2026:Robot IO Map: Difference between revisions
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| style="height: 28px; width: 177px; text-align: center;" | 1 | | style="height: 28px; width: 177px; text-align: center;" | 1 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Encoder | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
20 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
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| style="height: 28px; width: 177px; text-align: center;" | 2 | | style="height: 28px; width: 177px; text-align: center;" | 2 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Climber | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Neo 2.0 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
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| style="height: 28px; width: 177px; text-align: center;" | 3 | | style="height: 28px; width: 177px; text-align: center;" | 3 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Position | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Neo 2.0 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 720: | Line 720: | ||
| style="height: 28px; width: 177px; text-align: center;" | 4 | | style="height: 28px; width: 177px; text-align: center;" | 4 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Intake Speed | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
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| style="height: 28px; width: 177px; text-align: center;" | 5 | | style="height: 28px; width: 177px; text-align: center;" | 5 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Kicker | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 744: | Line 744: | ||
| style="height: 28px; width: 177px; text-align: center;" | 6 | | style="height: 28px; width: 177px; text-align: center;" | 6 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Shooter Hood | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X44 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 756: | Line 756: | ||
| style="height: 28px; width: 177px; text-align: center;" | 7 | | style="height: 28px; width: 177px; text-align: center;" | 7 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Shooter Right | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 768: | Line 768: | ||
| style="height: 28px; width: 177px; text-align: center;" | 8 | | style="height: 28px; width: 177px; text-align: center;" | 8 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Shooter Left | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 780: | Line 780: | ||
| style="height: 28px; width: 177px; text-align: center;" | 9 | | style="height: 28px; width: 177px; text-align: center;" | 9 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
LEDs | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
20 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 792: | Line 792: | ||
| style="height: 28px; width: 177px; text-align: center;" | 10 | | style="height: 28px; width: 177px; text-align: center;" | 10 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Right Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 804: | Line 804: | ||
| style="height: 28px; width: 177px; text-align: center;" | 11 | | style="height: 28px; width: 177px; text-align: center;" | 11 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Right Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 816: | Line 816: | ||
| style="height: 28px; width: 177px; text-align: center;" | 12 | | style="height: 28px; width: 177px; text-align: center;" | 12 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Left Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 828: | Line 828: | ||
| style="height: 28px; width: 177px; text-align: center;" | 13 | | style="height: 28px; width: 177px; text-align: center;" | 13 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Back Left Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 840: | Line 840: | ||
| style="height: 28px; width: 177px; text-align: center;" | 14 | | style="height: 28px; width: 177px; text-align: center;" | 14 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Spindexer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 864: | Line 864: | ||
| style="height: 28px; width: 177px; text-align: center;" | 16 | | style="height: 28px; width: 177px; text-align: center;" | 16 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Left Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 876: | Line 876: | ||
| style="height: 28px; width: 177px; text-align: center;" | 17 | | style="height: 28px; width: 177px; text-align: center;" | 17 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Left Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 888: | Line 888: | ||
| style="height: 28px; width: 177px; text-align: center;" | 18 | | style="height: 28px; width: 177px; text-align: center;" | 18 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Right Drive | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 900: | Line 900: | ||
| style="height: 28px; width: 177px; text-align: center;" | 19 | | style="height: 28px; width: 177px; text-align: center;" | 19 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Front Right Steer | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
40 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
Kraken X60 | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 912: | Line 912: | ||
| style="height: 28px; width: 177px; text-align: center;" | 20 | | style="height: 28px; width: 177px; text-align: center;" | 20 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
RoboRIO | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
10 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 924: | Line 924: | ||
| style="height: 28px; width: 177px; text-align: center;" | 21 | | style="height: 28px; width: 177px; text-align: center;" | 21 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Radio | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
10 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 936: | Line 936: | ||
| style="height: 28px; width: 177px; text-align: center;" | 22 | | style="height: 28px; width: 177px; text-align: center;" | 22 | ||
| style="height: 28px; width: 222px; text-align: center;" | | | style="height: 28px; width: 222px; text-align: center;" | | ||
Pigeon | |||
| style="height: 28px; width: 145px; text-align: center;" | | | style="height: 28px; width: 145px; text-align: center;" | | ||
10 | |||
| style="height: 28px; width: 181px; text-align: center;" | | | style="height: 28px; width: 181px; text-align: center;" | | ||
<br> | <br> | ||
| style="width: 116px; text-align: center;" | | | style="width: 116px; text-align: center;" | | ||
N/A | |||
| style="height: 28px; width: 171px; text-align: center;" | | | style="height: 28px; width: 171px; text-align: center;" | | ||
<br> | <br> | ||
| Line 959: | Line 959: | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<div class="mw-parser-output"> | <div class="mw-parser-output"> | ||
<br><br></div></div> | <br><br></div></div> | ||
| Line 1,028: | Line 1,029: | ||
| style="width: 16.0667px; height: 28px;" | 0 | | style="width: 16.0667px; height: 28px;" | 0 | ||
| style="width: 76.9667px; height: 28px;" | | | style="width: 76.9667px; height: 28px;" | | ||
Lights | |||
| style="width: 80.1167px; height: 28px;" | | | style="width: 80.1167px; height: 28px;" | | ||
<br> | <br> | ||
| Line 1,272: | Line 1,273: | ||
== 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 1,398: | Line 1,401: | ||
</div></div> | </div></div> | ||
