2025:Robot IO Map: Difference between revisions

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| style="width: 55.1125px; text-align: center; height: 28px;" |
<br>
| style="text-align: center; height: 28px; width: 130.325px;" |
| style="text-align: center; height: 28px; width: 130.325px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 17
| style="text-align: center; height: 28px; width: 22.05px;" | 17
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 105.213px;" |
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 106.213px;" |
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 112.225px;" |
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 70.15px;" |
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 110.225px;" |
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 224.45px;" |
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 115.238px;" |
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 55.1125px;" |
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 130.325px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 18
| style="text-align: center; height: 28px; width: 22.05px;" | 18
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 105.213px;" |
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 106.213px;" |
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 112.225px;" |
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 70.15px;" |
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 110.225px;" |
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 224.45px;" |
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 115.238px;" |
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 55.1125px;" |
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 130.325px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 19
| style="text-align: center; height: 28px; width: 22.05px;" | 19
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 105.213px;" |
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 106.213px;" |
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 112.225px;" |
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 70.15px;" |
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 110.225px;" |
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 224.45px;" |
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 115.238px;" |
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 55.1125px;" |
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 130.325px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 22.05px;" | 20
| style="text-align: center; height: 28px; width: 22.05px;" | 20
| style="text-align: center; height: 28px; width: 105.213px;" |
| style="text-align: center; height: 28px; width: 105.213px;" |
<br>
| style="text-align: center; height: 28px; width: 106.213px;" |
| style="text-align: center; height: 28px; width: 106.213px;" |
<br>
| style="text-align: center; height: 28px; width: 112.225px;" |
| style="text-align: center; height: 28px; width: 112.225px;" |
<br>
| style="text-align: center; height: 28px; width: 70.15px;" |
| style="text-align: center; height: 28px; width: 70.15px;" |
<br>
| style="text-align: center; height: 28px; width: 110.225px;" |
| style="text-align: center; height: 28px; width: 110.225px;" |
<br>
| style="height: 28px; width: 224.45px;" |
| style="height: 28px; width: 224.45px;" |
<br>
| style="height: 28px; width: 115.238px;" |
| style="height: 28px; width: 115.238px;" |
<br>
| style="height: 28px; width: 55.1125px;" |
| style="height: 28px; width: 55.1125px;" |
<br>
| style="height: 28px; width: 130.325px;" |
| style="height: 28px; width: 130.325px;" |
<br>
|- style="height: 51px;"
|- style="height: 51px;"
| style="text-align: center; width: 22.05px; height: 51px;" | 21
| style="text-align: center; width: 22.05px; height: 51px;" | 21
| style="text-align: center; width: 105.213px; height: 51px;" |
| style="text-align: center; width: 105.213px; height: 51px;" |
<br>
| style="text-align: center; width: 106.213px; height: 51px;" |
| style="text-align: center; width: 106.213px; height: 51px;" |
<br>
| style="text-align: center; width: 112.225px; height: 51px;" |
| style="text-align: center; width: 112.225px; height: 51px;" |
<br>
| style="text-align: center; width: 70.15px; height: 51px;" |
| style="text-align: center; width: 70.15px; height: 51px;" |
<br>
| style="text-align: center; width: 110.225px; height: 51px;" |
| style="text-align: center; width: 110.225px; height: 51px;" |
<br>
| style="width: 224.45px; height: 51px;" |
| style="width: 224.45px; height: 51px;" |
<br>
| style="width: 115.238px; height: 51px;" |
| style="width: 115.238px; height: 51px;" |
<br>
| style="width: 55.1125px; height: 51px;" |
| style="width: 55.1125px; height: 51px;" |
<br>
| style="width: 130.325px; height: 51px;" |
| style="width: 130.325px; height: 51px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; width: 22.05px; height: 28px;" | 22
| style="text-align: center; width: 22.05px; height: 28px;" | 22
Line 277: Line 457:
<div class="mw-parser-output"></div>
<div class="mw-parser-output"></div>


= &nbsp;CAN Chain Pathway =
= &nbsp; =
{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 529px;"
 
