2019:Robot IO Map: Difference between revisions

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<div class="mw-parser-output">
= Robot I/O =
= Robot I/O =


== CAN ID Assignments ==
== CAN ID Assignments ==


{| border="1" cellpadding="2" cellspacing="1" style="width: 855px"
{| style="width: 855px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center" | '''ID'''
| style="text-align: center" | '''ID'''
Line 9: Line 10:
| <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="text-align: center" | '''Model #'''
| style="text-align: center" | '''Model #'''
| style="width: 210px; text-align: center" | '''Description'''<br/> (brief)
| style="width: 210px; text-align: center" | '''Description'''<br/> (brief)
| style="width: 224px; text-align: center" | '''Operation'''
| style="width: 224px; text-align: center" | '''Operation'''
| colspan="2" rowspan="1" style="width: 175px; text-align: center" |  
| colspan="2" rowspan="1" style="width: 175px; text-align: center" |  
'''Notes'''
'''Notes'''


Line 21: Line 22:
| <p style="text-align: center">PD Module</p>  
| <p style="text-align: center">PD Module</p>  
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | Power Distribution Module feedback
| style="width: 210px; text-align: center" | Power Distribution Module feedback
| style="width: 224px; text-align: center" | monitor PD
| style="width: 224px; text-align: center" | monitor PD
| style="width: 115px" | <p style="text-align: center">must be CAN 0</p>  
| style="width: 115px" | <p style="text-align: center">must be CAN 0</p>  
| style="width: 55px" | &nbsp;
| style="width: 55px" | &nbsp;
Line 30: Line 31:
| style="text-align: center" | n/a
| style="text-align: center" | n/a
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID
| style="width: 210px; text-align: center" | Factory-default<br/> allows for adding new device quickly and re-assign its ID
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | don't use
| style="width: 115px; text-align: center" | don't use
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 2
| style="text-align: center" | 2
| style="text-align: center" | cube intake
| style="text-align: center" | &nbsp;
| style="text-align: center" | RS 775
| style="text-align: center" | &nbsp;
| style="text-align: center" | Talon SRX
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | left
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | Intake cube to hand (+) eject cube (-)
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | 30 A
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | 8
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 3
| style="text-align: center" | 3
| style="text-align: center" | cube intake
| style="text-align: center" | &nbsp;
| style="text-align: center" | RS 775
| style="text-align: center" | &nbsp;
| style="text-align: center" | Talon SRX
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | right
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | Intake cube to hand (+) eject cube (-)
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | 30 A
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | 7
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 4
| style="text-align: center" | 4
| style="text-align: center" | arm
| style="text-align: center" | &nbsp;
| style="text-align: center" | RS 775
| style="text-align: center" | &nbsp;
| style="text-align: center" | Talon SRX
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | moves arm&nbsp;&nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | moves from arm front (+) to back (-)
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | 30 A
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | 9
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 5
| style="text-align: center" | 5
| style="text-align: center" | hand
| style="text-align: center" | &nbsp;
| style="text-align: center" | RS 775
| style="text-align: center" | &nbsp;
| style="text-align: center" | Talon SRX
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp; &nbsp; &nbsp; &nbsp;hold and eject the cube
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | rollers intake (+) eject the cube (-)
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | 30 A
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | 6
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 6
| style="text-align: center" | 6
| style="text-align: center" | Left lift
| style="text-align: center" | &nbsp;
| style="text-align: center" | RS 775
| style="text-align: center" | &nbsp;
| style="text-align: center" | Talon SRX
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | raises the left lift
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" |  
| style="width: 224px; text-align: center" | &nbsp;
raise lift (+)
| style="width: 115px; text-align: center" | &nbsp;
 
| style="width: 55px; text-align: center" | &nbsp;
<span style="background-color:#ffff66;">Vex encoder feeds direct to talon</span>
 
| style="width: 115px; text-align: center" | 30 A
| style="width: 55px; text-align: center" | 13
|-
|-
| style="text-align: center" | 7
| style="text-align: center" | 7
| style="text-align: center" | Right lift
| style="text-align: center" | &nbsp;
| style="text-align: center" | RS 775
| style="text-align: center" | &nbsp;
| style="text-align: center" | Talon SRX
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | raises the right lift
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" |  
| style="width: 224px; text-align: center" | &nbsp;
Raise lift&nbsp;(+)
| style="width: 115px; text-align: center" | &nbsp;
 
| style="width: 55px; text-align: center" | &nbsp;
<span style="background-color:#ffff66;">Vex encoder feeds direct to talon</span>
 
