2012:Robot IO Map: Difference between revisions
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| Line 67: | Line 67: | ||
| 09<br/> | | 09<br/> | ||
| | | Wing Deployer | ||
|- | |- | ||
| | | | ||
| Line 185: | Line 185: | ||
| 01<br/> | | 01<br/> | ||
| | | | ||
|- | |- | ||
| | | | ||
| Line 246: | Line 246: | ||
| 02<br/> | | 02<br/> | ||
| <br/> | | <br/> | ||
Wing limit switch (optical) - full deploy | |||
|- | |- | ||
| | | | ||
| Line 252: | Line 254: | ||
| 03<br/> | | 03<br/> | ||
| <br/> | | <br/> | ||
Wing limit switch (optical) - full retract | |||
|- | |- | ||
| | | | ||
| Line 321: | Line 325: | ||
| IN | | IN | ||
| 07<br/> | | 07<br/> | ||
| | | Turret Motor Shaft | ||
|- | |- | ||
| IN | | IN | ||
| 08<br/> | | 08<br/> | ||
| | | | ||
turret position - encoder | |||
|- | |- | ||
| IN | | IN | ||
| Line 345: | Line 351: | ||
| IN | | IN | ||
| 13<br/> | | 13<br/> | ||
| | | | ||
|- | |- | ||
| IN | | IN | ||
Revision as of 17:51, 26 January 2012
| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
0-127 |
|
| 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 |
Left side drivetrain motor (front) |
|
|
03 |
Left side drivetrain motor (rear) |
|
|
04 |
Right side drivetrain motor (front) |
|
|
05 |
Right side drivetrain motor (rear) |
|
|
06 |
Shooter wheel (upper) |
|
|
07 |
Shooter wheel (lower) |
|
|
08 |
turret rotation |
|
|
09 |
Wing Deployer |
|
|
10 |
RESERVED - possible Conveyor stage 1 |
|
|
11 |
RESERVED - possible Conveyor stage 2 |
|
|
12 |
RESERVED - possible Conveyor stage 3 |
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
|
|
|
02 |
Beater Bar |
|
|
03 |
Conveyor Stage 1 |
|
|
04 |
Conveyor Stage 2 |
|
|
05 |
Conveyor Stage 3 |
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
Wing limit switch (optical) - full deploy |
|
|
03 |
Wing limit switch (optical) - full retract |
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use for other devices) |
| Digital IO (GPIO) | ||
|
IN |
01 |
Left drivetrain rotary encoder A |
| IN | 02 |
Left drivetrain rotary encoder B |
|
IN |
03 |
Right drivetrain rotary encoder A |
| IN |
04 |
Right drivetrain rotary encoder B |
|
IN |
05 |
Shooter upper wheel rotary encoder |
|
IN |
06 |
Shooter lower wheel rotary encoder |
| IN | 07 |
Turret Motor Shaft |
| IN | 08 |
turret position - encoder |
| IN | 09 |
conveyor stage 1 entrance - beam break sensor |
| IN | 10 |
conveyor stage 1 exit - beam break sensor |
| IN | 11 |
conveyor stage 2 exit - beam break sensor |
| IN | 12 |
conveyor stage 3 exit - beam break sensor |
| IN | 13 |
|
| IN | 14 |
Wing position rotary encoder |
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 |
