2026:Robot IO Map: Difference between revisions

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Motor
Motor
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; height: 28px; width: 85px;" |
Kraken X60
Neo 2.0
| style="text-align: center; width: 59px;" |  
| style="text-align: center; width: 59px;" |
<br>
| style="text-align: center; width: 94px;" | Intake Pos Drive
| style="text-align: center; width: 94px;" | Intake Pos Drive
| style="width: 147px; text-align: center; height: 28px;" |
| style="width: 147px; text-align: center; height: 28px;" |
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| style="text-align: center; width: 17px; height: 28px;" | 24
| style="text-align: center; width: 17px; height: 28px;" | 24
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
<br>
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
<br>
| style="width: 85px; text-align: center; height: 28px;" |
| style="width: 85px; text-align: center; height: 28px;" |
<br>
| style="width: 59px; text-align: center; height: 28px;" |
| style="width: 59px; text-align: center; height: 28px;" |
<br>
| style="width: 94px; text-align: center; height: 28px;" |
| style="width: 94px; text-align: center; height: 28px;" |
<br>
| style="width: 147px; height: 28px;" | <br>
| style="width: 147px; height: 28px;" | <br>
| style="width: 74px; height: 28px;" | <br>
| style="width: 74px; height: 28px;" | <br>
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| style="text-align: center; width: 17px; height: 51px;" | 25
| style="text-align: center; width: 17px; height: 51px;" | 25
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
<br>
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
<br>
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; height: 28px; width: 85px;" |
<br>
| style="text-align: center; height: 28px; width: 59px;" |
| style="text-align: center; height: 28px; width: 59px;" |
<br>
| style="text-align: center; height: 28px; width: 94px;" |
| style="text-align: center; height: 28px; width: 94px;" |
<br>
| style="width: 147px; height: 51px;" | <br>
| style="width: 147px; height: 51px;" | <br>
| style="width: 74px; height: 51px;" | <br>
| style="width: 74px; height: 51px;" | <br>
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| style="text-align: center; width: 17px;" | 26
| style="text-align: center; width: 17px;" | 26
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
<br>
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
<br>
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; height: 28px; width: 85px;" |
<br>
| style="text-align: center; height: 28px; width: 59px;" |
| style="text-align: center; height: 28px; width: 59px;" |
<br>
| style="text-align: center; height: 28px; width: 94px;" |
| style="text-align: center; height: 28px; width: 94px;" |
<br>
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
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| style="text-align: center; width: 17px;" | 27
| style="text-align: center; width: 17px;" | 27
| style="text-align: center; height: 28px; width: 90px;" |
| style="text-align: center; height: 28px; width: 90px;" |
<br>
| style="text-align: center; height: 28px; width: 91px;" |
| style="text-align: center; height: 28px; width: 91px;" |
<br>
| style="text-align: center; height: 28px; width: 85px;" |
| style="text-align: center; height: 28px; width: 85px;" |
<br>
| style="text-align: center; width: 59px; height: 28px;" |
| style="text-align: center; width: 59px; height: 28px;" |
<br>
| style="text-align: center; width: 94px; height: 28px;" |
| style="text-align: center; width: 94px; height: 28px;" |
<br>
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
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| style="text-align: center; width: 17px;" | 28
| style="text-align: center; width: 17px;" | 28
| style="text-align: center; width: 90px; height: 51px;" |
| style="text-align: center; width: 90px; height: 51px;" |
<br>
| style="text-align: center; width: 91px; height: 51px;" |
| style="text-align: center; width: 91px; height: 51px;" |
<br>
| style="text-align: center; width: 85px; height: 51px;" |
| style="text-align: center; width: 85px; height: 51px;" |
<br>
| style="text-align: center; width: 59px; height: 51px;" |
| style="text-align: center; width: 59px; height: 51px;" |
<br>
| style="text-align: center; width: 94px; height: 51px;" |
| style="text-align: center; width: 94px; height: 51px;" |
<br>
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
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| style="text-align: center; width: 17px;" | 29
| style="text-align: center; width: 17px;" | 29
| style="text-align: center; width: 90px; height: 28px;" |
| style="text-align: center; width: 90px; height: 28px;" |
<br>
| style="text-align: center; width: 91px; height: 28px;" |
| style="text-align: center; width: 91px; height: 28px;" |
<br>
| style="text-align: center; width: 85px; height: 28px;" |
| style="text-align: center; width: 85px; height: 28px;" |
<br>
| style="text-align: center; width: 59px; height: 28px;" |
| style="text-align: center; width: 59px; height: 28px;" |
<br>
| style="text-align: center; width: 94px; height: 28px;" |
| style="text-align: center; width: 94px; height: 28px;" |
<br>
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
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| style="text-align: center; width: 17px;" | 30
| style="text-align: center; width: 17px;" | 30
| style="text-align: center; width: 90px;" |
| style="text-align: center; width: 90px;" |
<br>
| style="text-align: center; width: 91px;" |
| style="text-align: center; width: 91px;" |
<br>
| style="text-align: center; width: 85px;" |
| style="text-align: center; width: 85px;" |
<br>
| style="text-align: center; width: 59px;" |
| style="text-align: center; width: 59px;" |
<br>
| style="text-align: center; width: 94px;" |
| style="text-align: center; width: 94px;" |
<br>
| style="width: 147px;" | <br>
| style="width: 147px;" | <br>
| style="width: 74px;" | <br>
| style="width: 74px;" | <br>
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== Analog IO ==
== Analog IO ==
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=== <u>RoboRIO Analog Inputs</u> ===
=== <u>RoboRIO Analog Inputs</u> ===


