2016:Robot IO Map: Difference between revisions
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| A button | | A button | ||
| Toggle camera feed | | Toggle camera feed | ||
| | | - | ||
| "Y button" | |||
| Pivot Intake to the Drawbridge position (Byers use Intake::Drawbridge_Position() | |||
|} | |} | ||
Revision as of 12:22, 20 February 2016
Robot I/O
CAN ID Assignments
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 | |
1 | RESERVED | n/a | Factory-default allows for adding Jaguar quickly and re-assign its ID |
don't use | ||
2 | ||||||
3 | ||||||
4 | ||||||
5 | ||||||
6 | ||||||
7 | ||||||
8 | Breacher | motor | miniCIM | Breacher Bucket rotation | 40A breaker (26A max calc load) | |
9 | Breacher | motor | RS775 | Ball Intake rollers | 40A breaker (32A max calc load) | |
10 | Scaler | motor | RS775 | Winch #1 for scaler extension |
min and max extension limit switches wired directly to speed controller Talon Limit Switch logic sense should be reversed to Normally Low |
40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415 |
11 | Scaler | motor | RS775 | Winch #2 for scaler extension |
min and max extension limit switches wired directly to speed controller Talon Limit Switch logic sense should be reversed to Normally Low |
40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415 |
12 | Scaler | motor | Bag | Arm Pivot rotation | 30A breaker (13A max calc load) | |
13 | ||||||
14 | ||||||
15 |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes |
0 | Drivetrain | motor | CIM | Left Drive motor | 40A Breaker, PWM Splits to two Spark Controllers | |
1 | Drivetrain | motor |
CIM |
Right Drive motor | 40A Breaker, PWM Splits to two Spark Controllers | |
2 | ||||||
3 | ||||||
4 | Scaler | servo | hs-322hd | scaler lock | ||
5 | ||||||
6 | ||||||
7 | ||||||
8 | ||||||
9 |
Relay Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
0 | ||||||
1 | ||||||
2 | ||||||
3 |
Analog IO
RoboRIO Analog Inputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
0 | Drivetrain | Gyro | ADW22307 | drivetrain gyro position feedback | X-Y orientation | 2.5V centered | |
1 | Breacher | Potentiometer | 3852A-282-102AL | Breacher bucket shaft rotation | absolute position of beacher rotation | 1K ohms, linear taper | |
2 | Scaler | Potentiometer | 3852A-282-102AL |
Scaler pivot position | 1K ohms, linear taper | ||
3 |
Rev Robotics More Board Analog IO
ID | Subsystem | Component Type |
Model # | Description (brief) |
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) |
Operation |
Notes |
0 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase A | Drivetrain rotation | |
1 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase B | Drivetrain rotation | |
2 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Right Encoder, Phase A | Drivetrain rotation | |
3 | IN | Drivetrain | Shaft Encoder | E4T-360-250 | Left Encoder, Phase B | Drivetrain rotation | |
4 | IN | Scaler | Shaft Encoder | 61KS256 | Arm Rotation, Phase A | Scaler arm extention | |
5 | IN | Scaler | Shaft Encoder | 61KS256 | Arm Rotation,Phase B | Scaler arm extention | |
6 | IN | Breacher | Banner Opto | Q10RN6R | Ball Intake | Trips for ball fully into bucket |
w/Q106E emitter, sensor open-collector out |
7 | IN | Breacher | limit switch |
AAP2T51Z11 |
breacher rotation upper limit | monster switch | |
8 | IN | Breacher | limit switch | AAP2T51Z11 | breacher rotation lower limit | monster switch | |
9 |
Rev Robotics More Board IO
ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation |
Notes |
0 | |||||||
1 | |||||||
2 | |||||||
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) |
Operation |
Notes |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 |
SPI Devices
# |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
USB Host Ports
Address |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
0 | ||||||
1 |
Pneumatics Control Module
ID | Subsystem | Component Type |
Model # |
Description (brief) |
Operation |
Notes | Pressure Circuit |
0 | |||||||
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 | |||||||
7 |
Operator Controls
Controller 1 - Primary Driver
Action/Button | Description | Details |
Left Joystick Y | Moves the robot forward / back | "Up drive the robot forward (Breacher Side) Down drives the robot backward (Scaler Side)" |
Right Joystick X | Turns the robot Left / Right | ""Right will turn the robot clockwise and vice versa. With no input from the left Joytick, does point turn. With input from left, does curve turn"" |
Left Bumper | Slow mode for left wheels |
"decreases the range of power to the left motors by a set amount. Amount tbd" |
Right Bumper | Slow mode for Right wheels |
"decreases the range of power to the Righ motors by a set amount. Amount tbd" |
Left Trigger |
turbo mode for left wheels |
"Increases the range of power to the left motors by a set amount. Amount tbd" |
Right Trigger |
turbo mode for right wheels |
"Increases the range of power to the right motors by a set amount. Amount tbd" |
A button | toggle camera feed |
Controller 2 - Aux Driver
Action/Button | Description | Details | ||
Left Joystick Up | Breacher down | Breacher Rotates forward / toward the ground | ||
Left Joystick Down | Breacher up | Breacher Rotates backward / toward the sky | ||
Right Joystick Up | Scaler extend | Scaler telescopes upward | ||
Right Joystick Down | Scaler retract Scaler | telescopes downward | ||
Right Bumper | intake | "Spins the intake wheels as to intake a ball into the robot" | ||
Right Trigger | Shoot | "Spins the intake wheels as to outtake a ball out of the robot" | ||
X button | Rotate Scaler up | Scaler rotates upward | ||
B button | Rotate Scaler downward | Scaler rotates downward | ||
"Left Trigger + Dpad down" |
Arm Lock | Rotates servo to lock Scaler arm in place | ||
"Left Bumper + Dpad Up" |
Arm Unlock | "Rotate servo to unlock Scaler arm and allow telescoping action" | ||
A button | Toggle camera feed | - | "Y button" | Pivot Intake to the Drawbridge position (Byers use Intake::Drawbridge_Position() |
Broken Switches
Broken Switch1 | Breacher Pivot | Potentiometer broken |
Broken Switch2 | Breacher Intake | Beam Break Broken |
Broken Switch3 | Arm rotate | "??????????? Encoder" |
Broken Switch4 | Arm telescope | "Encoder ???????????" |
Broken Switch5 |
not used yet |
|
Broken Switch6 |
not used yet |
|
Broken Switch7 |
Tank drive |
use tank drive instead of default drive mode |