2017:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A         PDB #
0	Electrical	PD Module		Power Distribution Module feedback	monitor PD	must be CAN 0
1	RESERVED	n/a		Factory-default allows for adding new device quickly and re-assign its ID		don't use
2	Drivetrain	motor	CIM	Left drive motor	Positive voltage moves robot backwards	40A Breaker
3	Drivetrain	motor	CIM	Left drive motor	Positive voltage moves robot backwards	40A Breaker
4	Drivetrain	motor	miniCIM	Left drive motor	Positive voltage moves robot backwards	30A Breaker
5	Drivetrain	motor	CIM	Right drive motor	Positive voltage moves robot forward	40A Breaker
6	Drivetrain	motor	CIM	Right drive motor	Positive voltage moves robot forward	40A Breaker
7	Conveyor	motor	775 Pro	Shooter feeder	Positive voltage intakes balls into shooter	30A Breaker	2
8	Fuel Intake	motor	775 Pro	1st stage Intake roller	Positive voltage intakes balls under bar	30A breaker	13
9	Shooter	motor	775 Pro	Shooter rotation, "master" motor	Positive voltage spins in direction to shoot balls Direct connect CTRE mag encoder in gearbox to this controller	40A breaker	9
10	Shooter	motor	775 Pro	Shooter rotation, "slave" motor	See master	40A breaker	10
11	Fuel Transition	motor	775 Pro	2nd stage intake roller	Positive voltage intakes balls over bar	30A breaker	14
12	Fuel Transition	motor	775 Pro	Conveyor	Positive voltage runs conveyor towards shooter	30A breaker	15
13
14	Climber	motor	775 pro	Climber motor, "Master"	Positive voltage winds rope "under" bar in towards robot	40A breaker	11
15	Climber	motor	775 pro	Climber motor, "Slave"	See Master	40A breaker	12

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A              PDB #
0	Drivetrain	SPARK	CIM	Drivetrain Left (L1)	Positive Voltage Moves Robot Foward	40A	5
0	Drivetrain	SPARK	CIM	Drivetrain Left (L2)	Positive Voltage Moves Robot Foward	40A	6
1	Drivetrain	SPARK	miniCIM	Drivetrain Left (L3)	Positive Voltage Moves Robot Foward	30A	3
2	Drivetrain	SPARK	CIM	Drivetrain Right (R1)	Positive Voltage Moves Robot Backwards	40A	8
2	Drivetrain	SPARK	CIM	Drivetrain Right (R2)	Positive Voltage Moves Robot Backwards	40A	7
3	Drivetrain	SPARK	miniCIM	Drivetrain Right (R3)	Positive Voltage Moves Robot Backwards	30A	4
4	Gear	Serov		Open/Close Left Side
5	Gear	Serov		Open/Close Right Side
6	Climber	Servo		Deploy Climber
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
1	Drive	gyro	ADXRS622	gyro	telling angle and rate in auto	2.5v = null 7mV/degree/sec
2
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	61KS256	Left Encoder Phase A	Drivetrain rotation	Green
1	IN	Drivetrain	Shaft Encoder	61KS256	Left Encoder Phase B	Drivetrain rotation
2	IN	Drvietrain	Shaft Encoder	61KS256	Right Encoder Phase A	Drivetrain rotation	Green
3	IN	Drivetrain	Shaft Encoder	61KS256	Right Encoder Phase B	Drivetrain rotation
4	IN	Fuel Intake	Shaft Encoder (phase A only)	63R256	Speed Encoder phase A	Indicates Intake Speed
5	IN
6	IN
7	IN	Gear	Optical Beam	Banner	Beam Break Sensor	Indicates Spike Fully Engaged
8	IN	Fuel Transition	Encoder (phase A only)	CTR Mag Encoder	Speed Encoder Phase A	Indicates Conveyor Speed	This is the assembly closest to the roboRIO board.
9	IN

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	Gear	Camera	Microsoft LifeCam HD-3000	Camera giving front view		Focus on view of gear spike approach
1	Climber	Camera	Microsoft LifeCam HD-3000	Camera giving robot's left-side-view		Focus on view of rope alignment with climber bar

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 (Intake side) Down drives the robot backward " NOTE: will do the opposite if drive is toggled
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" NOTE: will do the opposite if drive is toggled
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"
Y button	n/a	CASEY SAID HE DOESNT NEED A CAMERA, ANDREW AGREED Update: upon further review Andrew is now worried about climbing the rope on the other side Update: Casey has now decided that he does think a camera would be useful
A button	toggle drive

Controller 2 - Aux Driver

Action/Button	Description	Details
Right Bumper	Intake	hold to run intake, conveyor, and drum so balls are brought into the robot
Right Trigger	Outtake	hold to run intake, conveyor, and drum so balls are spit out of the robot
Left Trigger	Release gear	press button to open gear mechanism and release button to close gear mechanism
Left Bumper	Close gear thing	press and release button to close gear mechanism
Dpad Up	Climb up	hold to climb
Y button	Calibrate Gyro	press button to calibrate gyro
A button	Shoot	hold to shoot (checks shooter up to speed, run gate mechanism, also run intake/conveyor/drum
X button	Pre-heat	hold to run shooter motor at speed (doesnt mess with gate)

Broken Switches

Broken Switch1	Shooter	Speed encoder broken
Broken Switch2	Gear	Spike present sensor broken
Broken Switch3	Bucket Conveyor	Encoder Broken
Broken Switch4	Drive Left	Left encoder broken
Broken Switch5	Drive Right	Right encoder broken
Broken Switch6
Broken Switch7

IO Maps for Old Robots

• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots