2019:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	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	Cargo	Talon-SRX	775 Pro	Brake	Intakes or expels cargo. Left half motor	(+) = intake cargo (-) = expel cargo
3	Cargo	Talon SRX	775 Pro	Brake	Intakes or expels cargo Right half motor	(+) = intake cargo (-) = expel cargo
4	Elevator	Talon SRX	775 Pro	Brake	Moves elevator up/down. Primary motor "A"/Left	(+) = elevator up (-) = elevator down
5	Elevator	Talon SRX	775 Pro	Brake	Moves elevator up/down Secondary motor "B"/Right	(+) = elevator up (-) = elevator down
6	Hab	Talon SRX	775 Pro	Brake	Drive "back legs" Primary motor; left"leg"	(+) = move foward (-) = move reverse
7	Hab	Victor SPX	775 Pro	Brake	Drive "back legs" Secondary motor; right"leg"	(+) = move foward (-) = move reverse
8	Pnuematics	PCM 1		N/A	Controls the solenoids	Solenoids
9	Pnuematics	PCM 2		N/A	Controls more of the solenoids	Solenoids
10
11
12
13
14
15

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Drivetrain	SPARK	CIM	Left front drive motor	+ Moves left side of robot forward - Moves left side of robot reverts	Don't know	40
	Drivetrain	SPARK	CIM	Left rear drive motor		Don't know	40
1	Drivetrain	SPARK	CIM	Right front drive motor	+ Moves left side of robot forward - Moves left side of robot reverts	Don't know	40
	Drivetrain	SPARK	CIM	Right reardrive motor		Don't know	40
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	Pnuematics	Pressure guage	REV-11-1107	Senses amount of pressure we have	To know if we can actually do HAB
1	Gyro?
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	Hatch	Limit switch	Honeywell SZL-VL-S-B-N-M	Hatch against backplate	1 = have hatch  0 = no hatch
1	IN	Cargo	Beam Break	Banner Q106	Do we have a cargo	1 = have cargo 0 = no cargo
2	IN	Cargo Left	Magnetic Reed Switch	Bimba MRS-.087-PBL-09	Senses when the left cargo arm is fully open and out of the way	0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall
3	IN	Cargo Right	Magnetic Reed Switch	Bimba MRS-.087-PBL-09	Senses when the right cargo arm is fully open and out of the way	0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall
4	IN	Elevator	Upper Limit	EE-SPY415	senses when the elevator is at the top of its track	0 = no face sensed 1 = face sensed
5	IN	Elevator	Lower Limit	Optek OPB815WZ	senses when the elevator is at the bottom of the track	0 = elevator not at bottom 1 = elevator is at bottom
6	IN	Hab	Left Front Extended	Bimba MRS-.087-PBL-??	senses when the front left cylinder is extended	0 = cylinder extended 1 = cylinder not extended
7	IN	Hab	Right Front Extended	Bimba MRS-.087-PBL-??	senses when the front right cylinder is extended	0 = cylinder extended 1 = cylinder not extended
8	IN	Hab	Left Rear Extended	Bimba MRS-.087-PBL-??	senses when the rear left cylinder is extended	0 = cylinder extended 1 = cylinder not extended
9	IN	Hab	Right Rear Extended	Bimba MRS-.087-PBL-??	senses when the rear right cylinder is extended	0 = cylinder extended 1 = cylinder not extended

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Hab	Magnetic Reed Switch	Bimba MRS-.087-PBL-??	Left front cylinder retracted	0 = cylinder retracted 1 = cylinder not retracted
1	IN	Hab	Magnetic Reed Switch	Bimba MRS-.087-PBL-??	Right front cylinder retracted	0 = cylinder retracted 1 = cylinder not retracted
2	IN	Drive	Encoder	63R256 Grayhill	Left drive train encoder	counts when moving?
3	IN	Drive	Encoder	63R256 Grayhill	Right drive train encoder
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 Modules

ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	Notes
1	0	Hatch	Double	SY3240-6LZ	Hold hatch	Extends cylinder to raise hook	50
	1				Allow hatch to release	Retract cylinder to lower hook
	2	Cargo	Double	SY3240-6LZ	Enables cargo mechanism	Extends cargo cylinders (2) to extend cargo mechism to usable position	50
	3				Store cargo, enable hatch	Retracts cargo cylinders (2) to store cargo mechanism out of way of hatch mechanism
	4	Elevator	Double	SY3240-6LZ	Lowers elevator to inside robot frame	Extends cylinder to lower entire elevator	50
	5				Raises elevator to usable position	Retracts cylinder to raise elevator to usable position for game piece
	6	Elevator	Double	SY3240-6LZ	Engage brake	Extends cylinder to engage elevator brake	50
	7				Release brake	Retracts cylinder to release elevator brake
2	0	Habitat	Double	SY3240-6LZ	Lift front of robot	Extends cylinders (2) to lift front end of robot	50

Operator Controls

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y
A-1	Left Joystick X
A-4	Right Joystick Y
A-4	Right Joystick X
B-6	Right Bumper
B-5	Right Bumper
A-3	Right Trigger
A-2	Left Trigger

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-5	Right Joystick Y
B-5	Left Bumper
B-6	Right Bumper
A-3	Right Trigger
A-2	Left Trigger
POV-0	Dpad Up
POV-180	Dpad Down
B-4	Y button
B-1	A button
B-2	B button
B-3	X button
B-7 + B-8	Start + Select

Broken Switches

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

Dashboard

Feature	Control	Key	Value

IO Maps for Old Robots

• 2018 IO Map
• 2017 IO Map
• 2016 IO Map
• 2015 IO Map
• 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