2017:Robot IO Map: Difference between revisions

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| style="width: 52px;" | 63R256
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| style="width: 52px;" | 63R256
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| style="width: 194px;" | Left Encoder Phase B
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| style="width: 73px;" | Shaft Encoder
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| style="width: 52px;" | 63R256
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| style="width: 194px;" | Right Encoder Phase A
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| style="width: 253px;" | Drivetrain rotation
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| style="width: 52px;" | 63R256
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| style="width: 194px;" | Right Encoder Phase B
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Revision as of 12:27, 15 January 2017

Robot I/O

CAN ID Assignments

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation
 Notes
0 Electrical

PD Module
Power Distribution Module feedback monitor PD

must be CAN 0

1 RESERVED n/a
Factory-default
allows for adding Jaguar quickly and re-assign its ID
don't use
2 Drivetrain motor CIM Left drive motor or PWM? 40A Breaker
3 Drivetrain motor
 CIM Left drive motor
 or PWM?
 40A Breaker
4 Drivetrain
 motor
 miniCIM Left drive motor
 or PWM?
 40A Breaker
5 Drivetrain
 motor
 CIM Right drive motor or PWM?
 40A Breaker
6 Drivetrain
 motor
 CIM Right drive motor
 or PWM?
 40A Breaker
7 Drivetrain
 motor
 miniCIM Right drive motor
 or PWM?
 40A Breaker
8
9
10
11
12
13


14


15


PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation


Notes
0 Drivetrain motor

2 CIM

1miniCIM

Left Drive Motors or CAN?

40A Breaker

PWM splits to speed controllers

1 Drivetrain motor

2 CIM

1miniCIM

Right Drive Motors or CAN?

40A Breaker

PWM splits to speed controllers

2





3





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 IN Drivetrain Shaft Encoder 63R256 Left Encoder Phase A Drivetrain rotation
1 IN Drivetrain Shaft Encoder 63R256 Left Encoder Phase B Drivetrain rotation
2 IN Drvietrain Shaft Encoder 63R256 Right Encoder Phase A Drivetrain rotation
3 IN Drivetrain Shaft Encoder 63R256 Right Encoder Phase B Drivetrain rotation
4 IN
5 IN
6 IN
7 IN
8 IN
9 OUT

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

Controller 1 - Primary Driver

Action/Button Description Details
Left Joystick Y
Right Joystick X
Left Bumper
Right Bumper
Left Trigger
Right Trigger
Y button
A button

Controller 2 - Aux Driver

Action/Button Description Details
Left Joystick Up
Left Joystick Down
Right Joystick Up
Right Joystick Down
Right Bumper
Right Trigger
Dpad Left
Dpad Right
"Left Trigger + Dpad
down"
"Left Bumper + Dpad
Up"
A button
Y button

Broken Switches

Broken Switch1
Broken Switch2
Broken Switch3
Broken Switch4
Broken Switch5
Broken Switch6
Broken Switch7

IO Maps for Old Robots

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