2013:Robot IO Map: Difference between revisions

Revision as of 09:10, 27 January 2013

Type / Function	Channel	Connected Device
CAN ID Assignments	1-16
RESERVED	01	DO NOT USE. ID 1 is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.
	02	Left side drivetrain motor (front)
	03	Reserved for optional 2nd Left side drivetrain motor (rear)
	04	Right side drivetrain motor (front)
	05	Reserved for optional 2nd Right side drivetrain motor (rear)
	06	Left side Climber motor
	07	Right side Climber motor
	08	Shooter motor
	09	Shooter Tilt motor
	10
	11
	12
	13
	14
	15
	16
PWM Outputs
	01	Camera Tilt servo
	02	Climber deploy LH servo
	03	Climber deploy RH servo
	04	Shooter loader servo
	05
	06
	07
	08
	09
	10
Relay Outputs
	01
	02
	03
	04
	05
	06
	07
	08
Analog Inputs
IN	01	Gyro
IN	02	Disc 1 present
IN	03	Disc 2 present
IN	04	Disc 3 present
	05
	06
	07
RESERVED	08	Battery Voltage input (Do not use for any other device)
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 motor rotary encoder A
IN	06	Climber motors rotary encoder A
IN	07	Stationary climber hooks engaged (AND of LH and RH)
IN	08	Moving climber hooks engaged (AND of LH and RH)
IN	09	Climber shuttle max extension
IN	10	Climber shuttle max retraction
IN	11	Shooter preload position sensor
IN	12	Shooter load position sensor
	13
	14
Pneumatics Bumper
	01
	02
	03
I2C Registers
Address 0100111X	GP0
Address 0100111X	GP1
Address 0100111X	GP2
Address 0100111X	GP3
Address 0100111X	GP4
Address 0100111X	GP5
Address 0100111X	GP6
Address 0100111X	GP7

@@ Line 123: / Line 123: @@
 | &nbsp;&nbsp;&nbsp; 01<br/>
-|
+| Camera Tilt servo
 |-
 |
@@ Line 129: / Line 129: @@
 | &nbsp;&nbsp;&nbsp; 02<br/>
-|
+| Climber deploy LH servo
 |-
 |
@@ Line 136: / Line 136: @@
 | &nbsp;&nbsp;&nbsp; 03<br/>
 |
+<br/>Climber deploy RH servo
 |-
@@ Line 143: / Line 143: @@
 | &nbsp;&nbsp;&nbsp; 04<br/>
-|
+| Shooter loader servo
 |-
 |
@@ Line 242: / Line 242: @@
 |-
 |
+IN
 | &nbsp;&nbsp; &nbsp;01<br/>
 | Gyro<br/>&nbsp;
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;02<br/>
-|
+| Disc 1 present
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;03<br/>
 |
+Disc 2 present
 |-
 |
+<br/>IN
 | &nbsp;&nbsp; &nbsp;04<br/>
-|
+| Disc 3 present
 |-
 |
@@ Line 318: / Line 318: @@
 |-
 |
+IN
 | &nbsp;&nbsp; &nbsp;06<br/>
-|
+| Climber motors rotary encoder A
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;07<br/>
-|
+| Stationary climber hooks engaged (AND of LH and RH)
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;08<br/>
-|
+| Moving climber hooks engaged (AND of LH and RH)
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;09<br/>
-|
+| Climber shuttle max extension
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;10<br/>
-|
+| Climber shuttle max retraction
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;11<br/>
-|
+| Shooter preload position sensor
 |-
-|
+| IN
 | &nbsp;&nbsp; &nbsp;12<br/>
-|
+| Shooter load position sensor
 |-
 |