2018:Robot IO Map: Difference between revisions
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= Robot I/O = | = Robot I/O = | ||
<div class="mw-parser-output"> | |||
== CAN ID Assignments == | == CAN ID Assignments == | ||
{| | {| border="1" cellpadding="2" cellspacing="1" style="width: 855px;" | ||
|- | |- | ||
| style="text-align: center" | '''ID''' | | style="text-align: center" | '''ID''' | ||
| style="text-align: center" | '''Subsystem''' | | style="text-align: center" | '''Subsystem''' | ||
| <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p> | | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p> | ||
| style="text-align: center" | '''Model #''' | | style="text-align: center" | '''Model #''' | ||
| style="width: 210px; text-align: center" | '''Description'''<br/>(brief) | | style="width: 210px; text-align: center" | '''Description'''<br/> (brief) | ||
| style="width: 224px; text-align: center" | '''Operation''' | | style="width: 224px; text-align: center" | '''Operation''' | ||
| style="width: 175px; text-align: center; | | colspan="2" rowspan="1" style="width: 175px; text-align: center;" | | ||
'''Notes''' | '''Notes''' | ||
| Line 19: | Line 20: | ||
| style="text-align: center" | 0 | | style="text-align: center" | 0 | ||
| style="text-align: center" | Electrica'''l''' | | style="text-align: center" | Electrica'''l''' | ||
| <p style="text-align: center">PD Module</p> | | <p style="text-align: center">PD Module</p> | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | Power Distribution Module feedback | | style="width: 210px; text-align: center" | Power Distribution Module feedback | ||
| style="width: 224px; text-align: center" | monitor PD | | style="width: 224px; text-align: center" | monitor PD | ||
| style="width: 115px" | <p style="text-align: center">must be CAN 0</p> | | style="width: 115px" | <p style="text-align: center">must be CAN 0</p> | ||
| style="width: 55px;" | | | style="width: 55px;" | | ||
|- | |- | ||
| style="text-align: center" | 1 | | style="text-align: center" | 1 | ||
| style="text-align: center" | '''RESERVED''' | | style="text-align: center" | '''RESERVED''' | ||
| style="text-align: center" | n/a | | style="text-align: center" | n/a | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | Factory-default<br/>allows for adding new device quickly and re-assign its ID | | style="width: 210px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | don't use | | style="width: 115px; text-align: center" | don't use | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| style="text-align: center" | 2 | | style="text-align: center" | 2 | ||
| style="text-align: center" | | | style="text-align: center" | cube intake | ||
| style="text-align: center" | | | style="text-align: center" | RS 775 | ||
| style="text-align: center" | | | style="text-align: center" | Talon SRX | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | left | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | Intake cube to hand (+) eject cube (-) | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | 30 A ? | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | 6 | ||
|- | |- | ||
| style="text-align: center" | 3 | | style="text-align: center" | 3 | ||
| style="text-align: center" | | | style="text-align: center" | cube intake | ||
| style="text-align: center" | | | style="text-align: center" | RS 775 | ||
| style="text-align: center" | | | style="text-align: center" | Talon SRX | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | right | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | Intake cube to hand (+) eject cube (-) | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | 30 A ? | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | 7 | ||
|- | |- | ||
| style="text-align: center" | 4 | | style="text-align: center" | 4 | ||
| style="text-align: center" | | | style="text-align: center" | arm | ||
| style="text-align: center" | | | style="text-align: center" | RS 775 | ||
| style="text-align: center" | | | style="text-align: center" | Talon SRX | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | moves arm | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | moves from arm front (+) to back (-) | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | 30 A ? | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | 5 | ||
|- | |- | ||
| style="text-align: center" | 5 | | style="text-align: center" | 5 | ||
| style="text-align: center" | | | style="text-align: center" | hand | ||
| style="text-align: center" | | | style="text-align: center" | RS 775 | ||
| style="text-align: center" | | | style="text-align: center" | Talon SRX | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | hold and eject the cube | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | rollers intake (+) eject the cube (-) | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | 30 A ? | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | 4 | ||
