2011:Robot IO Map: Difference between revisions

Revision as of 10:02, 5 February 2011

Type / Function	Channel	Connected Device
CAN ID Assignments
RESERVED	01	DO NOT USE. ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id.
	02
	03	Left side drive train
	04	Right side drive train
	05	Arm Drive
	06	Manipulator- top rollers
	07	Manipulator- bottom rollers
	08
PWM Outputs
	01	Minibot Deployer release
	02	Camera pan servo
	03	Camera tilt servo
	04
	05
	06
	07
	08
	09
	10
Relay Outputs
	01	Signal light red
	02	Signal light white
	03	Signal light blue
	04	"Got it" signal light green
	05
	06
	07
	08
Analog Inputs
	01	Gyro
	02	Floor Line Sensor- Right
	03	Floor Line Sensor- Middle
	04	Floor Line Sensor- Left
	05
	06
	07
RESERVED	08	Battery Voltage Input (Don't use)
Digital IO (GPIO)
	01	Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)
	02	Left drivetrain encoder, channel B (YEL=SIGB)
	03	Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)
	04	Right drivetrain encoder, channel B (YEL=SIGB)
	05	Left arm encoder, channel A
	06	Left arm encoder, channel B
	07	Right arm encoder, channel A
	08	Right arm encoder, channel B
	09	Banner photoelectric for "Got It" 1
	10
	11	Photoelectric sensor for arm "Home"
	12	Photoelectric sensor for arm "Playing Position"
	13	Photoelectric sensor for arm "Reverse Position"
	14

2011:Robot IO Map: Difference between revisions

Revision as of 10:02, 5 February 2011

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@@ Line 1: / Line 1: @@
-{| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1"
+{| cellspacing="1" cellpadding="1" border="1" style="width: 653px; height: 344px;"
 |-
 | '''Type / Function'''&nbsp;
 | '''Channel<br>'''
 |
 '''Connected Device'''
 |-
 |
-<span style="font-weight: bold">CAN&nbsp;ID&nbsp;Assignments</span>
+<span style="font-weight: bold;">CAN&nbsp;ID&nbsp;Assignments</span>
 | &nbsp;&nbsp;&nbsp;<br>
 | <br>
 |-
 | RESERVED
 <br>
 | &nbsp;&nbsp;&nbsp; 01<br>
 | DO NOT USE.<br>ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id.
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 02<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 03<br>
 | Left side drive train<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 04<br>
 | Right side drive train<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 05<br>
 | Arm Drive<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 06<br>
 | Manipulator- top rollers&nbsp;<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 07<br>
 | Manipulator- bottom rollers<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 08<br>
 | <br>
 |-
 |
-<span style="font-weight: bold">PWM&nbsp;Outputs</span>
+<span style="font-weight: bold;">PWM&nbsp;Outputs</span>
 | &nbsp;&nbsp;&nbsp;<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 01<br>
 | Minibot Deployer release<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 02<br>
 | Camera pan servo<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 03<br>
 | Camera tilt servo<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 04<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 05<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 06<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 07<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 08<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 09<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 10<br>
 | <br>
 |-
 | '''Relay Outputs'''
 | <br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;01<br>
 | Signal light red<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 02<br>
 | Signal light white<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 03<br>
 | Signal light blue<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 04<br>
 | "Got it" signal light green&nbsp;<br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 05<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 06 <br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 07<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp;&nbsp; 08<br>
 | <br>
 |-
 |
 '''Analog Inputs'''
 | <br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;01<br>
 | Gyro<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;02<br>
 | Floor Line Sensor- Right<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;03<br>
 | Floor Line Sensor- Middle<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;04<br>
 | Floor Line Sensor- Left<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;05<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;06<br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;07<br>
 | <br>
 |-
 |
 RESERVED
 | &nbsp;&nbsp; &nbsp;08<br>
 | Battery Voltage Input (Don't use)
 |-
 | '''Digital IO (GPIO)'''
 | <br>
 | <br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;01<br>
-| Left drivetrain encoder, channel A<br>
+| Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;02<br>
-| Left drivetrain encoder, channel B<br>
+| Left drivetrain encoder, channel B (YEL=SIGB)<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;03<br>
-| Right drivetrain encoder, channel A<br>
+| Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;04 <br>
-| Right drivetrain encoder, channel B<br>
+| Right drivetrain encoder, channel B (YEL=SIGB)<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;05 <br>
 | Left arm encoder, channel A<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;06<br>
 | Left arm encoder, channel B<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;07<br>
 | Right arm encoder, channel A<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;08<br>
 | Right arm encoder, channel B<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;09 <br>
 | Banner photoelectric for "Got It" 1<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;10<br>
-| Banner photoelectric for "Got It" 2<br>
+| <br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;11 <br>
 | Photoelectric sensor for arm&nbsp;"Home"<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;12 <br>
 | Photoelectric sensor for arm&nbsp;"Playing Position"<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;13 <br>
 | Photoelectric sensor for arm&nbsp;"Reverse Position"<br>
 |-
 |
 <br>
 | &nbsp;&nbsp; &nbsp;14<br>
 | <br>
 |}
 <br>
 <br>