2018: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
3
4
5
6
7
8
9
10
11
12
13
14
15

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A              PDB #
0	DriveBase	CIM		SPARK	Left Motor 1;  +Voltage = Forwards
1	DriveBase	CIM		SPARK	Left Motor 2; +Voltage = Forwards
2	DriveBase	CIM		SPARK	Left Motor 3; +Voltage = Forwards
3	DriveBase	CIM		SPARK	Right Motor 1; +Voltage = Forwards
4	DriveBase	CIM		SPARK	Right Motor 2; +Voltage = Forwards
5	DriveBase	CIM		SPARK	Right Motor 3; +Voltage = Forwards
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
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
1	IN
2	IN
3	IN
4	IN
5	OUT
6	IN
7	IN
8	IN
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
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

Button #	Action/Button	Description	Details
	Left Joystick Y
	Left Joystick X
	Right Joystick Y
	Right Joystick X
5	Left Bumper
6	Right Bumper
7	Left Trigger
8	Right Trigger
4	Y button
1	A button

Controller 2 - Aux Driver

Button #	Action/Button	Description	Details
	Left Bumper
	Right Bumper
	Right Trigger
	Left Trigger
	Left Bumper
	Dpad Up
	Y button
	A button
	X button

Broken Switches

Switch	Description	Details
Broken Switch1
Broken Switch2
Broken Switch3
Broken Switch4
Broken Switch5
Broken Switch6
Broken Switch7

IO Maps for Old Robots

• 2017 IO Map
• 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