2018:Robot IO Map: Difference between revisions

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<div class="mw-parser-output">
== PWM Outputs ==
== PWM Outputs ==


{| style="width: 902px" cellspacing="1" cellpadding="2" border="1"
{| border="1" cellpadding="2" cellspacing="1" style="width: 902px"
|-
|-
| '''ID'''
| '''ID'''
| style="width: 82px; text-align: center" | '''Subsystem'''
| style="width: 82px; text-align: center" | '''Subsystem'''
| style="width: 76px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p>
| style="width: 76px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="text-align: center; width: 54px" | '''Model #'''
| style="text-align: center; width: 54px" | '''Model #'''
| style="text-align: center; width: 170px" | '''Description<br/>(brief)'''
| style="text-align: center; width: 170px" | '''Description<br/> (brief)'''
| style="text-align: center; width: 280px" |  
| style="text-align: center; width: 280px" |  
'''Operation'''
'''Operation'''


&nbsp;


 
| colspan="2" rowspan="1" style="width: 198px; text-align: center" |  
| style="width: 198px; text-align: center" rowspan="1" colspan="2" |  
'''Notes'''
'''Notes'''


Line 185: Line 186:
|-
|-
| 0
| 0
| style="width: 82px" | DriveBase<br/>
| style="width: 82px" | DriveBase
| style="width: 76px" | CIM<br/>
| style="width: 76px" | CIM
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK<br/>
| style="width: 170px" | SPARK
| style="width: 280px" | Left Motor 1;&nbsp; +Voltage = Forwards<br/>
| style="width: 280px" | Left Motor 1;&nbsp; +Voltage = Forwards
| style="width: 125px; text-align: center" | <br/>
| style="width: 125px; text-align: center" | 40A
| style="width: 72px; text-align: center" | <br/>
| style="width: 72px; text-align: center" | 0
|-
| 0
| style="width: 82px" | DriveBase
| style="width: 76px" | CIM
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK
| style="width: 280px" | Left Motor 2; +Voltage = Forwards
| style="width: 125px; text-align: center" | 40A
| style="width: 72px; text-align: center" | 1
|-
| 0
| style="width: 82px" | DriveBase
| style="width: 76px" | CIM
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK
| style="width: 280px" | Left Motor 3; +Voltage = Forwards
| style="width: 125px; text-align: center" | 40A
| style="width: 72px; text-align: center" | 2
|-
|-
| 1
| 1
| style="width: 82px" | DriveBase<br/>
| style="width: 82px" | DriveBase
| style="width: 76px" | CIM<br/>
| style="width: 76px" | CIM
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK<br/>
| style="width: 170px" | SPARK
| style="width: 280px" | Left Motor 2; +Voltage = Forwards<br/>
| style="width: 280px" | Right Motor 1; +Voltage = Forwards
| style="width: 125px; text-align: center" | <br/>
| style="width: 125px; text-align: center" | 40A
| style="width: 72px; text-align: center" | <br/>
| style="width: 72px; text-align: center" | 15
|-
| 1
| style="width: 82px" | DriveBase
| style="width: 76px" | CIM
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK
| style="width: 280px" | Right Motor 2; +Voltage = Forwards
| style="width: 125px; text-align: center;" | 40A
| style="width: 72px; text-align: center;" | 14
|-
| 1
| style="width: 82px" | DriveBase
| style="width: 76px" | CIM
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK
| style="width: 280px" | Right Motor 3; +Voltage = Forwards
| style="width: 125px; text-align: center;" | 40A
| style="width: 72px; text-align: center;" | 13
|-
|-
| 2
| 2
| style="width: 82px" | DriveBase<br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | CIM<br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK<br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | Left Motor 3; +Voltage = Forwards<br/>
| style="width: 280px" | &nbsp;
| style="width: 125px;  text-align: center" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px;  text-align: center" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 3
| 3
| style="width: 82px" | DriveBase<br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | CIM<br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK<br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | Right Motor 1; +Voltage = Forwards<br/>
| style="width: 280px" | &nbsp;
| style="width: 125px;  text-align: center" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px;  text-align: center" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 4
| 4
| style="width: 82px" | DriveBase<br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | CIM<br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK<br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | Right Motor 2; +Voltage = Forwards<br/>
| style="width: 280px" | &nbsp;
| style="width: 125px" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 5
| 5
| style="width: 82px" | DriveBase<br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | CIM<br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK<br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | Right Motor 3; +Voltage = Forwards<br/>
| style="width: 280px" | &nbsp;
| style="width: 125px" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 6
| 6
| style="width: 82px" | <br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | <br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | <br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | <br/>
| style="width: 280px" | &nbsp;
| style="width: 125px" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 7
| 7
| style="width: 82px" | <br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | <br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | <br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | <br/>
| style="width: 280px" | &nbsp;
| style="width: 125px" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 8
| 8
| style="width: 82px" | <br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | <br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | <br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | <br/>
| style="width: 280px" | &nbsp;
| style="width: 125px" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px" | <br/>
| style="width: 72px" | &nbsp;
|-
|-
| 9
| 9
| style="width: 82px" | <br/>
| style="width: 82px" | &nbsp;
| style="width: 76px" | <br/>
| style="width: 76px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 170px" | <br/>
| style="width: 170px" | &nbsp;
| style="width: 280px" | <br/>
| style="width: 280px" | &nbsp;
| style="width: 125px" | <br/>
| style="width: 125px" | &nbsp;
| style="width: 72px" | <br/>
| style="width: 72px" | &nbsp;
|-
| <br/>
| style="width: 82px" | <br/>
| style="width: 76px" | <br/>
| style="width: 54px" | <br/>
| style="width: 170px" | <br/>
| style="width: 280px" | <br/>
| style="width: 125px" | <br/>
| style="width: 72px" | <br/>
|-
| <br/>
| style="width: 82px" | <br/>
| style="width: 76px" | <br/>
| style="width: 54px" | <br/>
| style="width: 170px" | <br/>
| style="width: 280px" | <br/>
| style="width: 125px" | <br/>
| style="width: 72px" | <br/>
|}
|}
</div>


== Relay Outputs ==
== Relay Outputs ==

Revision as of 17:42, 25 January 2018

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 cube intake RS 775 Talon SRX left Intake cube to hand (+) eject cube (-) 30 A ? 6
3 cube intake RS 775 Talon SRX right Intake cube to hand (+) eject cube (-) 30 A ? 7
4 arm RS 775 Talon SRX moves arm   moves from arm front (+) to back (-) 30 A ? 5
5 hand RS 775 Talon SRX        hold and eject the cube rollers intake (+) eject the cube (-) 30 A ? 4
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 40A 0
0 DriveBase CIM   SPARK Left Motor 2; +Voltage = Forwards 40A 1
0 DriveBase CIM   SPARK Left Motor 3; +Voltage = Forwards 40A 2
1 DriveBase CIM   SPARK Right Motor 1; +Voltage = Forwards 40A 15
1 DriveBase CIM   SPARK Right Motor 2; +Voltage = Forwards 40A 14
1 DriveBase CIM   SPARK Right Motor 3; +Voltage = Forwards 40A 13
2              
3              
4              
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



 
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
5
 Left Bumper

6
 Right Bumper

8
 Right Trigger

7
 Left Trigger

0
 Dpad Up

4
 Y button

1
 A button

3
 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

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