2016:Robot IO Map: Difference between revisions
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| '''ID''' | | '''ID''' | ||
| style="width: 82px; | | style="width: 82px; text-align: center" | '''Subsystem''' | ||
| style="width: 76px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 76px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="text-align: center; | | style="text-align: center; width: 54px" | '''Model #''' | ||
| style="text-align: center; | | style="text-align: center; width: 170px" | '''Description<br/>(brief)''' | ||
| style="text-align: center; | | style="text-align: center; width: 280px" | | ||
'''Operation''' | '''Operation''' | ||
| style="width: 125px; | | style="width: 125px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
| style="width: 82px" | | | style="width: 82px" | Drivetrain | ||
| style="width: 76px" | | | style="width: 76px" | motor | ||
| style="width: 54px" | | | style="width: 54px" | CIM | ||
| style="width: 170px" | | | style="width: 170px" | Left Front Drive motor | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | 40A Breaker | ||
|- | |- | ||
| 1 | | 1 | ||
| style="width: 82px" | | | style="width: 82px" | Drivetrain | ||
| style="width: 76px" | <br/> | | style="width: 76px" | <span style="line-height: 20.7999992370605px;">motor</span><br/> | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <span style="line-height: 20.7999992370605px;">CIM</span><br/> | ||
| style="width: 170px" | | | style="width: 170px" | Left Back<span style="line-height: 20.7999992370605px;"> Drive motor</span> | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | 40A Breaker | ||
|- | |- | ||
| 2 | | 2 | ||
| style="width: 82px" | | | style="width: 82px" | <span style="line-height: 20.7999992370605px;">Drivetrain</span> | ||
| style="width: 76px" | <br/> | | style="width: 76px" | <span style="line-height: 20.7999992370605px;">motor</span><br/> | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <span style="line-height: 20.7999992370605px;">CIM</span><br/> | ||
| style="width: 170px" | | | style="width: 170px" | Right Front Drive motor | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | 40A Breaker | ||
|- | |- | ||
| 3 | | 3 | ||
| style="width: 82px" | | | style="width: 82px" | <span style="line-height: 20.7999992370605px;">Drivetrain</span> | ||
| style="width: 76px" | <br/> | | style="width: 76px" | <span style="line-height: 20.7999992370605px;">motor</span><br/> | ||
| style="width: 54px" | <br/> | | style="width: 54px" | <span style="line-height: 20.7999992370605px;">CIM</span><br/> | ||
| style="width: 170px" | | | style="width: 170px" | Right Back Drive motor | ||
| style="width: 280px" | <br/> | | style="width: 280px" | <br/> | ||
| style="width: 125px" | | | style="width: 125px" | 40A Breaker | ||
|- | |- | ||
| 4 | | 4 | ||
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| style="text-align: center" | '''Subsystem''' | | style="text-align: center" | '''Subsystem''' | ||
| style="width: 69px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 69px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 54px; | | style="width: 54px; text-align: center" | '''Model #''' | ||
| style="width: 192px; | | style="width: 192px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 259px; | | style="width: 259px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 115px; | | style="width: 115px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
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| style="text-align: center" | Subsystem | | style="text-align: center" | Subsystem | ||
| style="width: 70px" | <p style="text-align: center">Component</p><p style="text-align: center">Type</p> | | style="width: 70px" | <p style="text-align: center">Component</p><p style="text-align: center">Type</p> | ||
| style="width: 54px; | | style="width: 54px; text-align: center" | Model # | ||
| style="width: 227px; | | style="width: 227px; text-align: center" | Description<br/>(brief) | ||
| style="width: 262px; | | style="width: 262px; text-align: center" | Operation<br/> | ||
| style="width: 132px; | | style="width: 132px; text-align: center" | | ||
Voltage | Voltage | ||
Range | Range | ||
| style="width: 91px; | | style="width: 91px; text-align: center" | Notes | ||
|- | |- | ||
| 0 | | 0 | ||
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| style="text-align: center" | '''Subsystem''' | | style="text-align: center" | '''Subsystem''' | ||
| style="width: 70px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 70px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 54px; | | style="width: 54px; text-align: center" | '''Model #''' | ||
