2014:Robot IO Map

CAN ID Assignments

NOTE: each of these should also have a line in the Robot Map Motor table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1	RESERVED	Factory-default allows for adding Jaguar quickly and re-assign its ID	n/a
2	Drivetrain	Left Front Drive	Yes
3	Drivetrain	Left Rear Drive	Yes
4	Drivetrain	Right Front Drive	Yes
5	Drivetrain	Right Rear Drive	Yes
6	Shooter	front left Kicker arm	yes
7	Shooter	mid left Kicker arm	yes
8	Shooter	back left Kicker arm	yes
9	Shooter	right front Kicker arm	yes
10	Shooter	right mid Kicker arm	yes
11	Shooter	right back Kicker arm	yes
12	Intake	roller motor	yes
13	Shooter	Cradle Lift	yes
14
15
16

PWM Outputs

NOTE: each of these should also have a line in the Robot Map Servors/Actuators table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1	shooter	front left kicker	yes
2	shooter	mid left kicker	yes
3	shooter	back left kicker	yes
4	shooter	right front kicker	yes
5	shooter	right mid kicker	yes
6	shooter	right back kicker	yes
7	intake	roller motor	yes
8	shooter	cradle lift	yes
9
10

Relay Outputs

NOTE: each of these should also have a line in the Robot Map Servors/Actuators table or the Lights table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8

Analog Inputs

NOTE: each of these should also have a line in the Robot Map Sensors table (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Subsystem	Description (brief)	Robot Map Updated?
1	Drivetrain	Gyro	No
2	Intake	Position Potentiometer	Yes
3	Intake	Position Potentiometer - redundant	Yes
4
5
6
7
8	RESERVED	Battery Voltage input (Do not use for any other device)	n/a

Digital IO (GPIO)

NOTE: each of these should also have a line in the Robot Map or the (the "Robot Map Updated?" column in the following table indicates if this was done)

ID	Direction (IN/OUT)	Subsystem	Description (brief)	Robot Map Updated?
1	IN	Drivetrain	Left Encoder, Phase A	yes
2	IN	Drivetrain	Left Encoder, Phase B	yes
3	IN	Drivetrain	Right Encoder, Phase A	yes
4	IN	Drivetrain	Right Encoder, Phase B	yes
5	IN	Shooter	Kicker Encoder, Phase A	Yes
6	IN	Shooter	Kicker Encoder, Phase B	Yes
7	IN	Shooter	Kicker Low Position Sensor (home)	Yes
8	IN	Shooter	Kicker Gear Tooth Counter	Yes
9	IN	Shooter	Kicker High Position Sensor	Yes
10	IN	Intake	Intake "Ball On Bumper" Sensor	Yes
11
12
13
14

I2C Registers

NOTE: each of these should also have a line in the Robot Map Lights table (the "Robot Map Updated?" column in the following table indicates if this was done)

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Description (brief)	Robot Map Updated?

Pneumatics Bumper

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8