2015:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	RESERVED	n/a		Factory-default allows for adding CTRE devices quickly and re-assign its ID			don't use
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID			don't use
2	drivetrain	motor	CIM	Left Front Drive	driver1 joystick	y axis
3	drivetrain	motor	CIM	Left Rear Drive	driver1 joystick	y axis
4	drivetrain	motor	CIM	Right Front Drive	driver1 joystick	y axis
5	drivetrain	motor	CIM	Right Rear Drive	driver1 joystick	y axis
6	drivetrain	motor	CIM	Strafe	driver1 joystick	x axis	unclear on how to activate this motor
7	lifter	motor	RS775	Left lifter	driver2 joystick	y axis
8	lifter	motor	RS775	Right lifter	driver2 joystick	y axis
9	gripper	motor	RS550	Gripper/Motor	driver2 joystick	trigger button (depressed trigger = gripper closed)
10	pnuematics	PCM module	N/A	Stabilizer, Shifter, Strafing	roborio
11	power dist.	PD module	N/A	Power Distribution Readback	roborio
12
13
14
15
16

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4
5
6
7
8
9
10

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4

Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
1	drivetrain	gyro	?	drivetrain gyro		Used in Autonomous	?
2
3
4

Digital IO (GPIO)

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	IN	drivetrain	Encoder	?	Left Encoder, Phase A		Position measurement
2	IN	drivetrain	Encoder	?	Right Encoder, Phase A		Position measurement
3	IN	gripper	Banner Sensor	?	Gripper Wide Tote Config.	N/A	Wide Position
4	IN	lifter	Encoder	?	Lifter Height	N/A	Lifter Height Synced with Lifter Flag Sensor
5	IN	lifter	Flag Sensor	?	Home Position Height Level	N/A
6	IN	gripper	Encoder	?	Encoder Phase A	N/A	Gripper Position
7	IN	gripper	Encoder	?	Encoder Phase B	N/A	Gripper Position
8	IN	gripper	Flag Sensor	?	Limit Position	N/A
9	IN	gripper	Ultrasonic Sensor	?	Right Gripper Proximity	N/A	Distance Between Gripper Arm and Tote
10	IN	gripper	Ultrasonic Sensor	?	Left Gripper Proximity	N/A	Distance Between Gripper Arm and Tote

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0
1
2
3
4
5
6

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	drivetrain	Valve	?	shifter	driver1 joystick
2	drivetrain	Valve	?	strafing wheel	driver1 joystick	lowers strafing wheel
3	stabilizer	Valve	?	Stabilizer Gripper	driver2 joystick	closes/opens stabilizer
4
5
6
7
8

Operator Controls

Joystick 1

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8
9
10
11
12
X-axis
Y-axis
Z-axis

Joystick 2

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8
9
10
11
12
X-axis
Y-axis
Z-axis

Joystick 3

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8
9
10
11
12
X-axis
Y-axis
Z-axis

Joystick 4

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8			.
9
10
11
12
X-axis
Y-axis
Z-axis

IO Maps for Old Robots

• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots