2015:Robot IO Map: Difference between revisions
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| | | ID | ||
| style="text-align: center;" | | | style="text-align: center;" | Subsystem | ||
| style="width: 70px;" | <p style="text-align: center;"> | | style="width: 70px;" | <p style="text-align: center;">Component</p><p style="text-align: center;">Type</p> | ||
| style="width: 54px; text-align: center;" | | | style="width: 54px; text-align: center;" | Model # | ||
| style="width: 227px; text-align: center;" | | | style="width: 227px; text-align: center;" | Description<br/>(brief) | ||
| style="width: 92px; text-align: center;" | | | style="width: 92px; text-align: center;" | Controlled By | ||
| style="width: 262px; text-align: center;" | | | style="width: 262px; text-align: center;" | Operation | ||
| style="width: 132px; text-align: center;" | | | style="width: 132px; text-align: center;" | | ||
Voltage | |||
Range | |||
| style="width: 91px; text-align: center;" | | | style="width: 91px; text-align: center;" | Notes | ||
|- | |- | ||
| 0 | | 0 | ||
| drivetrain | | drivetrain | ||
| style="width: 70px;" | gyro | | style="width: 70px;" | gyro | ||
| style="width: 54px;" | <span style=" | | style="width: 54px;" | <span style="background-color: rgb(238, 238, 238);">ADW22307</span> | ||
| style="width: 227px;" | drivetrain gyro rot feedback | | style="width: 227px;" | drivetrain gyro rot feedback | ||
| style="width: 92px;" | <br/> | | style="width: 92px;" | <br/> | ||
| style="width: 262px;" | X & Y orientation used in Autonomous | | style="width: 262px;" | | ||
| style="width: 132px;" | 2.5 V center, 0.007 V/deg/sec | X & Y orientation used in Autonomous. | ||
| style="width: 91px;" | | |||
(no temp correction needed within our bounds) | |||
| style="width: 132px;" | 2.5 V center (σ<span style="text-align: center; background-color: rgb(247, 247, 247);">=0.1)</span>, 0.007 V/deg/sec (0.0069 to 0.0074 within ± 1σ) | |||
| style="width: 91px;" | [http://www.analog.com/static/imported-files/data_sheets/ADXRS652.pdf <font color="#333333">New Part Number: Datasheet</font>] | |||
|- | |- | ||
| 1 | | 1 | ||
| | | <br/> | ||
| style="width: 70px;" | | | style="width: 70px;" | <br/> | ||
| style="width: 54px;" | | | style="width: 54px;" | <br/> | ||
| style="width: 227px;" | | | style="width: 227px;" | <br/> | ||
| style="width: 92px;" | <br/> | | style="width: 92px;" | <br/> | ||
| style="width: 262px;" | | | style="width: 262px;" | <br/> | ||
| style="width: 132px;" | | | style="width: 132px;" | <br/> | ||
| style="width: 91px;" | | | style="width: 91px;" | | ||
|- | |- |
Revision as of 09:08, 3 February 2015
Robot I/O
CAN ID Assignments
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation | Notes |
0 | RESERVED | n/a |
Factory-default allows for adding CTRE devices quickly and re-assign its ID |
don't use | |||
1 | RESERVED | n/a | Factory-default allows for adding Jaguar quickly and re-assign its ID |
don't use | |||
2 | drivetrain | motor | CIM | Left Front Drive | driver1 joystick | y axis | |
3 | drivetrain | motor | CIM | Left Rear Drive | driver1 joystick |
y axis |
|
4 | drivetrain | motor | CIM | Right Front Drive | driver1 joystick |
y axis |
|
5 | drivetrain | motor | CIM | Right Rear Drive | driver1 joystick |
y axis |
|
6 | drivetrain | motor | CIM | Strafe | driver1 joystick | x axis | unclear on how to activate this motor |
7 | lifter | motor | RS775 | Left lifter | driver2 joystick | y axis | |
8 | lifter | motor | RS775 | Right lifter | driver2 joystick | y axis |
|
9 | gripper | motor | RS550 | Gripper/Motor | driver2 joystick | trigger button (depressed trigger = gripper closed) | |
10 | |||||||
11 | |||||||
12 | |||||||
13 | |||||||
14 | |||||||
15 | pnuematics | PCM module |
N/A |
Stabilizer, Shifter, Strafing | roborio |
address spaces for Jaguars, SRXs, PCM, and PDP are all separate. We are limited to one PDP, and will need only one PCM | |
16 | power dist. | PD module |
N/A |
Power Distribution Readback | roborio |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By |
Operation
|
Notes |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 | |||||||
7 | |||||||
8 | |||||||
9 |
Relay Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation | Notes |
0 | |||||||
1 | |||||||
2 | |||||||
3 |
Analog IO
RoboRIO Analog Inputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation |
Voltage Range |
Notes |
0 | drivetrain | gyro | ADW22307 | drivetrain gyro rot feedback |
X & Y orientation used in Autonomous. (no temp correction needed within our bounds) |
2.5 V center (σ=0.1), 0.007 V/deg/sec (0.0069 to 0.0074 within ± 1σ) | New Part Number: Datasheet | |
1 | ||||||||
2 | ||||||||
3 |
Rev Robotics More Board Analog IO
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation |
Voltage Range |
Notes |
AIN0 | ||||||||
AIN1 | ||||||||
AIN2 | ||||||||
AIN3 | ||||||||
AOUT0 | ||||||||
AOUT1 |
Digital IO (GPIO)
RoboRio IO
ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation | Notes |
0 | IN | drivetrain | Encoder | 63R256 | Left Encoder, Phase A | Drivetrain rotation - calculate Position measurement | ||
1 | IN |
- |
- | - | Left Encoder, Phase B |
B-channel | ||
2 | IN | drivetrain | Encoder | 63R256 | Right Encoder, Phase A | Drivetrain rotation - calculate Position measurement |
||
3 | IN | - |
- | - | Right Encoder, Phase B |
B-channel |
| |
4 | IN | lifter | Encoder | 63R256 | Lifter Encoder, Phase A | Lifter drive rotation - calculate Height Zeroed with Lifter Flag Sensor. Channel A | ||
5 | IN |
- |
- | - | Lifter Encoder, Phase B |
B-channel |
||
6 | IN | lifter | Flag Sensor | ? | Home Position At Bottom | Lower position | ||
7 | IN | gripper | Encoder | 63R256 | Gripper Encoder, Phase A | Gripper drive rotation - calculate Position | ||
8 | IN | - | - | - | Gripper Encoder, Phase B | B-channel | ||
9 | IN | gripper | Flag Sensor | ? | Home Gripper Position A | Inner position home flag (Primary) |
Rev Robotics More Board IO
ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Controlled By | Operation | Notes |
0 | IN |
gripper |
Banner |
Gripper Tote Detection |
Beam break sensor to check for tote presence |
|||
1 | IN |
lifter |
Flag |
Lift encoder high flag |
Lifter upper flag, for safety and to help calibration |
|||
2 | IN |
gripper |
Flag Sensor |
Home Gripper Position B |
Inner position Backup |
|||
3 | ||||||||
4 | ||||||||
5 | ||||||||
6 | ||||||||
7 | ||||||||
8 | ||||||||
9 | ||||||||
10 | ||||||||
11 | ||||||||
12 | ||||||||
13 | ||||||||
14 | ||||||||
15 |
I2C Registers
Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation | Notes |
0 | ||||||||
1 | ||||||||
2 | ||||||||
3 | ||||||||
4 | ||||||||
5 | ||||||||
6 |
SPI Devices
# |
Subsystem | Component Type |
Model # | Description (brief) | Controlled By | Operation | Notes |
kOnBoardCS0 | drivetrain | accelerometer | ADXL345 |
accelerometer, right by the gyro |
drivetrain | to improve autonomous drive code |
|
USB Host Ports
Address |
Subsystem | Component Type |
Model # | Description (brief) | Controlled By | Operation | Notes |
0 | Camera | Camera | HD-3000 | USB camera | vision code | Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto | |
1 | Logging | USB Stick | ? | USB Stick to log info | robot general | record match and state information at high rate, for postmortem match analysis |
Pneumatics Control Module
ID | Subsystem | Component Type |
Model # |
Description (brief) |
Controlled By | Operation | Notes | Pressure Circuit |
0 | Drivetrain | Single Solenoid | SY3140-6LZ | shifter LOW (default high) | driver1 joystick | shifts down | double action cylinder (vented no action) | A (4 total, 40-60 psi tbd) |
1 | Drivetrain |
Single Solenoid |
SY3140-6LZ |
strafing wheel DOWN (default up) |
driver1 joystick |
lowers strafing wheel |
single action, spring retract cylinder (vented up) | B (3 total, 20-60 psi tbd) |
2 | Stabilizer |
Single Solenoid |
SY3140-6LZ | Stabilizer Gripper IN (default out) |
