|  
|-
|-
| IN
| 4
| &nbsp;&nbsp; &nbsp;13
|  
|  
|-
| IN
| &nbsp;&nbsp; &nbsp;14<br/>
|  
|  
|-
|-
| '''Pneumatics Bumper'''
| 5
|  
|  
|  
|  
|-
|-
| 6
|  
|  
| align="middle" valign="center" | 01
|  
|  
|-
|-
| 7
|  
|  
| align="middle" valign="center" | 02
|  
|  
|-
|-
| 8
|  
|  
| align="middle" valign="center" | 03
|  
|  
|-
|-
| '''I2C Registers'''
|}
| <br/>
 
| <br/>
<br/>
= I2C Registers =
{| cellpadding="2" cellspacing="1" border="1"
|-
| '''Address'''<br\>(e.g. 0100111X)
| '''Pin'''<br/>(e.g. GP0)
| '''Subsystem'''
| '''Description'''<br>(brief)
|-
|-
|}
|}
== Archives ==
*****

Revision as of 14:48, 11 January 2014


CAN ID Assignments

ID Subsystem Description
(brief)
1 RESERVED This is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16


PWM Outputs

ID Subsystem Description
(brief)
1
2
3
4
5
6
7
8
9
10


Relay Outputs

ID Subsystem Description
(brief)
1
2
3
4
5
6
7
8


Analog Inputs

ID Subsystem Description
(brief)
1
2
3
4
5
6
7
8 RESERVED Battery Voltage input (Do not use for any other device)


Digital IO (GPIO)

ID Direction
(IN/OUT) 		Subsystem Description
(brief)
1
2
3
4
5
6
7
8
9
10
11
12
13
14


Pneumatics Bumper

ID Subsystem Description
(brief)
1
2
3
4
5
6
7
8


I2C Registers

Address<br\>(e.g. 0100111X) Pin
(e.g. GP0) 		Subsystem Description
(brief)
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