2014:Robot IO Map: Difference between revisions
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= CAN ID Assignments = | = CAN ID Assignments = | ||
{| cellpadding="2" cellspacing | {| border="1" cellpadding="2" cellspacing="1" | ||
|- | |- | ||
| '''ID''' | | '''ID''' | ||
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= PWM Outputs = | = PWM Outputs = | ||
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|- | |- | ||
| '''ID''' | | '''ID''' | ||
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= Relay Outputs = | = Relay Outputs = | ||
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|- | |- | ||
| '''ID''' | | '''ID''' | ||
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= Analog Inputs = | = Analog Inputs = | ||
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|- | |- | ||
| '''ID''' | | '''ID''' | ||
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|- | |- | ||
| 1 | | 1 | ||
| | | Drivetrain<br/> | ||
| | | Gyro<br/> | ||
|- | |- | ||
| 2 | | 2 | ||
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= Digital IO (GPIO) = | = Digital IO (GPIO) = | ||
{| cellpadding="2" cellspacing | {| border="1" cellpadding="2" cellspacing="1" | ||
|- | |- | ||
| '''ID''' | | '''ID''' | ||
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|- | |- | ||
| 1 | | 1 | ||
| | | IN<br/> | ||
| | | Drivetrain<br/> | ||
| | | Left Encoder, Phase A<br/> | ||
|- | |- | ||
| 2 | | 2 | ||
| IN<br/> | |||
| | | | ||
Drivetrain | |||
| | |||
| Left Encoder, Phase B<br/> | |||
|- | |- | ||
| 3 | | 3<br/> | ||
| | | IN<br/> | ||
| | | | ||
Drivetrain | |||
| Right Encoder, Phase A<br/> | |||
|- | |- | ||
| 4 | | 4 | ||
| IN<br/> | |||
| | | | ||
Drivetrain | |||
| | |||
| Right Encoder, Phase B<br/> | |||
|- | |- | ||
| 5 | | 5 | ||
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| | | | ||
|- | |- | ||
| 14 | | 14<br/> | ||
| | | | ||
| | | | ||
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= I2C Registers = | = I2C Registers = | ||
{| cellpadding="2" cellspacing | {| border="1" cellpadding="2" cellspacing="1" | ||
|- | |- | ||
| '''Address'''<br/>(e.g. 0100111X) | | '''Address'''<br/>(e.g. 0100111X) | ||
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= Pneumatics Bumper = | = Pneumatics Bumper = | ||
{| cellpadding="2" cellspacing | {| border="1" cellpadding="2" cellspacing="1" | ||
|- | |- | ||
| '''ID''' | | '''ID''' | ||
Revision as of 08:52, 16 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 |
Drivetrain |
Left Front CAN Jaguar |
| 3 |
Drivetrain |
Left Rear CAN Jaguar |
| 4 |
Drivetrain |
Right Front CAN Jaguar |
| 5 |
Drivetrain |
Right Rear CAN Jaguar |
| 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 | Drivetrain |
Gyro |
| 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 | IN |
Drivetrain |
Left Encoder, Phase A |
| 2 | IN |
Drivetrain |
Left Encoder, Phase B |
| 3 |
IN |
Drivetrain |
Right Encoder, Phase A |
| 4 | IN |
Drivetrain |
Right Encoder, Phase B |
| 5 | |||
| 6 | |||
| 7 | |||
| 8 | |||
| 9 | |||
| 10 | |||
| 11 | |||
| 12 | |||
| 13 | |||
| 14 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Description (brief) |
Pneumatics Bumper
| ID | Subsystem | Description (brief) |
| 1 | ||
| 2 | ||
| 3 | ||
| 4 | ||
| 5 | ||
| 6 | ||
| 7 | ||
| 8 |
