2025:Robot IO Map: Difference between revisions
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== CAN ID Assignments == | == CAN ID Assignments == | ||
{| style="width: | {| style="width: 996px; height: 778px;" border="1" cellspacing="1" cellpadding="2" | ||
|- style="height: 80px;" | |- style="height: 80px;" | ||
| style="text-align: center; height: 80px; width: | | style="text-align: center; height: 80px; width: 20.075px;" | '''ID''' | ||
| style="text-align: center; height: 80px; width: | | style="text-align: center; height: 80px; width: 99.325px;" | '''Subsystem''' | ||
| style="height: 80px; width: | | style="height: 80px; width: 100.338px;" | <p style="text-align: center">'''Component'''</p> | ||
<p style="text-align: center">'''Type'''</p> | <p style="text-align: center">'''Type'''</p> | ||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 80px;" | '''Model #''' | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 80px;" | '''Brake or Coast?''' | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 80px;" | '''Description'''<br>(brief) | ||
| style="width: | | style="width: 194.637px; text-align: center; height: 80px;" | '''Operation''' | ||
| style="width: | | style="width: 151.288px; text-align: center; height: 80px;" colspan="2" | | ||
'''PD Board Info''' | '''PD Board Info''' | ||
'''(8) max. 40A PDB #''' | '''(8) max. 40A PDB #''' | ||
| style="height: 80px; width: | | style="height: 80px; width: 116.438px;" | '''General Notes''' | ||
|- style="height: | |- style="height: 75px;" | ||
| style="text-align: center; height: | | style="text-align: center; height: 75px; width: 20.075px;" | 0 | ||
| style="text-align: center; height: | | style="text-align: center; height: 75px; width: 99.325px;" | Electrica'''l''' | ||
| style="height: | | style="height: 75px; width: 100.338px;" | <p style="text-align: center">PD Module</p> | ||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 75px;" | | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 75px;" | | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 75px;" | Power Distribution Module feedback | ||
| style="width: | | style="width: 194.637px; text-align: center; height: 75px;" | monitor PD | ||
| style="width: | | style="width: 99.325px; height: 75px;" | <p style="text-align: center">must be CAN 0</p> | ||
| style="width: | | style="width: 47.1625px; height: 75px;" | | ||
| style="height: 75px; width: 116.438px;" | | |||
| style="height: | |||
<br> | <br> | ||
|- style="height: 12px;" | |||
| style="text-align: center; height: 12px; width: 20.075px;" | 1 | |||
| style="text-align: center; height: 12px; width: 99.325px;" | '''Drive''' | |||
| style="text-align: center; height: 12px; width: 100.338px;" | Motor | |||
| style="text-align: center; width: 99.325px; height: 12px;" | Kraken X60 | |||
| style="width: 66.225px; text-align: center; height: 12px;" | Brake | |||
| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left | |||
| style="width: 194.637px; text-align: center; height: 12px;" | | |||
| style="width: 99.325px; text-align: center; height: 12px;" | | |||
| style="width: 47.1625px; text-align: center; height: 12px;" | | |||
| style="height: 12px; width: 116.438px;" | | |||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 2 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Motor | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | ||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Rotation Motor Front Left | |||
| style="width: | | style="width: 194.637px; text-align: center; height: 28px;" | | ||
| style="width: | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 116.438px; text-align: center;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 3 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
Cancoder | |||
| style="text-align: center; width: 99.325px; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px | | style="width: 66.225px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Cancoder Front Left | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: 116.438px; text-align: center;" | | |||
| style="height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 4 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Motor | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | ||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="text-align: center; height: 28px; width: 104.35px;" | | |||
Drive Motor Front Right | |||
| style="height: 28px; width: 194.637px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 47.1625px; text-align: center;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 116.438px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 5 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Motor | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | ||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="text-align: center; height: 28px; width: 104.35px;" | | |||
Rotation Motor Front Right | |||