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Current Device (ID):
| style="width: 33.3333%; height: 23px;" | Next Device (ID):
| style="width: 33.3333%; height: 23px;" | Notes:
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | RIO
| style="width: 33.3333%; height: 23px;" | PDH(0)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | PDH(0)
| style="width: 33.3333%; height: 23px;" | &nbsp;Front Right Encoder (10)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Front Right Encoder (10)
| style="width: 33.3333%; height: 23px;" | Front Right Drive (2)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Front Right Drive (2)
| style="width: 33.3333%; height: 23px;" | Front Right Rotation (6)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Front Right Rotation (6)
| style="width: 33.3333%; height: 23px;" | Hang Right (20)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Hang Right (20)
| style="width: 33.3333%; height: 23px;" | Back Right Rotation (8)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Back Right Rotation (8)
| style="width: 33.3333%; height: 23px;" | Back Right Drive (4)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Back Right Drive (4)
| style="width: 33.3333%; height: 23px;" | Back Right Encoder (12)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|-
| style="width: 33.3333%;" | Back Right Encoder (12)
| style="width: 33.3333%;" | Worm/Brake (19)
| style="width: 33.3333%;" | On Worm Gearbox
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Worm/Brake (19)
| style="width: 33.3333%; height: 23px;" | Pidgeon 2.0 (14)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Pidgeon 2.0 (14)
| style="width: 33.3333%; height: 23px;" | Arm Pivot (18)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Arm Pivot (18)
| style="width: 33.3333%; height: 23px;" | Front Left Encoder (11)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Front Left Encoder (11)
| style="width: 33.3333%; height: 23px;" | Front Left Drive (3)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Front Left Drive (3)
| style="width: 33.3333%; height: 23px;" | Front Left Rotation (7)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Front Left Rotation (7)
| style="width: 33.3333%; height: 23px;" | Hang Left (21)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Hang Left (21)
| style="width: 33.3333%; height: 23px;" | Back Left Rotation (9)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Back Left Rotation (9)
| style="width: 33.3333%; height: 23px;" | Back Left Drive (5)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Back Left Drive (5)
| style="width: 33.3333%; height: 23px;" | Back Left Encoder (13)
| style="width: 33.3333%; height: 23px;" | On DB Bellypan
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" | Back Left Encoder (13)
| style="width: 33.3333%; height: 23px;" | Left Shooter (16)
| style="width: 33.3333%; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" |
Left Shooter (16)
| style="width: 33.3333%; height: 23px;" |
Right Shooter (17)
| style="width: 33.3333%; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" |
Right Shooter (17)
| style="width: 33.3333%; height: 23px;" |
Intake (15)
| style="width: 33.3333%; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" |
Intake (15)
| style="width: 33.3333%; height: 23px;" |
TERMINATION: 120 ohm resistor&nbsp;
| style="width: 33.3333%; height: 23px;" |
<br>
|- style="height: 23px;"
| style="width: 33.3333%; height: 23px;" |
<br>
| style="width: 33.3333%; height: 23px;" |
<br>
| style="width: 33.3333%; height: 23px;" |
<br>
|}
</div>


