2018:Robot IO Map: Difference between revisions
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=== Controller 2 - Aux Driver === | === Controller 2 - Aux Driver === | ||
{| | {| style="width: 908px" cellspacing="1" cellpadding="2" border="1" | ||
|- | |- | ||
| style="text-align: center; width: 66px" | Button # | | style="text-align: center; width: 66px" | Button # | ||
| style="width: 405px" | '''Action/Button''' | | style="width: 405px" | '''Action/Button''' | ||
| '''Description''' | | '''Description''' | ||
| '''Details''' | | '''Details''' | ||
|- | |- | ||
| style="text-align: center; width: 66px" | | | style="text-align: center; width: 66px" | | ||
| style="width: 405px" | Right Joystick Y | | style="width: 405px" | Right Joystick Y | ||
| Fine Arm Control | | Fine Arm Control | ||
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|- | |- | ||
| style="width: 66px; text-align: center" | 5 | | style="width: 66px; text-align: center" | 5 | ||
| style="width: 405px" | Left Bumper | | style="width: 405px" | Left Bumper | ||
| Raise Right Ramp | | Raise Right Ramp | ||
| | | | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 6 | | style="width: 66px; text-align: center" | 6 | ||
| style="width: 405px" | Right Bumper | | style="width: 405px" | Right Bumper | ||
| Raise Left Ramp | | Raise Left Ramp | ||
| | | | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 8 | | style="width: 66px; text-align: center" | 8 | ||
| style="width: 405px" | Right Trigger | | style="width: 405px" | Right Trigger | ||
| Intake | | Intake | ||
| Press and Hold | | Press and Hold | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 7 | | style="width: 66px; text-align: center" | 7 | ||
| style="width: 405px" | Left Trigger | | style="width: 405px" | Left Trigger | ||
| Outtake | | Outtake | ||
| Press and Hold | | Press and Hold | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 0 | | style="width: 66px; text-align: center" | 0 | ||
| style="width: 405px" | Dpad Up | | style="width: 405px" | Dpad Up | ||
| | | | ||
| | | | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 4 | | style="width: 66px; text-align: center" | 4 | ||
| style="width: 405px" | Y button | | style="width: 405px" | Y button | ||
| Front | | Front | ||
| | | | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 1 | | style="width: 66px; text-align: center" | 1 | ||
| style="width: 405px" | A button | | style="width: 405px" | A button | ||
| Back | | Back | ||
| Exchange Level | | Exchange Level | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 2 | | style="width: 66px; text-align: center" | 2 | ||
| style="width: 405px" | B button | | style="width: 405px" | B button | ||
| Switch Back | | Switch Back | ||
| | | | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 3 | | style="width: 66px; text-align: center" | 3 | ||
| style="width: 405px" | X button | | style="width: 405px" | X button | ||
| Switch Front | | Switch Front | ||
| | | | ||
|- | |- | ||
| style="width: 66px; text-align: center" | 7 + 8 | | style="width: 66px; text-align: center" | 7 + 8 | ||
| style="width: 405px" | Start + Select | | style="width: 405px" | Start + Select | ||
| Deploy Ramps | | Deploy Ramps | ||
| | | | ||
|} | |} | ||
</div> | |||
</div> | </div> | ||
Revision as of 15:00, 31 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 | Left Ramp, Near Jack | RS 775 | Talon SRX | Raise/Lower jack | Raise jack (+) | 30 A | 8 |
7 | Left Ramp, Far Jack | RS 775 | Talon SRX | Raise/Lower jack |
Raise jack (+) Vex encoder feeds direct to talon |
40 A | 12 |
8 | Right Ramp, Near Jack | RS 775 | Talon SRX | Raise/Lower jack |
Raise jack (+) Vex encoder feeds direct to talon |
40 A | 3 |