| style="height: 28px; width: 194.637px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 47.1625px; text-align: center;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 116.438px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 6 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Cancoder | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Cancoder Front Right | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 116.438px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 7 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Motor | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | ||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Drive Motor | |||
Back Right | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: 116.438px; text-align: center;" | | |||
| style="height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 8 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Motor | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | ||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 104.35px;" | | ||
Rotation Motor Back Right | |||
| style="text-align: center; height: 28px; width: 194.637px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: 116.438px; text-align: center;" | | |||
| style="height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | | ||
9 | 9 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Cancoder | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Cancoder Back Right | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 10 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
Motor | |||
| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | |||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="width: 104.35px; text-align: center; height: 28px;" | | |||
Drive Motor | |||
Back Left | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 116.438px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 11 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Motor | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60 | ||
| style="width: 66.225px; text-align: center; height: 28px;" | Brake | |||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Rotation Motor Back Left | |||
| style="width: | | style="width: 194.637px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style=" | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 12 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Cancoder | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
Cancoder Back Left | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 14 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Drive | |||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 100.338px;" | | ||
Pigeon | |||
| style="width: 99.325px; text-align: center; height: 28px;" | | |||
Pigeon | |||
| style="width: 66.225px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="text-align: center; width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
IMU (centered) | |||
| style="width: 194.637px; text-align: center; height: 28px;" | | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: 116.438px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 15 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 194.637px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 16 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
| style="text-align: center; height: 28px; width: | |||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 66.225px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 104.35px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 194.637px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; text-align: center; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 17 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style=" | | style="text-align: center; height: 28px; width: 66.225px;" | | ||
<br> | <br> | ||
| style=" | | style="text-align: center; height: 28px; width: 104.35px;" | | ||
<br> | <br> | ||
| style="width: | | style="height: 28px; width: 194.637px;" | | ||
<br> | <br> | ||
| style="width: | | style="height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="width: | | style="height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 18 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 66.225px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 104.35px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 194.637px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 19 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 66.225px;" | | ||
<br> | <br> | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 104.35px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 194.637px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: | | style="height: 28px; width: 116.438px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 20.075px;" | 20 | ||
| style="text-align: center; height: 28px; width: | | style="text-align: center; height: 28px; width: 99.325px;" | | ||
Cage | |||
| style="text-align: center; height: 28px; width: 100.338px;" | | |||
Motor | |||
| style="text-align: center; height: 28px; width: 99.325px;" | | |||
Neo | |||
| style="text-align: center; height: 28px; width: 66.225px;" | | |||
? | |||
| style="text-align: center; height: 28px; width: 104.35px;" | | |||
Hang Arm Right | |||
| style="height: 28px; width: 194.637px;" | | |||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 99.325px;" | | ||
<br> | <br> | ||
| style=" | | style="height: 28px; width: 47.1625px;" | | ||
<br> | <br> | ||
| style="height: 28px; width: 116.438px;" | | |||
| style="height: 28px; width: | |||