{| class="wikitable" style="height: 700px;"
{| class="wikitable" style="height: 700px;"
Line 401: Line 470:
| style="height: 28px; width: 99px; text-align: center;" | 0
| style="height: 28px; width: 99px; text-align: center;" | 0
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Front Right Drive (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 411: Line 477:
| style="height: 28px; width: 99px; text-align: center;" | 1
| style="height: 28px; width: 99px; text-align: center;" | 1
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Front Right Rotation (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 421: Line 484:
| style="height: 28px; width: 99px; text-align: center;" | 2
| style="height: 28px; width: 99px; text-align: center;" | 2
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Solenoid Relay
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
20A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 431: Line 491:
| style="height: 28px; width: 99px; text-align: center;" | 3
| style="height: 28px; width: 99px; text-align: center;" | 3
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
<br>
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
<br>
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 441: Line 498:
| style="height: 28px; width: 99px; text-align: center;" | 4
| style="height: 28px; width: 99px; text-align: center;" | 4
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Left Hang Arm
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 451: Line 505:
| style="height: 28px; width: 99px; text-align: center;" | 5
| style="height: 28px; width: 99px; text-align: center;" | 5
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Intake
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
30A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 461: Line 512:
| style="height: 28px; width: 99px; text-align: center;" | 6
| style="height: 28px; width: 99px; text-align: center;" | 6
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Right Shooter
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 471: Line 519:
| style="height: 28px; width: 99px; text-align: center;" | 7
| style="height: 28px; width: 99px; text-align: center;" | 7
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Left Shooter
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 481: Line 526:
| style="height: 28px; width: 99px; text-align: center;" | 8
| style="height: 28px; width: 99px; text-align: center;" | 8
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Front Left Drive (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 491: Line 533:
| style="height: 28px; width: 99px; text-align: center;" | 9
| style="height: 28px; width: 99px; text-align: center;" | 9
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Front Left Rotation
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 501: Line 540:
| style="height: 28px; width: 99px; text-align: center;" | 10
| style="height: 28px; width: 99px; text-align: center;" | 10
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
<br>
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 511: Line 547:
| style="height: 28px; width: 99px; text-align: center;" | 11
| style="height: 28px; width: 99px; text-align: center;" | 11
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Back Left Rotation (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 521: Line 554:
| style="height: 28px; width: 99px; text-align: center;" | 12
| style="height: 28px; width: 99px; text-align: center;" | 12
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Back Left Drive (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 531: Line 561:
| style="height: 28px; width: 99px; text-align: center;" | 13
| style="height: 28px; width: 99px; text-align: center;" | 13
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
<br>
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
<br>
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 541: Line 568:
| style="height: 28px; width: 99px; text-align: center;" | 14
| style="height: 28px; width: 99px; text-align: center;" | 14
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Game Piece Arm Pivot
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 551: Line 575:
| style="height: 28px; width: 99px; text-align: center;" | 15
| style="height: 28px; width: 99px; text-align: center;" | 15
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Back Right Drive (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 561: Line 582:
| style="height: 28px; width: 99px; text-align: center;" | 16
| style="height: 28px; width: 99px; text-align: center;" | 16
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Back Right Rotation (Drive)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 571: Line 589:
| style="height: 28px; width: 99px; text-align: center;" | 17
| style="height: 28px; width: 99px; text-align: center;" | 17
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Hang Right&nbsp;
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
40A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 581: Line 596:
| style="height: 28px; width: 99px; text-align: center;" | 18
| style="height: 28px; width: 99px; text-align: center;" | 18
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
Brake/Worm Gear
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
30A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 591: Line 603:
| style="height: 28px; width: 99px; text-align: center;" | 19
| style="height: 28px; width: 99px; text-align: center;" | 19
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
<br>
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
<br>
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
40A
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 601: Line 610:
| style="height: 28px; width: 99px; text-align: center;" | 20
| style="height: 28px; width: 99px; text-align: center;" | 20
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
RoboRIO (RCS)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
10A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
10A Fused
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 611: Line 617:
| style="height: 28px; width: 99px; text-align: center;" | 21
| style="height: 28px; width: 99px; text-align: center;" | 21
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
VRM (RCS)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
10A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
10A Fused
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 621: Line 624:
| style="height: 28px; width: 99px; text-align: center;" | 22
| style="height: 28px; width: 99px; text-align: center;" | 22
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
3X Allen Bradley Sensors (Ganged)
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
10A
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
10A Fused
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 631: Line 631:
| style="height: 28px; width: 99px; text-align: center;" | 23 (Switchable)
| style="height: 28px; width: 99px; text-align: center;" | 23 (Switchable)
| style="height: 28px; width: 133px; text-align: center;" |
| style="height: 28px; width: 133px; text-align: center;" |
<br>
| style="height: 28px; width: 82px; text-align: center;" |
| style="height: 28px; width: 82px; text-align: center;" |
<br>
| style="height: 28px; width: 144px; text-align: center;" |
| style="height: 28px; width: 144px; text-align: center;" |
5A Fused
| style="height: 28px; width: 32px; text-align: center;" |
| style="height: 28px; width: 32px; text-align: center;" |
<br>
<br>
Line 641: Line 638:


<div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
{| class="wikitable" style="height: 252px;"
{| class="wikitable" style="height: 252px;"
|+ VRM Assignments
|+ VRM Assignments
Line 650: Line 647:
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
LED
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 75.25px;" | 5V/2A
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
LED
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 75.25px;" | 5V/500mA
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
<br>
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
Radio (RCS)
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 75.25px;" | 12V/2A
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
Do Not Use&nbsp;
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 12V/500mA
| style="height: 28px; width: 75.25px;" | 12V/500mA
| style="height: 28px; width: 120.85px;" |
| style="height: 28px; width: 120.85px;" |
CanCoders 4x Ganged - Drive
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 75.25px;" | 12V/500mA
| style="height: 28px; width: 75.25px;" | 12V/500mA
| Pigeon2
|
|}
|}
</div>
</div>
Line 707: Line 697:
| style="width: 16.025px; height: 28px;" | 0
| style="width: 16.025px; height: 28px;" | 0
| style="width: 76.8375px; height: 28px;" |
| style="width: 76.8375px; height: 28px;" |
LEDs
| style="width: 79.9875px; height: 28px;" |
| style="width: 79.9875px; height: 28px;" |
<br>
<br>
Line 904: Line 893:
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 27.8906px;" | 0
| style="height: 28px; width: 27.8906px;" | 0
| style="height: 28px; width: 139.875px;" | &nbsp;Hang
| style="height: 28px; width: 139.875px;" |
| style="width: 80px; height: 28px;" | SPIKE relay
| style="width: 80px; height: 28px;" |
| style="width: 51.2188px; height: 28px;" | &nbsp;
| style="width: 51.2188px; height: 28px;" |
| style="width: 166.875px; height: 28px;" | Actuates braking pawl against ratchet wheel.
| style="width: 166.875px; height: 28px;" |
 
| style="width: 217.828px; height: 28px;" |
Energizing lifts the pawl off the ratchet wheel. Integrated spring pushes pawl into ratchet wheel.
| style="width: 182.312px; height: 28px;" |
| style="width: 217.828px; height: 28px;" | &nbsp;
| style="width: 182.312px; height: 28px;" | Two solenoids controlled via one SPIKE relay (one on M+ and one on M- with common ground)
 
Left Solenoid is Reverse, Right is Forward.
 
[https://content.vexrobotics.com/docs/spike-blue-guide-sep05.pdf See Spike Users Guide]
|- style="height: 28px;"
|- style="height: 28px;"
| style="height: 28px; width: 27.8906px;" | 1
| style="height: 28px; width: 27.8906px;" | 1
Line 947: Line 930:
== Analog IO ==
== Analog IO ==
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
=== <u>RoboRIO Analog Inputs</u> ===
=== <u>RoboRIO Analog Inputs</u> ===


Line 1,075: Line 1,056:
&nbsp;</div></div>
&nbsp;</div></div>
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<div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
== Digital IO (GPIO) ==
== Digital IO (GPIO) ==
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output">
<div class="mw-parser-output">
=== <u>RoboRio IO</u> ===
=== <u>RoboRio IO</u> ===