<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"> | ||
== 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 1,894: | Line 1,902: | ||
<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 == | ||
Revision as of 18:06, 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 |
|
|
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| 8 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Drive |
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9 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Steer |
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| 10 |
Drive Base |
Motor |
Cancoder |
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Back Left Encoder |
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| 11 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Drive |
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| 12 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Steer |
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| 13 |
Drive Base |
Pigeon |
Pigeon |
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IMU |
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| 14 | Climber | Motor | Neo 2.0 | ? | Climb | ||||
| 15 | Intake | Encoder | Throughbore Encoder | Intake Pos Shaft Encoder |
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| 16 |
Intake |
Motor |
Neo 2.0 |
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Intake Pos Drive |
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| 17 | Intake | Motor | Kraken X60 | Intake Speed Drive |
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| 18 |
Spindexer |
Motor |
Kraken X60 |
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Spindexer Drive |
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| 19 |
Kicker |
Motor |
Kraken X60 |
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Kicker Drive |
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| 20 |
Shooter |
Motor |
Kraken X60 |
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Shooter Drive Left |
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| 21 |
Shooter |
Motor |
Kraken X60 |
Shooter Drive Right |
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| 22 | Shooter Hood | Encoder | Throughbore Encoder | Hood Shaft Encoder | |||||
| 23 | Shooter Hood | Motor | Kraken X44 | Hood Drive | |||||
| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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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 |
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PDB Assignments
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
|---|---|---|---|---|---|
| 0 |
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| 1 |
Intake Encoder |
20 |
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N/A |
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| 2 |
Climber |
40 |
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Neo 2.0 |
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| 3 |
Intake Position |
40 |
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Neo 2.0 |
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| 4 |
Intake Speed |
40 |
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Kraken X60 |
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| 5 |
Kicker |
40 |
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Kraken X60 |
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| 6 |
Shooter Hood |
40 |
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Kraken X44 |
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| 7 |
Shooter Right |
40 |
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Kraken X60 |
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| 8 |
Shooter Left |
40 |
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Kraken X60 |
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| 9 |
LEDs |
20 |
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N/A |
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| 10 |
Back Right Drive |
40 |
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Kraken X60 |
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| 11 |
Back Right Steer |
40 |
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Kraken X60 |
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| 12 |
Back Left Drive |
40 |
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Kraken X60 |
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| 13 |
Back Left Steer |
40 |
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Kraken X60 |
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| 14 |
Spindexer |
40 |
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Kraken X60 |
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| 15 |
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| 16 |
Front Left Drive |
40 |
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Kraken X60 |
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| 17 |
Front Left Steer |
40 |
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Kraken X60 |
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| 18 |
Front Right Drive |
40 |
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Kraken X60 |
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| 19 |
Front Right Steer |
40 |
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Kraken X60 |
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| 20 |
RoboRIO |
10 |
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N/A |
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| 21 |
Radio |
10 |
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N/A |
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| 22 |
Pigeon |
10 |
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N/A |
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| 23 (Switchable) |
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VRM Assignments
| Port # | Device (Subteam) |
|---|---|
| 5V/2A |
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| 5V/2A |
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| 5V/500mA |
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| 5V/500mA |
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| 12V/2A |
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| 12V/2A |
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| 12V/500mA |
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| 12V/500mA |
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PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
Lights |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 | ||||||||
| 11 | ||||||||
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 |
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| 1 | ||||||
| 2 | ||||||
| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 |
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| 1 |
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| 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 |
Climb Top Limit |
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| 1 | IN | Elevator | Sensor | REV Robotics Magnetic Limit Switch (REV 31-1462) |
Climb Bottom Limit |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 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 |
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SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
Pneumatics Control Modules
|
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 2 | 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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