<br> | <br> | ||
|- style="height: 51px;" | |- style="height: 51px;" | ||
| style="text-align: center; width: | | style="text-align: center; width: 20.075px; height: 51px;" | 21 | ||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 51px;" | | ||
Cage | |||
| style="text-align: center; width: | | style="text-align: center; width: 100.338px; height: 51px;" | | ||
Motor | |||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 51px;" | | ||
Neo | |||
| style="text-align: center; width: | | style="text-align: center; width: 66.225px; height: 51px;" | | ||
? | |||
| style="text-align: center; width: | | style="text-align: center; width: 104.35px; height: 51px;" | | ||
Hang Arm Left | |||
| style="width: | | style="width: 194.637px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 99.325px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 47.1625px; height: 51px;" | | ||
<br> | <br> | ||
| style="width: | | style="width: 116.438px; height: 51px;" | | ||
<br> | <br> | ||
|- style="height: 28px;" | |- style="height: 28px;" | ||
| style="text-align: center; width: | | style="text-align: center; width: 20.075px; height: 28px;" | 22 | ||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 100.338px; height: 28px;" | | ||
<br> | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 99.325px; height: 28px;" | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 66.225px; height: 28px;" | <br> | ||
| style="text-align: center; width: | | style="text-align: center; width: 104.35px; height: 28px;" | <br> | ||
| style="width: | | style="width: 194.637px; height: 28px;" | <br> | ||
| style="width: | | style="width: 99.325px; height: 28px;" | <br> | ||
| style="width: | | style="width: 47.1625px; height: 28px;" | <br> | ||
| style="width: | | style="width: 116.438px; height: 28px;" | <br> | ||
|} | |} | ||
Revision as of 13:32, 19 January 2025
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 | Drive | Motor | Kraken X60 | Brake | Drive Motor Front Left | ||||
| 2 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Front Left |
|
|
|
|
| 3 |
Drive |
Cancoder |
|
|
Cancoder Front Left |
|
|
|
|
| 4 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Front Right |
|
|
|
|
| 5 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Front Right |
|
|
|
|
| 6 |
Drive |
Cancoder |
|
|
Cancoder Front Right |
|
|
|
|
| 7 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Back Right |
|
|
|
|
| 8 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Back Right |
|
|
|
|
|
9 |
Drive |
Cancoder |
|
|
Cancoder Back Right |
|
|
|
|
| 10 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Back Left |
|
|
|
|
| 11 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Back Left |
|
|
|
|
| 12 |
Drive |
Cancoder |
|
|
Cancoder Back Left |
|
|
|
|
| 14 |
Drive |
Pigeon |
Pigeon |
|
IMU (centered) |
|
|
|
|
| 15 |
|
|
|
|
|
|
|
| |
| 16 |
|
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| |
| 17 |
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| |
| 18 |
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|
| |
| 19 |
|
|
|
|
|
|
|
| |
| 20 |
Cage |
Motor |
Neo |
? |
Hang Arm Right |
|
|
|
|
| 21 |
Cage |
Motor |
Neo |
? |
Hang Arm Left |
|
|
|
|
| 22 |
|
||||||||
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
|---|---|---|---|---|---|
| 0 |
Front Right Drive (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 1 |
Front Right Rotation (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 2 |
Front Left Drive (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 3 |
Front Left Rotation (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 4 |
Rear Right Drive (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 5 |
Rear Right Rotation (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 6 |
Rear Left Drive (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 7 |
Rear Left Rotation (Drivebase) |
40A |
|
Kraken 60 |
Port is subject to change |
| 8 |
Cage Lift 1 (Cage) |
40A |
|
Neo? |
Port is subject to change |
| 9 |
Cage Lift 2 (Cage) |
40A |
|
Neo? |
Port is subject to change |
| 10 |
Elevator Drive 1 (Gamepiece) |
40A? |
|
Port is subject to change | |
| 11 |
Elevator Drive 2 (Gamepiece)? |
40A? |
|
Port is subject to change. Not sure if we need multiple motors for elevator. | |
| 12 |
Wrist (Gamepiece) |
30A? |
|
Port is subject to change | |
| 13 |
Intake (Gamepiece) |
30A? |
|
Port is subject to change | |
| 14 |
|
|
|
| |
| 15 |
|
|
|
| |
| 16 |
|
|
|
| |
| 17 |
|
|
|
| |
| 18 |
|
|
|
| |
| 19 |
|
|
|
| |
| 20 |
Radio (RCS) |
15A |
|
Fused Port | |
| 21 |
RoboRio (RCS) |
15A |
|
Fused Port | |
| 22 |
|
|
|
| |
| 23 (Switchable) |
|
|
|
|
| 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 |
|
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|
|
|
|
|
|
| 5 |
|
|
|
|||||
| 6 |
|
|
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|
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|
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|
| 7 |
|
|
|
|
|
|
| |
| 8 |
|
|
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|
|
|
|
|
| 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 |
|
|
|
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|
| ||
| 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 |