driver2 joystick |
closes stabilizer |
double action cylinder (vented no action) |
A |
3 | Lifter |
Single Solenoid |
SY3140-6LZ |
Lifter brake OPEN (default locked) |
lifter code | pnuematic cylinder engages bicycle brake to lock lift elevator |
double action cylinder (vented open, spring on brake) |
A |
4 | ||||||||
5 | ||||||||
6 | ||||||||
7 |
Operator Controls
Joystick 1/Left
Button/Axis | Description (brief) |
Operation | Notes |
Y-Axis | 6Move Forward/Backward |
In Left/Right mode, this moves boths sides of the drivetrain; otherwise this moves just the left side of the drivetrain. |
|
X-Axis | |||
1/trigger | Shift | On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed. | |
2 | Raise center wheel |
.Wheel remains rasied while button is being pressed (or button 2 on right joystick is being pressed). Wheel lowers when both button 2s are released. |
|
3 | Left/Right mode |
In Left/Right mode while this button is being pressed (or button 3 on right joystick is being pressed). | |
4 | |||
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
Z-axis |
Joystick 2/Right
Button/Axis | Description (brief) |
Operation | Notes |
Y-axis | Move Forward/Backward |
In Left/Right mode, this moves nothing; otherwise this moves just the right side of the drivetrain. |
|
X-axis | Move Left/Right | In Left/Right mode, this moves the center wheel left/right; otherwise this move nothing. | |
1 | Shift | On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed. |
|
2 | Raise center wheel | Wheel remains rasied while button is being pressed (or button 2 on left joystick is being pressed). Wheel lowers when both button 2s are released. |
|
3 | Left/Right mode |
In Left/Right mode while this button is being pressed (or button 3 on left joystick is being pressed). |
|
4 | |||
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
Z-axis |
Joystick 3
Button/Axis | Description (brief) |
Operation |
Notes |
X-axis | |||
Y-axis | Move up/down | Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement. | |
1/trigger | Close lower grips |
Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released. |
|
2 | Open lower grips | Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released. | |
3 | Level 3 Preset | Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height. | |
4 | TBD - RC gripper |
||
5 | TBD - RC gripper | ||
6 |
| ||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
Z-axis |
Joystick 4/LaunchPad
Button/Axis | Description (brief) |
Operation | Notes |
1 | Auto 'main' | Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode. | |
2 | Auto 'dashboard' | Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used. | |
3 | Broken #1 |
Lift position sensors broken |
left-most switch on top row |
4 | Broken #2 | Gripper position sensors broken |
located to the right of Broken #1 |
5 | Broken #3 | future |
located to the left of Broken #4 |
6 | Broken #4 | future | right-most switch on top row |
7 | Broken #5 | future | left-most switch on bottom row |
8 | Broken #6 | future | lcated to the right of Broken #5 |
9 | Broken #7 | future | located to the left of Broken #8 |
10 | Broken #8 | Enable debug output (like prior years) of all systems to dashboard |
Right-most switch on bottom row |
SmartDashboard
Screen |
Description (brief) | Operation | Notes | Variable Name | Data Type |
Main | Camera Feed | Direct feed from the camera | -- | -- | -- |
Main | Auto Choice | Will be used to control which autononomous mode is used. | The auto mode should only be able to be changed if the three way switch is in the down position. | auto_choice | double |
Main | Gripper Position | A meter used to show the position of the grippers. | Will show a percent as a label, 0% means closed and 100% means fully opened. | gripper_position |
double |
Main | Lifter Position | A meter used to show the position of the lifter. | Will show a percent as a label, 0% means home position and 100% means the lifter is at full height. |
lifter_position | double |