| style="width: 227px; | | style="width: 227px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 262px; | | style="width: 262px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 132px; | | style="width: 132px; text-align: center" | | ||
'''Voltage''' | '''Voltage''' | ||
'''Range''' | '''Range''' | ||
| style="width: 91px; | | style="width: 91px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| AIN0 | | AIN0 | ||
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| '''ID''' | | '''ID''' | ||
| '''Direction'''<br/>(IN/OUT) | | '''Direction'''<br/>(IN/OUT) | ||
| style="text-align: center; | | style="text-align: center; width: 69px" | '''Subsystem''' | ||
| style="width: 73px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 73px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 52px; | | style="width: 52px; text-align: center" | '''Model #''' | ||
| style="width: 194px; | | style="width: 194px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 253px; | | style="width: 253px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 118px; | | style="width: 118px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
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| 1 | | 1 | ||
| | | <br/> | ||
| style="width: 69px" | | | style="width: 69px" | | ||
| style="width: 73px" | | | style="width: 73px" | | ||
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| style="width: 73px" | | | style="width: 73px" | | ||
| style="width: 52px" | | | style="width: 52px" | | ||
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| style="width: 118px" | | | style="width: 118px" | | ||
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| style="width: 52px" | | | style="width: 52px" | | ||
| style="width: 194px" | | | style="width: 194px" | | ||
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| style="width: 118px" | | | style="width: 118px" | | ||
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{| style="width: 1022px" border="1" cellpadding="1" cellspacing="1" | {| style="width: 1022px" border="1" cellpadding="1" cellspacing="1" | ||
|- | |- | ||
| style="width: 16px; | | style="width: 16px; text-align: center" | '''ID''' | ||
| style="width: 56px; | | style="width: 56px; text-align: center" | '''Direction (IN/OUT)''' | ||
| style="width: 74px; | | style="width: 74px; text-align: center" | '''Subsystem''' | ||
| style="width: 74px; | | style="width: 74px; text-align: center" | '''Component Type''' | ||
| style="width: 56px; | | style="width: 56px; text-align: center" | '''Model #''' | ||
| style="width: 197px; | | style="width: 197px; text-align: center" | '''Description (brief)''' | ||
| style="width: 254px; | | style="width: 254px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 141px; | | style="width: 141px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| style="width: 16px" | 0 | | style="width: 16px" | 0 | ||
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| style="width: 56px" | | | style="width: 56px" | | ||
| style="width: 197px" | | | style="width: 197px" | | ||
| style="width: 254px" | | | style="width: 254px" | | ||
| style="width: 141px" | | | style="width: 141px" | | ||
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| style="width: 16px" | 2 | | style="width: 16px" | 2 | ||
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| style="text-align: center" | '''Address'''<br/>(e.g. 0100111X) | | style="text-align: center" | '''Address'''<br/>(e.g. 0100111X) | ||
| style="width: 37px; | | style="width: 37px; text-align: center" | '''Pin'''<br/>(e.g. GP0) | ||
| style="width: 76px; | | style="width: 76px; text-align: center" | '''Subsystem''' | ||
| style="width: 75px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | style="width: 75px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | ||
| style="width: 53px; | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; | | style="width: 205px; text-align: center" | '''Description<br/>(brief)''' | ||
| style="width: 241px; | | style="width: 241px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 112px; | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
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| style="text-align: center" | '''#'''<br/> | | style="text-align: center" | '''#'''<br/> | ||
| style="width: 76px; | | style="width: 76px; text-align: center" | '''Subsystem''' | ||
| style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | | style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | ||
| style="width: 53px; | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; | | style="width: 205px; text-align: center" | '''Description (brief)''' | ||
| style="width: 241px; | | style="width: 241px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 112px; | | style="width: 112px; text-align: center" | '''Notes'''<br/> | ||