9 | Right Ramp, Far Jack | RS 775 | Talon SRX | Raise/Lower jack |
Raise jack (+) Vex encoder feeds direct to talon |
30 A | 11 |
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 | TBD | gyro | telling angle and rate in auto |
|
||
2 | Arm | pot |
|
arm position | arm forward (+) arm back (-) | 0-4 v ? | ||
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 | Drive | encoder | 63r256 | left encoder phase A | measures distance traveled | 256 counts per rev |
1 | IN | Arm | ??? | ??? | Limit at end of travel for front of robot | Limit "switch" - digital low at limit | |
2 | IN | Drive | encoder | 63r256 | right encoder phase A | measures distance traveled | 256 counts per rev |
3 | IN | Arm | ??? | ??? | Limit at end of travel for back of robot | Limit "switch" - digital low at limit | |
4 | IN | Intake | magnetic reed switch | Intake is all the way out | when it is all the way out it is digital low | ||
5 | IN | Arm | encoder | srx magnetic encoder | arm encoder phase A | 1024 counts per rev | |
6 | IN | Arm | encoder | srx magnetic encoder | arm encoder phase B | 1024 counts per rev | |
7 | IN | ||||||
8 | IN | ||||||
9 | IN | Hand | banner diffuse sensor | sm312fvqd | cube present | when cube is present digital low | needs 10+ volt via PD board #3 |
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
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | Notes |
0 | Intake | Double | SY3240-6 | Raise intake | Extends cylinder to raise intake | 60 PSI | |
1 | Intake | Double | SY3240-6 | Lower intake | Retracts cylinder to lower intake | 60 PSI | |
2 | Arm | Double | SY3240-6 | Disengage brake on arm pivot. Does not actually pass air (block output) | Extends cylinder to disengage brake | 60 PSI | |
3 | Arm | Double | SY3240-6 | Engage brake on arm pivot | Retracts cylinder to engage brake | 60 PSI | |
4 | Arm | Double | SY3240-6 |
Release hand's grip on cube Does not actually pass air (block output) |
Removes air pressure from cylinder to "relax" grip on cube | ?? PSI | |
5 | Arm | Double | SY3240-6 | Tighten hand grip on cube | Retracts cylinder to "close" hand | ?? PSI | |
6 | Ramp | Double | SY3240-6 | Holds ramps in stored position | Extends cylinder to hold ramps in up position | 60 PSI | |
7 | Ramp | Double | SY3240-6 | Allows ramps to deploy to ground | Retracts cylinder to release ramps to ground | 60 PSI |
Operator Controls
Controller 1 - Primary Driver
Button # | Action/Button | Description | Details |
Left Joystick Y | Drive Forward/Back |
Up drive the robot forward (Intake side) NOTE: will do the opposite if drive is toggled | |
Left Joystick X | Nothing | ||
Right Joystick Y | Nothing | ||
Right Joystick X | Turn Left/Right |
Right will turn the robot clockwise and vice NOTE: will do the opposite if drive is toggled | |
5 | Left Bumper | Slow | decreases the range of power to the motors by a set amount |
6 | Right Bumper | Nothing | |
7 | Left Trigger | Turbo | Increases the range of power to the motors by a set amount. |
8 | Right Trigger | Swap Drive | Switches the front and back of the robot |
Controller 2 - Aux Driver
Button # | Action/Button | Description | Details |
Right Joystick Y | Fine Arm Control |
Up - towards front Down - towards back | |
5 | Left Bumper | Raise Right Ramp | |
6 | Right Bumper | Raise Left Ramp | |
8 | Right Trigger | Intake | Press and Hold |
7 | Left Trigger | Outtake | Press and Hold |
0 | Dpad Up | ||
4 | Y button | Front | |
1 | A button | Back | Exchange Level |
2 | B button | Switch Back | |
3 | X button | Switch Front | |
7 + 8 | Start + Select | Deploy Ramps |
Broken Switches
Switch | Description | Details |
Broken Switch1 | ||
Broken Switch2 | ||
Broken Switch3 | ||
Broken Switch4 | ||
Broken Switch5 | ||
Broken Switch6 | ||
Broken Switch7 |