|- | |- | ||
| style="text-align: center" | 6 | | style="text-align: center" | 6 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| style="text-align: center" | 7 | | style="text-align: center" | 7 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| style="text-align: center" | 8 | | style="text-align: center" | 8 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| style="text-align: center" | 9 | | style="text-align: center" | 9 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| style="text-align: center" | 10 | | style="text-align: center" | 10 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| style="text-align: center" | 11 | | style="text-align: center" | 11 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| 12 | | 12 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px; text-align: center" | | | style="width: 224px; text-align: center" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| 13 | | 13 | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| style="text-align: center" | | | style="text-align: center" | | ||
| | | | ||
| style="width: 210px; text-align: center" | | | style="width: 210px; text-align: center" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; text-align: center" | | | style="width: 115px; text-align: center" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| 14 | | 14 | ||
| | | | ||
| style="text-align: center;" | | | style="text-align: center;" | | ||
| | | | ||
| style="width: 210px" | | | style="width: 210px" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; text-align: center;" | | | style="width: 115px; text-align: center;" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|- | |- | ||
| 15 | | 15 | ||
| | | | ||
| style="text-align: center;" | | | style="text-align: center;" | | ||
| | | | ||
| style="width: 210px" | | | style="width: 210px" | | ||
| style="width: 224px" | | | style="width: 224px" | | ||
| style="width: 115px; text-align: center;" | | | style="width: 115px; text-align: center;" | | ||
| style="width: 55px; text-align: center;" | | | style="width: 55px; text-align: center;" | | ||
|} | |} | ||
</div> | |||
== PWM Outputs == | == PWM Outputs == | ||
Revision as of 16:38, 25 January 2018
Robot I/O
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes (8) max. 40A PDB # | |
| 0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 |
||
| 1 | RESERVED | n/a | Factory-default allows for adding new device quickly and re-assign its ID |
don't use | |||
| 2 | cube intake | RS 775 | Talon SRX | left | Intake cube to hand (+) eject cube (-) | 30 A ? | 6 |
| 3 | cube intake | RS 775 | Talon SRX | right | Intake cube to hand (+) eject cube (-) | 30 A ? | 7 |
| 4 | arm | RS 775 | Talon SRX | moves arm | moves from arm front (+) to back (-) | 30 A ? | 5 |
| 5 | hand | RS 775 | Talon SRX | hold and eject the cube | rollers intake (+) eject the cube (-) | 30 A ? | 4 |
| 6 | |||||||
| 7 | |||||||
| 8 | |||||||
| 9 | |||||||
| 10 | |||||||
| 11 | |||||||
| 12 | |||||||
| 13 | |||||||
| 14 | |||||||
| 15 | |||||||
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes (8) max. 40A PDB # | |
| 0 | DriveBase |
CIM |
SPARK |
Left Motor 1; +Voltage = Forwards |
|||
| 1 | DriveBase |
CIM |
SPARK |
Left Motor 2; +Voltage = Forwards |
|||
| 2 | DriveBase |
CIM |
SPARK |
Left Motor 3; +Voltage = Forwards |
|||
| 3 | DriveBase |
CIM |
SPARK |
Right Motor 1; +Voltage = Forwards |
|||
| 4 | DriveBase |
CIM |
SPARK |
Right Motor 2; +Voltage = Forwards |
|||
| 5 | DriveBase |
CIM |
SPARK |
Right Motor 3; +Voltage = Forwards |
|||
| 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 | Drive | gyro | ADXRS622 | gyro | telling angle and rate in auto |
2.5v = null 7mV/degree/sec |
|
| 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 | ||||||
| 1 | IN | ||||||
| 2 | IN | ||||||
| 3 | IN | ||||||
| 4 | IN | ||||||
| 5 | OUT | ||||||
| 6 | IN | ||||||
| 7 | IN | ||||||
| 8 | IN | ||||||
| 9 | IN |
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
| Button # |
Action/Button |
Description | Details |
| Left Joystick Y |
|||
| Left Joystick X |
|||
| Right Joystick Y | |||
| Right Joystick X | |||
| 5 |
Left Bumper | ||
| 6 |
Right Bumper | ||
| 7 |
Left Trigger | ||
| 8 |
Right Trigger |
||
| 4 |
Y button | ||
| 1 |
A button |
Controller 2 - Aux Driver
| Button # |
Action/Button |
Description | Details |
| 5 |
Left Bumper |
||
| 6 |
Right Bumper |
||
| 8 |
Right Trigger | ||
| 7 |
Left Trigger | ||
| 0 |
Dpad Up |
||
| 4 |
Y button | ||
| 1 |
A button |
||
| 3 |
X button |
Broken Switches
| Switch | Description | Details |
| Broken Switch1 | ||
| Broken Switch2 | ||
| Broken Switch3 | ||
| Broken Switch4 | ||
| Broken Switch5 |
||
| Broken Switch6 |
||
| Broken Switch7 |
