2011:Robot IO Map: Difference between revisions
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{| | {| style="width: 653px; height: 344px" border="1" cellspacing="1" cellpadding="1" | ||
|- | |- | ||
| '''Type / Function''' | | '''Type / Function''' | ||
| '''Channel<br>''' | | '''Channel<br>''' | ||
| | | | ||
'''Connected Device''' | '''Connected Device''' | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold | <span style="font-weight: bold">CAN ID Assignments</span> | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| RESERVED | | RESERVED | ||
<br> | <br> | ||
| 01<br> | | 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. | | 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> | <br> | ||
| 02<br> | | 02<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Left side drive train<br> | | Left side drive train<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| Right side drive train<br> | | Right side drive train<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| Arm Drive<br> | | Arm Drive<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| Manipulator- top rollers <br> | | Manipulator- top rollers <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| Manipulator- bottom rollers<br> | | Manipulator- bottom rollers<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<span style="font-weight: bold | <span style="font-weight: bold">PWM Outputs</span> | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Minibot Deployer release (servo)<br> | | Minibot Deployer release (servo)<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| Camera pan servo<br> | | Camera pan servo<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Camera tilt servo<br> | | Camera tilt servo<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| Robot front guide release (servo)<br> | | Robot front guide release (servo)<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 09<br> | | 09<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 10<br> | | 10<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| '''Relay Outputs''' | | '''Relay Outputs''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| | | | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06 <br> | | 06 <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
'''Analog Inputs''' | '''Analog Inputs''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Gyro<br> | | Gyro<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| Floor Line Sensor- Right<br> | | Floor Line Sensor- Right<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Floor Line Sensor- Middle<br> | | Floor Line Sensor- Middle<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04<br> | | 04<br> | ||
| Floor Line Sensor- Left<br> | | Floor Line Sensor- Left<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05<br> | | 05<br> | ||
| Banner photoelectric sensor for "Got It"<br> | | Banner photoelectric sensor for "Got It"<br>(Logic High = +3.6Vdc min., Logic Low = 0Vdc) | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| Photoelectric sensor for arm "Home/Park"<br> | | Photoelectric sensor for arm "Home/Park"<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
RESERVED | RESERVED | ||
| 08<br> | | 08<br> | ||
| Battery Voltage Input (Don't use) | | Battery Voltage Input (Don't use) | ||
|- | |- | ||
| '''Digital IO (GPIO)''' | | '''Digital IO (GPIO)''' | ||
| <br> | | <br> | ||
| <br> | | <br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 01<br> | | 01<br> | ||
| Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br> | | Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 02<br> | | 02<br> | ||
| Left drivetrain encoder, channel B (YEL=SIGB)<br> | | Left drivetrain encoder, channel B (YEL=SIGB)<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 03<br> | | 03<br> | ||
| Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br> | | Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 04 <br> | | 04 <br> | ||
| Right drivetrain encoder, channel B (YEL=SIGB)<br> | | Right drivetrain encoder, channel B (YEL=SIGB)<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 05 <br> | | 05 <br> | ||
| Left arm encoder, channel A<br> | | Left arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 06<br> | | 06<br> | ||
| Left arm encoder, channel B<br> | | Left arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 07<br> | | 07<br> | ||
| Right arm encoder, channel A<br> | | Right arm encoder, channel A<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 08<br> | | 08<br> | ||
| Right arm encoder, channel B<br> | | Right arm encoder, channel B<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 09 <br> | | 09 <br> | ||
| Output for Signal Light RED<br> | | Output for Signal Light RED<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 10<br> | | 10<br> | ||
| Output for Signal Light WHITE<br> | | Output for Signal Light WHITE<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 11 <br> | | 11 <br> | ||
| Output for Signal Light BLUE<br> | | Output for Signal Light BLUE<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 12 <br> | | 12 <br> | ||
| Photoelectric sensor for arm "Playing Position"<br> | | Photoelectric sensor for arm "Playing Position"<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 13 <br> | | 13 <br> | ||
| Photoelectric sensor for arm "Reverse Position"<br> | | Photoelectric sensor for arm "Reverse Position"<br> | ||
|- | |- | ||
| | | | ||
<br> | <br> | ||
| 14<br> | | 14<br> | ||
| | | | ||
Output for signal light GREEN "Got-It" | Output for signal light GREEN "Got-It" | ||
|- | |- | ||
| Line 340: | Line 340: | ||
|} | |} | ||
<br> | <br> | ||
<br> | <br> | ||
Revision as of 07:40, 17 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 (servo) |
|
|
02 |
Camera pan servo |
|
|
03 |
Camera tilt servo |
|
|
04 |
Robot front guide release (servo) |
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
|
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
Floor Line Sensor- Right |
|
|
03 |
Floor Line Sensor- Middle |
|
|
04 |
Floor Line Sensor- Left |
|
|
05 |
Banner photoelectric sensor for "Got It" (Logic High = +3.6Vdc min., Logic Low = 0Vdc) |
|
|
06 |
Photoelectric sensor for arm "Home/Park" |
|
|
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 |
Output for Signal Light RED |
|
|
10 |
Output for Signal Light WHITE |
|
|
11 |
Output for Signal Light BLUE |
|
|
12 |
Photoelectric sensor for arm "Playing Position" |
|
|
13 |
Photoelectric sensor for arm "Reverse Position" |
|
|
14 |
Output for signal light GREEN "Got-It" |
| Pneumatics Bumper | ||
| 01 | Power for Floor Line Sensor Right | |
| 02 | Power for Floor Line Sensor Middle | |
| 03 | Power for Floor Line Sensor Left |