| style="width: 115px; text-align: center" | 40 A
| style="width: 55px; text-align: center" | 12
|-
|-
| style="text-align: center" | 8
| style="text-align: center" | 8
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| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 9
| style="text-align: center" | 9
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| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 10
| style="text-align: center" | 10
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| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center" | 11
| style="text-align: center" | 11
Line 128: Line 121:
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| 12
| 12
Line 137: Line 130:
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 224px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| 13
| 13
Line 146: Line 139:
| style="text-align: center" | &nbsp;
| style="text-align: center" | &nbsp;
| &nbsp;
| &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 210px; text-align: center" | &nbsp;
| style="width: 224px" | &nbsp;
| style="width: 224px" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| 14
| 14
Line 157: Line 150:
| style="width: 210px" | &nbsp;
| style="width: 210px" | &nbsp;
| style="width: 224px" | &nbsp;
| style="width: 224px" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|-
|-
| 15
| 15
Line 166: Line 159:
| style="width: 210px" | &nbsp;
| style="width: 210px" | &nbsp;
| style="width: 224px" | &nbsp;
| style="width: 224px" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 115px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
| style="width: 55px; text-align: center" | &nbsp;
|}
|}


&nbsp;


== PWM Outputs ==
== PWM Outputs ==


{| border="1" cellpadding="2" cellspacing="1" style="width: 902px"
{| style="width: 902px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| '''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;
&nbsp;


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


Line 192: Line 186:
|-
|-
| 0
| 0
| style="width: 82px" | DriveBase
| style="width: 82px" | &nbsp;
| style="width: 76px" | CIM
| style="width: 76px" | &nbsp;
| style="width: 54px" | &nbsp;
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK
| style="width: 170px" | &nbsp;
| style="width: 280px" | Left Motor 1;&nbsp; +Voltage = Forwards
| style="width: 280px" | &nbsp;
| style="width: 125px; text-align: center" | 40A
| style="width: 125px; text-align: center" | &nbsp;
| style="width: 72px; text-align: center" | 0
| style="width: 72px; text-align: center" | &nbsp;
|-
| 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
|-
|-
| 1
| 1
| style="width: 82px" | DriveBase
| style="width: 82px" | &nbsp;
| style="width: 76px" | CIM
| style="width: 76px" | &nbsp;
| style="width: 54px" | &nbsp;
| style="width: 54px" | &nbsp;
| style="width: 170px" | SPARK
| style="width: 170px" | &nbsp;
| style="width: 280px" | Right Motor 1; +Voltage = Forwards
| style="width: 280px" | &nbsp;
| style="width: 125px; text-align: center" | 40A
| style="width: 125px; text-align: center" | &nbsp;
| style="width: 72px; text-align: center" | 15
| style="width: 72px; text-align: center" | &nbsp;
|-
| 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
|-
|-
| 2
| 2
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== Relay Outputs ==
== Relay Outputs ==


{| style="width: 927px" border="1" cellpadding="2" cellspacing="1"
{| style="width: 927px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| '''ID'''
| '''ID'''
| style="text-align: center" | '''Subsystem'''
| style="text-align: center" | '''Subsystem'''
| style="width: 69px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p>
| style="width: 69px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="width: 54px; text-align: center" | '''Model #'''
| style="width: 54px; text-align: center" | '''Model #'''
| style="width: 192px; text-align: center" | '''Description<br/>(brief)'''
| style="width: 192px; text-align: center" | '''Description<br/> (brief)'''
| style="width: 259px; text-align: center" | '''Operation'''<br/>
| style="width: 259px; text-align: center" | '''Operation'''
| style="width: 115px; text-align: center" | '''Notes'''
| style="width: 115px; text-align: center" | '''Notes'''
|-
|-
| 0
| 0
|  
| &nbsp;
| style="width: 69px" | <br/>
| style="width: 69px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 192px" |  
| style="width: 192px" | &nbsp;
| style="width: 259px" | <br/>
| style="width: 259px" | &nbsp;
| style="width: 115px" |  
| style="width: 115px" | &nbsp;
|-
|-
| 1
| 1
|  
| &nbsp;
| style="width: 69px" | <br/>
| style="width: 69px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 192px" |  
| style="width: 192px" | &nbsp;
| style="width: 259px" | <br/>
| style="width: 259px" | &nbsp;
| style="width: 115px" |  
| style="width: 115px" | &nbsp;
|-
|-
| 2
| 2
|  
| &nbsp;
| style="width: 69px" | <br/>
| style="width: 69px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 192px" |  
| style="width: 192px" | &nbsp;
| style="width: 259px" | <br/>
| style="width: 259px" | &nbsp;
| style="width: 115px" |  
| style="width: 115px" | &nbsp;
|-
|-
| 3
| 3
|  
| &nbsp;
| style="width: 69px" | <br/>
| style="width: 69px" | &nbsp;
| style="width: 54px" | <br/>
| style="width: 54px" | &nbsp;
| style="width: 192px" |  
| style="width: 192px" | &nbsp;
| style="width: 259px" | <br/>
| style="width: 259px" | &nbsp;
| style="width: 115px" |  
| style="width: 115px" | &nbsp;
|}
|}