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== Digital IO (GPIO) ==
== Digital IO (GPIO) ==
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=== <u>RoboRio IO</u> ===
=== <u>RoboRio IO</u> ===


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== Pneumatics Control Modules ==
== Pneumatics Control Modules ==


Revision as of 17:50, 14 February 2026

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 Base

Motor

Cancoder


Front Right Encoder



 


2

Drive Base

Motor

Kraken X60

Brake

Front Right Drive





3

Drive Base

Motor

Kraken X60

Brake

Front Right Steer





4

Drive Base

Motor

Cancoder


Back Right Encoder





5

Drive Base

Motor

Kraken X60

Brake

Back Right Drive





6

Drive Base

Motor

Kraken X60

Brake

Back Right Steer





7

Drive Base

Motor

Cancoder


Front Left Encoder





8

Drive Base

Motor

Kraken X60

Brake

Front Left Drive





9

Drive Base

Motor

Kraken X60

Brake

Front Left Steer





10

Drive Base

Motor

Cancoder


Back Left Encoder





11

Drive Base

Motor

Kraken X60

Brake

Back Left Drive





12

Drive Base

Motor

Kraken X60

Brake

Back Left Steer





13

Drive Base

Pigeon

Pigeon


IMU





14 Climber Motor Neo 2.0 ? Climb



15 Intake Encoder Throughbore Encoder
Intake Pos Shaft Encoder





16

Intake

Motor

Neo 2.0


Intake Pos Drive





17 Intake Motor Kraken X60
Intake Speed Drive





18

Spindexer

Motor

Kraken X60


Spindexer Drive





19

Kicker

Motor

Kraken X60


Kicker Drive





20

Shooter

Motor

Kraken X60


Shooter Drive Left





21

Shooter

Motor

Kraken X60


Shooter Drive Right





22 Shooter Hood Encoder Throughbore Encoder
Hood Shaft Encoder



23 Shooter Hood Motor Kraken X44
Hood Drive



24










25










26










27










28










29










30











CAN Physical Chain Layout

<td colspan="2" "="" >NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1

Current Device Next Device



































PDB Assignments

Port # Device (Subteam) Breaker Value Max Channel Current Motor Type 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

Elevator

Sensor

 REV Robotics Magnetic Limit Switch
(REV 31-1462)

Climb Top Limit



1 IN Elevator Sensor REV Robotics Magnetic Limit Switch
(REV 31-1462)

Climb Bottom Limit



2








3








4








5








6








7







 
8







 
9







 
10







 
 
 
 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0


           
1


           
2


           
3


           
4


           
5


           
6


           
7


           
8


           
9              
10              
11              
12              
13              
14              
15              
 


I2C Registers

Address
(e.g. 0100111X) 		Pin
(e.g. GP0) 		Subsystem

Component

Type

 Model # Description
(brief) 		Operation Notes


 






 
               
               
               
               
               
               

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

IO Maps for Old Robots

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