2018:Robot IO Map: Difference between revisions

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=== Controller 2 - Aux Driver ===
=== Controller 2 - Aux Driver ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 908px"
{| style="width: 908px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center; width: 66px" | Button #
| style="text-align: center; width: 66px" | Button #
| style="width: 405px" | '''Action/Button'''
| style="width: 405px" | '''Action/Button'''
| '''Description'''
| '''Description'''
| '''Details'''
| '''Details'''
|-
|-
| style="text-align: center; width: 66px" | &nbsp;
| style="text-align: center; width: 66px" | &nbsp;
| style="width: 405px" | Right Joystick Y
| style="width: 405px" | Right Joystick Y
| Fine Arm Control
| Fine Arm Control
Line 1,093: Line 1,094:


|-
|-
| style="width: 66px; text-align: center" | 5
| style="width: 66px; text-align: center" | 5
| style="width: 405px" | Left Bumper
| style="width: 405px" | Left Bumper
| Raise Right Ramp
| Raise Right Ramp
| &nbsp;
| &nbsp;
|-
|-
| style="width: 66px; text-align: center" | 6
| style="width: 66px; text-align: center" | 6
| style="width: 405px" | Right Bumper
| style="width: 405px" | Right Bumper
| Raise Left Ramp
| Raise Left Ramp
| &nbsp;
| &nbsp;
|-
|-
| style="width: 66px; text-align: center" | 8
| style="width: 66px; text-align: center" | 8
| style="width: 405px" | Right Trigger
| style="width: 405px" | Right Trigger
| Intake
| Intake
| Press and Hold
| Press and Hold
|-
|-
| style="width: 66px; text-align: center" | 7
| style="width: 66px; text-align: center" | 7
| style="width: 405px" | Left Trigger
| style="width: 405px" | Left Trigger
| Outtake
| Outtake
| Press and Hold
| Press and Hold
|-
|-
| style="width: 66px; text-align: center" | 0
| style="width: 66px; text-align: center" | 0
| style="width: 405px" | Dpad Up
| style="width: 405px" | Dpad Up
| &nbsp;
| &nbsp;
| &nbsp;
| &nbsp;
|-
|-
| style="width: 66px; text-align: center" | 4
| style="width: 66px; text-align: center" | 4
| style="width: 405px" | Y button
| style="width: 405px" | Y button
| Front
| Front
| &nbsp;
| &nbsp;
|-
|-
| style="width: 66px; text-align: center" | 1
| style="width: 66px; text-align: center" | 1
| style="width: 405px" | A button
| style="width: 405px" | A button
| Back
| Back
| Exchange Level
| Exchange Level
|-
|-
| style="width: 66px; text-align: center" | 2
| style="width: 66px; text-align: center" | 2
| style="width: 405px" | B button
| style="width: 405px" | B button
| Switch Back
| Switch Back
| &nbsp;
| &nbsp;
|-
|-
| style="width: 66px; text-align: center" | 3
| style="width: 66px; text-align: center" | 3
| style="width: 405px" | X button
| style="width: 405px" | X button
| Switch Front
| Switch Front
| &nbsp;
| &nbsp;
|-
|-
| style="width: 66px; text-align: center" | 7 + 8
| style="width: 66px; text-align: center" | 7 + 8
| style="width: 405px" | Start + Select
| style="width: 405px" | Start + Select
| Deploy Ramps
| Deploy Ramps
| &nbsp;
| &nbsp;
|}
|}
</div>
</div>
</div>



Revision as of 15:00, 31 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 Left Ramp, Near Jack RS 775 Talon SRX Raise/Lower jack Raise jack (+) 30 A 8
7 Left Ramp, Far Jack RS 775 Talon SRX Raise/Lower jack

Raise jack (+)

Vex encoder feeds direct to talon

40 A 12
8 Right Ramp, Near Jack RS 775 Talon SRX Raise/Lower jack

Raise jack (+)

Vex encoder feeds direct to talon

40 A 3
9 Right Ramp, Far Jack RS 775 Talon SRX Raise/Lower jack

Raise jack (+)