Line 1,102: Line 1,078:
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76px; text-align: center; height: 28px;" |
Game Piece - Intake
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 122px; text-align: center; height: 28px;" |
Diffuse retro-reflective sensor
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 139px; text-align: center; height: 28px;" |
Allen Bradley 42EF-D2MPAK-F4
| style="width: 193px; height: 28px; text-align: left;" |
| style="width: 193px; height: 28px; text-align: left;" |
Senses GP<br>Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; height: 28px; text-align: left;" |
| style="width: 231px; height: 28px; text-align: left;" |
<p>Wire for Dark operating</p>Signal connects to roborio DIO<p>12V powered</p>
<p>Voltage divider added to cable pigtail</p>
<p>[https://wiki.penfieldrobotics.com/wiki/index.php?title=File:Allen_Bradley_Diffuse_Circuit.jpg See circuit diagram]&nbsp;</p>
|- style="height: 51px;"
|- style="height: 51px;"
| style="text-align: center; height: 51px; width: 44px;" | 1
| style="text-align: center; height: 51px; width: 44px;" | 1
| style="text-align: center; height: 51px; width: 159px;" | IN
| style="text-align: center; height: 51px; width: 159px;" | IN
| style="width: 76px; text-align: center; height: 51px;" |
| style="width: 76px; text-align: center; height: 51px;" |
Game Piece - Arm
| style="width: 122px; text-align: center; height: 51px;" |
| style="width: 122px; text-align: center; height: 51px;" |
Encoder
| style="width: 139px; text-align: center; height: 51px;" |
| style="width: 139px; text-align: center; height: 51px;" |
[https://www.revrobotics.com/rev-11-1271/ https://www.revrobotics.com/rev-11-1271/]
| style="width: 193px; height: 51px; text-align: left;" |
| style="width: 193px; height: 51px; text-align: left;" |
Used in absolute position mode to indicate arm pivot angle.
| style="width: 223px; text-align: center; height: 51px;" |
| style="width: 223px; text-align: center; height: 51px;" |
<br>
| style="width: 231px; height: 51px; text-align: left;" |
| style="width: 231px; height: 51px; text-align: left;" |
Wire White/Red/Black To roborio DIO
|- style="height: 57px;"
|- style="height: 57px;"
| style="text-align: center; height: 57px; width: 44px;" | 2
| style="text-align: center; height: 57px; width: 44px;" | 2
| style="text-align: center; height: 57px; width: 159px;" | IN
| style="text-align: center; height: 57px; width: 159px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76px; text-align: center; height: 28px;" |
Hang Brake
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 122px; text-align: center; height: 28px;" |
Leaf Lever Limit Switch Right
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 139px; text-align: center; height: 28px;" |
V7-2B17D8-048
| style="width: 193px; height: 28px; text-align: left;" |
| style="width: 193px; height: 28px; text-align: left;" |
Triggers when pawl on brake is fully lifted and clear of ratchet wheel
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; height: 28px; text-align: left;" |
| style="width: 231px; height: 28px; text-align: left;" |
roborio DIO<br>Wire for normally open
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 3
| style="text-align: center; height: 28px; width: 44px;" | 3
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76px; text-align: center; height: 28px;" |
Hang Brake
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 122px; text-align: center; height: 28px;" |
Leaf Lever Limit Switch Left
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 139px; text-align: center; height: 28px;" |
V7-2B17D8-048
| style="width: 193px; height: 28px; text-align: left;" |
| style="width: 193px; height: 28px; text-align: left;" |
Triggers when pawl on brake is fully lifted and clear of ratchet wheel<br><br>
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; height: 28px; text-align: left;" |
| style="width: 231px; height: 28px; text-align: left;" |
roborio DIO<br>Wire for normally open
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 4
| style="text-align: center; height: 28px; width: 44px;" | 4
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="text-align: center; height: 28px; width: 159px;" | IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76px; text-align: center; height: 28px;" |
Hang
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 122px; text-align: center; height: 28px;" |
Diffuse retro-reflective sensor
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 139px; text-align: center; height: 28px;" |
Allen Bradley 42EF-D2MPAK-F4
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 193px; text-align: center; height: 28px;" |
Detects when left hook is present (down)
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; text-align: center; height: 28px;" |
| style="width: 231px; text-align: center; height: 28px;" |
<p>Wire for Dark operating</p>Signal connects to roborio DIO<p>12V powered</p>
<p>Voltage divider added to cable pigtail</p>
<p>[https://wiki.penfieldrobotics.com/wiki/index.php?title=File:Allen_Bradley_Diffuse_Circuit.jpg See circuit diagram]</p>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 5
| style="text-align: center; height: 28px; width: 44px;" | 5
Line 1,182: Line 1,124:
IN
IN
| style="width: 76px; text-align: center; height: 28px;" |
| style="width: 76px; text-align: center; height: 28px;" |
Hang
| style="width: 122px; text-align: center; height: 28px;" |
| style="width: 122px; text-align: center; height: 28px;" |
Diffuse retro-reflective sensor
| style="width: 139px; text-align: center; height: 28px;" |
| style="width: 139px; text-align: center; height: 28px;" |
Allen Bradley 42EF-D2MPAK-F4
| style="width: 193px; text-align: center; height: 28px;" |
| style="width: 193px; text-align: center; height: 28px;" |
Detects when right hook is present (down)
| style="width: 223px; text-align: center; height: 28px;" |
| style="width: 223px; text-align: center; height: 28px;" |
<br>
| style="width: 231px; text-align: center; height: 28px;" |
| style="width: 231px; text-align: center; height: 28px;" |
<p>Wire for Dark operating</p>Signal connects to roborio DIO<p>12V powered</p>
<p>Voltage divider added to cable pigtail</p>
<p>[https://wiki.penfieldrobotics.com/wiki/index.php?title=File:Allen_Bradley_Diffuse_Circuit.jpg See circuit diagram]</p>
|- style="height: 28px;"
|- style="height: 28px;"
| style="text-align: center; height: 28px; width: 44px;" | 6
| style="text-align: center; height: 28px; width: 44px;" | 6
Line 1,576: Line 1,510:


