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
11
12
13
14
15	pnuematics	PCM module	N/A	Stabilizer, Shifter, Strafing	roborio		address spaces for Jaguars, SRXs, PCM, and PDP are all separate. We are limited to one PDP, and will need only one PCM
16	power dist.	PD module	N/A	Power Distribution Readback	roborio

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 IO

RoboRIO Analog Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
1	drivetrain	gyro	ADW22307	drivetrain gyro rot feedback		X & Y orientation used in Autonomous	2.5 V center, 0.007 V/deg/sec
2	drivetrain	gyro	ADW22307	drivetrain gyro temperature feedback		for rotation correction	2.5V at 25 degree plus 9mV/ degree
3
4

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
DIO0	IN	drivetrain	Encoder	?	Left Encoder, Phase A		Drivetrain rotation - calculate Position measurement
DIO1	IN	drivetrain	Encoder	?	Right Encoder, Phase A		Drivetrain rotation - calculate Position measurement
DIO2	IN	gripper	Banner or flag sensor	?	Gripper Wide Tote Config.	N/A	Outward Wide Position	same flag as home position sensor uses ?
DIO3	IN	lifter	Encoder	63R256	Lifter Height	N/A	Lifter drive rotation -  calculate Height Zeroed with Lifter Flag Sensor. Channel A
DIO4	IN	lifter	Flag Sensor	?	Home Position Height Level	N/A	Lower position
DIO5	IN	gripper	Encoder	63R256	Encoder Phase A	N/A	Gripper drive rotation - calculate Position
DIO6	IN	gripper	Encoder	63R256	Encoder Phase B	N/A	Gripper drive rotation - calculate Position
DIO7	IN	gripper	Flag Sensor	?	Home Gripper Position	N/A	Inner position
DIO8	IN	gripper	Ultrasonic Sensor	?	Right Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor?
DIO9	IN	gripper	Ultrasonic Sensor	?	Left Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor? If 2 per robot need to buy more!!!

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
DIO0	IN	Gripper	Flag Sensor	?	Electrical limit for end of travel of gripper arms.			There will actually be two sensors for either side electrically OR-ed back to the controller.
DIO1	IN	drivetrain	Encoder		Left Encoder, Phase B		Drivetrain rotation - calculate Position measurement
DIO2	IN	drivetrain	Encoder		Right Encoder, Phase B		Drivetrain rotation - calculate Position measurement
DIO3	IN	lifter	Encoder	63R256	Lift encoder, phase B		Lifter drive rotation -  calculate Height Zeroed with Lifter Flag Sensor. Channel A
DIO4
DIO5
DIO6
DIO7
DIO8
DIO9
DIO10
DIO11
DIO12
DIO13
DIO14
DIO15

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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	drivetrain	accelerometer	ADXL245	accelerometer, right by the gyro	drivetrain	Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	Camera	Camera	HD-3000	USB camera	vision code	Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto
1	Logging	USB Stick	?	USB Stick to log info	robot general	record match and state information at high rate, for postmortem match analysis

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes	Pressure Circuit
1	Drivetrain	Single Solenoid	SY3140-6LZ	shifter LOW (default high)	driver1 joystick	shifts down	double action cylinder (vented no action)	A (4 total, 40-60 psi tbd)
2	Drivetrain	Single Solenoid	SY3140-6LZ	strafing wheel DOWN (default up)	driver1 joystick	lowers strafing wheel	single action, spring retract cylinder (vented up)	B (3 total, 20-60 psi tbd)
3	Stabilizer	Single Solenoid	SY3140-6LZ	Stabilizer Gripper IN (default out)	driver2 joystick	closes stabilizer	double action cylinder (vented no action)	A
4	Lifter	Single Solenoid	SY3140-6LZ	Lifter brake OPEN (default locked)	lifter code	pnuematic cylinder engages bicycle brake to lock lift elevator	double action cylinder (vented open, spring on brake)	A
5
6
7
8

Operator Controls

Joystick 1/Left

Button/Axis	Description (brief)	Operation	Notes
Y-Axis	Move Forward/Backward	In Left/Right mode, this moves boths sides of the drivetrain; otherwise this moves just the left side of the drivetrain.
X-Axis
1/trigger	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2	Raise center wheel	.Wheel remains rasied while button is being pressed (or button 2 on right joystick is being pressed). Wheel lowers when both button 2s are released.
3	Left/Right mode	In Left/Right mode while this button is being pressed (or button 3 on right joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 2/Right

Button/Axis	Description (brief)	Operation	Notes
X-axis	Move Forward/Backward	In Left/Right mode, this moves nothing; otherwise this moves just the right side of the drivetrain.
Y-axis	Move Left/Right	In Left/Right mode, this moves the center wheel left/right; otherwise this move nothing.
1	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2	Raise center wheel	Wheel remains rasied while button is being pressed (or button 2 on left joystick is being pressed). Wheel lowers when both button 2s are released.
3	Left/Right mode	In Left/Right mode while this button is being pressed (or button 3 on left joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 3

Button/Axis	Description (brief)	Operation	Notes
X-axis
Y-axis	Move up/down	Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement.
1/trigger	Close lower grips	Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released.
2	Open lower grips	Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released.
3	Level 3 Preset	Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height.
4	TBD - RC gripper
5	TBD - RC gripper
6
7
8
9
10
11
12
Z-axis

Joystick 4/LaunchPad

Button/Axis	Description (brief)	Operation	Notes
1	Auto 'main'	Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode.
2	Auto 'dashboard'	Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used.
3	Broken #1	future	left-most switch on top row
4	Broken #2	future	located to the right of Broken #1
5	Broken #3	future	located to the left of Broken #4
6	Broken #4	future	right-most switch on top row
7	Broken #5	future	left-most switch on bottom row
8	Broken #6	future	lcated to the right of Broken #5
9	Broken #7	future	located to the left of Broken #8
10	Broken #8	future	Right-most switch on bottom row

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