Vex encoder feeds direct to talon

30 A 11
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 40A 0
0 DriveBase CIM   SPARK Left Motor 2; +Voltage = Forwards 40A 1
0 DriveBase CIM   SPARK Left Motor 3; +Voltage = Forwards 40A 2
1 DriveBase CIM   SPARK Right Motor 1; +Voltage = Forwards 40A 15
1 DriveBase CIM   SPARK Right Motor 2; +Voltage = Forwards 40A 14
1 DriveBase CIM   SPARK Right Motor 3; +Voltage = Forwards 40A 13
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 Drive gyro TBD gyro telling angle and rate in auto

 

 
2 Arm pot
3852A-282-103AL-ND
arm position arm forward (+) arm back (-) 0-4 v ?  
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 Drive encoder 63r256 left encoder phase A measures distance traveled 256 counts per rev
1 IN Arm ??? ??? Limit at end of travel for front of robot Limit "switch" - digital low at limit   
2 IN Drive encoder 63r256 right encoder phase A measures distance traveled 256 counts per rev
3 IN Arm ??? ??? Limit at end of travel for back of robot Limit "switch" - digital low at limit  
4 IN Intake magnetic reed switch   Intake is all the way out  when it is all the way out it is digital low  
5 IN Arm  encoder srx magnetic encoder arm encoder phase A   1024 counts per rev
6 IN Arm encoder srx magnetic encoder arm encoder phase B   1024 counts per rev
7 IN            
8 IN            
9 IN Hand banner diffuse sensor sm312fvqd cube present when cube is present digital low needs 10+ volt via PD board #3

 

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

# Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

Operation Circuit Pressure Notes
0 Intake Double SY3240-6 Raise intake Extends cylinder to raise intake 60 PSI  
1 Intake Double SY3240-6 Lower intake Retracts cylinder to lower intake 60 PSI  
2 Arm Double SY3240-6 Disengage brake on arm pivot. Does not actually pass air (block output) Extends cylinder to disengage brake 60 PSI  
3 Arm Double SY3240-6 Engage brake on arm pivot Retracts cylinder to engage brake 60 PSI  
4 Arm Double SY3240-6

Release hand's grip on cube

Does not actually pass air (block output)

Removes air pressure from cylinder to "relax" grip on cube ?? PSI  
5 Arm Double SY3240-6 Tighten hand grip on cube Retracts cylinder to "close" hand ?? PSI  
6 Ramp Double SY3240-6 Holds ramps in stored position Extends cylinder to hold ramps in up position 60 PSI  
7 Ramp Double SY3240-6 Allows ramps to deploy to ground Retracts cylinder to release ramps to ground 60 PSI  

Operator Controls

Controller 1 - Primary Driver

 Button # Action/Button Description Details
  Left Joystick Y Drive Forward/Back

Up drive the robot forward (Intake side)
Down drives the robot backward

NOTE: will do the opposite if drive is toggled

  Left Joystick X Nothing  
  Right Joystick Y Nothing  
  Right Joystick X Turn Left/Right

Right will turn the robot clockwise and vice
versa. With no input from the left Joytick,
does point turn. With input from left, does
curve turn

NOTE: will do the opposite if drive is toggled

5 Left Bumper Slow decreases the range of power to the
motors by a set amount
6 Right Bumper Nothing  
7 Left Trigger Turbo Increases the range of power to the motors by a set amount.
8 Right Trigger Swap Drive Switches the front and back of the robot
 

Controller 2 - Aux Driver

Button # Action/Button Description Details
  Right Joystick Y Fine Arm Control

Up - towards front

Down - towards back

5 Left Bumper Raise Right Ramp  
6 Right Bumper Raise Left Ramp  
8 Right Trigger Intake Press and Hold
7 Left Trigger Outtake Press and Hold
0 Dpad Up    
4 Y button Front  
1 A button Back Exchange Level
2 B button Switch Back  
3 X button Switch Front  
7 + 8 Start + Select Deploy Ramps  

Broken Switches

Switch Description Details
Broken Switch1    
Broken Switch2    
Broken Switch3    
Broken Switch4    
Broken Switch5    
Broken Switch6    
Broken Switch7    

IO Maps for Old Robots