<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
== Pneumatics Control Modules ==
== Pneumatics Control Modules ==


Line 1,746: Line 1,679:
= Operator Controls =
= Operator Controls =
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
<div class="mw-parser-output">
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<div class="mw-parser-output">
=== Controller 1 - Primary Driver ===
=== Controller 1 - Primary Driver ===


Line 1,842: Line 1,772:
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=== Controller 2 - Aux Driver ===
=== Controller 2 - Aux Driver ===


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=== Controller 3&nbsp;- Switches on console ===
=== Controller 3&nbsp;- Switches on console ===


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{| style="width: 0px" border="1" cellspacing="1" cellpadding="2"
{| style="width: 0px" border="1" cellspacing="1" cellpadding="2"
|-  
|-  
| '''Key'''
| style="width: 26px;" | '''Key'''
| '''Data Type'''
| style="width: 32px;" | '''Data Type'''
| '''Value'''
| style="width: 38px;" | '''Value'''
| style="width: 1000px" | '''Description'''
| style="width: 81px;" | '''Description'''
|-
| style="width: 26px;" |
| style="width: 32px;" |
| style="width: 38px;" |
| style="width: 81px;" |
|-  
|-  
| thunderdashboard_gyro
| style="width: 26px;" |
| number
| style="width: 32px;" |
|
| style="width: 38px;" |
0 - dashboard background not based on this
| style="width: 81px;" |
 
1 - dashboard background goes red
 
| used when: gyro is calibrating
|-  
|-  
| thunderdashboard_yellow
| style="width: 26px;" |
| number
| style="width: 32px;" |
|
| style="width: 38px;" |
0 - dashboard background not based on this
| style="width: 81px;" |
 
1 - dashboard background goes yellow
 
|
used when: TBD
 
NOTE: thunderdashboard_gyro takes precedence
 
|-  
|-  
| thunderdashboard_green
| style="width: 26px;" |
| number
| style="width: 32px;" |
|
| style="width: 38px;" |
0 - dashboard background not based on this
| style="width: 81px;" |
 
1 - dashboard background goes green
 
|
used when: TBD
 
NOTE: thunderdashboard_gyro takes precendence
 
|-
| thunderdashboard_inpitmode
| number
|
0 - dashboard background not based on this
 
1 - dashboard background is power blue
 
|
used when: robot is operating in 'pit mode' (for safer operatin in the pits)
 
NOTE: thunderdashboard_gyro takes precendence
|-
| thunderdashboard_auto_list
| string
| a comma seperated list
| the list of auto modes (e.g. "0,1,2,3,4,5")
|-
| thunderdashboard_auto_#
| string
| any text
| one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
|-
| Auto_Mode
| number
| a number from thunderdashboard_auto_list
| the auto mode selected on the UI
|-
| thunderdashboard_auto_start_delay
| number
|
<br>
| user selected number of seconds, 0 to 15, to delay start of auto mode
|-
| thunderdashboard_auto_doing_auto
| boolean
| true - should do autonomous
false - should not do autonomous
| Dashboard checkbox in auto selector page. When false, the robot should not do anything in autonomous
|-
| thunderdashboard_auto_starting_location
| number
| 0 - barrier side
1 - center
 