|- | |- | ||
| | | | ||
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| style="text-align: center" | '''Address'''<br/> | | style="text-align: center" | '''Address'''<br/> | ||
| style="width: 76px; | | style="width: 76px; text-align: center" | '''Subsystem''' | ||
| style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | | style="width: 75px" | <p style="text-align: center">'''Component Type'''</p> | ||
| style="width: 53px; | | style="width: 53px; text-align: center" | '''Model #''' | ||
| style="width: 205px; | | style="width: 205px; text-align: center" | '''Description (brief)''' | ||
| style="width: 241px; | | style="width: 241px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 112px; | | style="width: 112px; text-align: center" | '''Notes''' | ||
|- | |- | ||
| 0 | | 0 | ||
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| style="width: 51px" | <p style="text-align: center">'''Model #'''</p> | | style="width: 51px" | <p style="text-align: center">'''Model #'''</p> | ||
| style="width: 211px" | <p style="text-align: center">'''Description'''</p><p style="text-align: center">'''(brief)'''</p> | | style="width: 211px" | <p style="text-align: center">'''Description'''</p><p style="text-align: center">'''(brief)'''</p> | ||
| style="width: 290px; | | style="width: 290px; text-align: center" | '''Operation'''<br/> | ||
| style="width: 118px; | | style="width: 118px; text-align: center" | '''Notes''' | ||
| style="width: 118px; | | style="width: 118px; text-align: center" | '''Pressure Circuit''' | ||
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| style="width: 290px" | | | style="width: 290px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
|- | |- | ||
| 1 | | 1 | ||
| | | | ||
| style="width: 75px" | | | style="width: 75px" | | ||
| style="width: 51px" | | | style="width: 51px" | | ||
| style="width: 211px" | | | style="width: 211px" | | ||
| style="width: 290px" | | | style="width: 290px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
| style="width: 118px" | | | style="width: 118px" | | ||
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.... tbd .... | .... tbd .... | ||
Revision as of 16:06, 2 February 2016
Robot I/O
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
| 0 | RESERVED | n/a |
Factory-default allows for adding CTRE devices quickly and re-assign its ID |
Power Dist? | ||
| 1 | RESERVED | n/a | Factory-default allows for adding Jaguar quickly and re-assign its ID |
don't use | ||
| 2 | ||||||
| 3 | ||||||
| 4 | ||||||
| 5 | ||||||
| 6 | ||||||
| 7 | ||||||
| 8 | Breacher | motor | miniCIM | Manipulator Arm | 40A breaker (26A max calc load) | |
| 9 | Breacher | motor | RS775 | Ball Intake | 40A breaker (32A max calc load) | |
| 10 | Scaler | motor | CIM | Winch #1 | 40A breaker (21A max calc load) | |
| 11 | Scaler | motor | CIM | Winch #2 | 40A breaker (21A max calc load) | |
| 12 | Scaler | motor | Bag | Arm Pivot | 30A breaker (13A max calc load) | |
| 13 | ||||||
| 14 | ||||||
| 15 | N/A |
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes |
| 0 | Drivetrain | motor | CIM | Left Front Drive motor | 40A Breaker | |
| 1 | Drivetrain | motor |
CIM |
Left Back Drive motor | 40A Breaker | |
| 2 | Drivetrain | motor |
CIM |
Right Front Drive motor | 40A Breaker | |
| 3 | Drivetrain | motor |
CIM |
Right Back Drive motor | 40A Breaker | |
| 4 | ||||||
| 5 | ||||||
| 6 | ||||||
| 7 | ||||||
| 8 | ||||||
| 9 |
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
| 0 | ||||||
| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 |
Rev Robotics More Board Analog IO
| ID | Subsystem | Component Type |
Model # | Description (brief) |
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) |
Operation |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 | |||||||
| 4 | |||||||
| 5 | |||||||
| 6 | |||||||
| 7 | |||||||
| 8 | |||||||
| 9 |
Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 | |||||||
| 4 | |||||||
| 5 | |||||||
| 6 | |||||||
| 7 | |||||||
| 8 | |||||||
| 9 | |||||||
| 10 | |||||||
| 11 | |||||||
| 12 | |||||||
| 13 | |||||||
| 14 | |||||||
| 15 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 | |||||||
| 4 | |||||||
| 5 | |||||||
| 6 |
SPI Devices
| # |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
USB Host Ports
| Address |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
| 0 | ||||||
| 1 |
Pneumatics Control Module
| ID | Subsystem | Component Type |
Model # |
Description (brief) |
Operation |
Notes | Pressure Circuit |
| 0 | |||||||
| 1 | |||||||
| 2 | |||||||
| 3 | |||||||
| 4 | |||||||
| 5 | |||||||
| 6 | |||||||
| 7 |
Operator Controls
.... tbd ....