2 - edge side
| Dashboard selection of which community zone the robot should start in
|-
| thunderdashboard_auto_starting_gamepiece
| number
| 0 - cube
1 - cone
| Dashboard selection of which GamePiece the robot is starting with. Also determines the exact starting position of the robotin combination with the general zone as provided by 'thunderdashboard_auto_starting_location'
|-
| thunderdashboard_auto_starting_action
| number
| Depending on the starting location, this value means different things.'''If starting in the center,'''
 
0 - Score preloaded GamePiece and balance on Charge Station
 
1 - Score preloaded GamePiece, traverse Charge Station, and collect GamePiece 3 from field
 
'''If starting on either side,'''
 
Anything - Score preloaded GamePiece and collect field GamePiece 1 or 4
| Dashboard selection of what action the robot should do first in autonomous
|-
| thunderdashboard_auto_field_gamepiece
| number
| 0 - cube
1 - cone
| Dashboard selection of which GamePiece to collect on the field (if the starting action puts the robot in the position to acquire a GamePiece)
|-
| thunderdashboard_auto_final_action
| number
| Depending on the starting location, this value means different things,'''If starting in the center,'''
 
0 - Do nothing
 
1 - Balance on Charge Station
 
'''If starting on either side,'''
 
0 - Do nothing
 
1 - Score acquired field GamePiece
 
2 - Balance on Charge Station
| Dashboard selection of what action the robot should do at the end of Autonomous (if the starting action puts the robot in the position for a final action).
|-
| thunderdashboard_drive_x_pos
| number
|
<br>
| Robot current X position on the field (m)
|-
| thunderdashboard_drive_y_pos
| number
|
<br>
| Robot current Y position on the field (m)
|-
| thunderdashboard_drive_target_x_pos
| number
|
<br>
| Robot target X position on the field (m)
|-
| thunderdashboard_drive_target_y_pos
| number
|
<br>
| Robot target Y position on the field (m)
|-
| thunderdashboard_drive_x_vel
| number
|
<br>
| Robot current X velocity (m/s)
|-
| thunderdashboard_drive_y_vel
| number
|
<br>
| Robot current Y velocity (m/s)
|-
| thunderdashboard_drive_ang_vel
| number
|
<br>
| Robot current angular velocity (rad/s)
|-
| thunderdashboard_drive_ang
| number
|
<br>
| Robot current angle (radians)
|-
| thunderdashboard_drive_target_ang
| number
|
<br>
| Robot target angle (radians)
|-
| thunderdashboard_lift_pivot_percent
| number
| 0 to 1
| Percent of lift pivot
|-
| thunderdashboard_lift_extension_percent
| number
| 0 to 1
| Percent of lift extension
|-
| thunderdashboard_lift_pivot_target_percent
| number
| 0 to 1, -1 if no target
| Target percent of lift pivot
|-
| thunderdashboard_lift_extension_target_percent
| number
| 0 to 1, -1 if no target
| Target percent of lift extension
|-
| thunderdashboard_grabber_position
| number
| 0 - open
1 - agape
 
2 - ajar
| State of grabber mechanism
|-
| thunderdashboard_gamepiece
| number
| -1 - no gamepiece
0 - cube
1 - cone
| Which GamePiece the robot is currently in possession of
|-
| thunderdashboard_match_remaining
| number
|
<br>
| The time remaining in the current match period
|-
| thunderdashboard_airpressure_low
| number
|
<br>
| Low air pressure on gauge
|-
| thunderdashboard_airpressure_high
| number
|
<br>
| High air pressure on gauge
|-
| thunderdashboard_airpressure
| number
|
<br>
| Current air pressure
|-
| thunderdashboard_airpressure_iters
| number
|
<br>
| Number of ticks on air pressure gauge
|-
| thunderdashboard_led_mode
| number
| 0 - Robot State
1 - Alliance Color
 
2 - Custom Color
 
3 - Off
| The mode of the robot LEDs
|-
| thunderdashboard_led_custom_r
| number
| 0-1
| Custom LED red value
|-
| thunderdashboard_led_custom_g
| number
| 0-1
| Custom LED green value
|-
| thunderdashboard_led_custom_b
| number
| 0-1
| Custom LED blue value
|-
| thunderdashboard_score_grid
| number
| -1 - No grid aligned
0 - Left grid
 
1 - Center grid
 
2 - Right grid
| Which grid the robot is currently in front of (relative to driver, NOT field or robot)
|-
| thunderdashboard_score_grid_column
| number
| -1 - No Column selected
0 - Left column
 
1 - Center column
 
2 - Right column
| Which column of the grid the robot is trying to align to (relative to driver, NOT field or robot)
|}
|}


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*[[2009:IO_Map|2009 Thunderplucker]]
*[[2009:IO_Map|2009 Thunderplucker]]
*[[IO Pin Maps for Pre-2009 Robots]]
*[[IO Pin Maps for Pre-2009 Robots]]
</div></div></div></div></div></div></div></div></div></div></div></div></div></div>

Latest revision as of 11:47, 30 December 2024

CAN ID Assignments

ID Subsystem

Component

Type

 Model # Brake or Coast? Description
(brief) 		Operation

PD Board Info

(8) max. 40A         PDB #

General Notes
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 please  


2










3










4










5










6










7










8










9










10










11










12










13










14










15










16










17










18










19










20










21










22









 

PDB Assignments
Port # Device (Subteam) Breaker Value Max Channel Current Note
0


1


2


3


4


5


6


7


8


9


10


11


12


13


14


15


16


17


18


19


20


21


22


23 (Switchable)


VRM Assignments
Port # Device (Subteam)
5V/2A
5V/2A
5V/500mA
5V/500mA
12V/2A
12V/2A
12V/500mA
12V/500mA

PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0







 
1





 


   
2





       
3





       
4









5



 


       
6









7





 




8









9





 




10                
11                
 
 

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              
 

More Board Analog Inputs

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation

Voltage

Range

Notes
0              
1              
2              
3              
 

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

IN

6

IN







7 IN






 
8 IN






 
9 IN






 
10 IN






 
 
 
 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0 IN            
1 IN            
2 IN            
3 IN            
4 IN            
5 IN            
6 IN            
7 IN            
8 IN            
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


 






 
               
               
               
               
               
               

SPI Devices

# Subsystem

Component Type

 Model # Description (brief) Operation Notes
0






 

USB Host Ports

Address Subsystem

Component Type

 Model # Description (brief) Operation Notes
0






 
1            

Pneumatics Control Modules

PCM

ID

# Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

 Operation Circuit Pressure PDB #
1 0








1



2







3



4







5



6







7



2 0








1



2







3



4







5



Operator Controls

Controller 1 - Primary Driver

 Button/Axis # Action/Button Description Details
A-1 Left Joystick Y


 
A-1 Left Joystick X


 


Left Joystick Press



A-4 Right Joystick Y


 
A-4 Right Joystick X


 
B-6 Right Bumper


 
B-5 Left Bumper


 
A-3 Right Trigger


 
A-2 Left Trigger


 
B-1 Square / A Button


 
B-3 Cross / X Button


 
B-4 Triangle / Y Button


 
B-2 Circle / B Button    
 

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-0 Left Joystick X-Axis    
A-1 Left Joystick Y-Axis



A-2 Left Trigger



A-3 Right Trigger



A-4 Right Joystick X-Axis


 

 

A-5 Right Joystick Y-Axis


 
B-1 Square / A Button



B-2 Circle / B button



B-3 Cross / X Button



B-4 Triangle / Y button



B-5 Left bumper



B-6 Right bumper



B-7 Back Button


 
B-8 Start Button



B-9 Left Stick Pressed


 
B-10 Right Stick Pressed


 
POV-0 D-pad up



POV-90 D-pad right



POV-180 D-pad down



POV-270 D-pad left



Controller 3 - Switches on console

 Button/Axis #  Action/Button  Description Details
B-1



 
B-2



 
B-3



 
B-4



 
B-5



 
B-6



 
B-7



 
B-8



 
B-9



 

Dashboard

Key Data Type Value Description

IO Maps for Old Robots

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