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=== <u>RoboRIO Analog Inputs</u> ===
=== <u>RoboRIO Analog Inputs</u> ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 1030px"
{| style="width: 1030px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| ID
| ID
| style="text-align: center" | Subsystem
| style="text-align: center" | Subsystem
| style="width: 70px" | <p style="text-align: center">Component</p> <p style="text-align: center">Type</p>  
| style="width: 70px" | <p style="text-align: center">Component</p> <p style="text-align: center">Type</p>  
| style="width: 54px; text-align: center" | Model #
| style="width: 54px; text-align: center" | Model #
| style="width: 227px; text-align: center" | Description<br/> (brief)
| style="width: 227px; text-align: center" | Description<br/> (brief)
| style="width: 262px; text-align: center" | Operation
| style="width: 262px; text-align: center" | Operation
| style="width: 132px; text-align: center" |  
| style="width: 132px; text-align: center" |  
Voltage
Voltage


Range
Range


| style="width: 91px; text-align: center" | Notes
| style="width: 91px; text-align: center" | Notes
|-
|-
| 0
| 0
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| style="width: 262px" | &nbsp;
| style="width: 262px" | &nbsp;
| style="width: 132px" | &nbsp;
| style="width: 132px" | &nbsp;
| style="width: 91px; text-align: center;" | &nbsp;
| style="width: 91px; text-align: center" | &nbsp;
|-
|-
| 1
| 1
| &nbsp;
| &nbsp;
| style="width: 70px" | &nbsp;
| style="width: 70px" | &nbsp;
| style="width: 54px; text-align: center;" | &nbsp;
| style="width: 54px; text-align: center" | &nbsp;
| style="width: 227px" | &nbsp;
| style="width: 227px" | &nbsp;
| style="width: 262px" | &nbsp;
| style="width: 262px" | &nbsp;
| style="width: 132px" |  
| style="width: 132px" | &nbsp;
&nbsp;
 
| style="width: 91px" | &nbsp;
| style="width: 91px" | &nbsp;
|-
|-
| 2
| 2
| Arm
| &nbsp;
| style="width: 70px" | pot
| style="width: 70px" | &nbsp;
| style="width: 54px" |  
| style="width: 54px" | &nbsp;
{| border="0" cellpadding="0" cellspacing="0" id="product-details" style="width: 71px;"
| style="width: 227px" | &nbsp;
|-
| style="width: 262px" | &nbsp;
| id="reportPartNumber" style="width: 67px;" | 3852A-282-103AL-ND
| style="width: 132px" | &nbsp;
|}
 
| style="width: 227px" | arm position
| style="width: 262px" | arm forward (+) arm back (-)
| style="width: 132px" | 0-4 v&nbsp;?
| style="width: 91px" | &nbsp;
| style="width: 91px" | &nbsp;
|-
|-
Line 408: Line 377:
|}
|}


&nbsp;


=== <u>Rev Robotics More Board Analog IO</u> ===
=== <u>Rev Robotics More Board Analog IO</u> ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 1030px"
{| style="width: 1030px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| '''ID'''
| '''ID'''
| style="text-align: center" | '''Subsystem'''
| style="text-align: center" | '''Subsystem'''
| style="width: 70px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="width: 70px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="width: 54px; text-align: center" | '''Model #'''
| style="width: 54px; text-align: center" | '''Model #'''
| style="width: 227px; text-align: center" | '''Description<br/> (brief)'''
| style="width: 227px; text-align: center" | '''Description<br/> (brief)'''
| style="width: 262px; text-align: center" | '''Operation'''
| style="width: 262px; text-align: center" | '''Operation'''
| style="width: 132px; text-align: center" |  
| style="width: 132px; text-align: center" |  
'''Voltage'''
'''Voltage'''


'''Range'''
'''Range'''


| style="width: 91px; text-align: center" | '''Notes'''
| style="width: 91px; text-align: center" | '''Notes'''
|-
|-
| AIN0
| AIN0
Line 480: Line 450:
| style="width: 91px" | &nbsp;
| style="width: 91px" | &nbsp;
|}
|}
== Digital IO (GPIO) ==
== Digital IO (GPIO) ==
=== <u>RoboRio IO</u> ===
=== <u>RoboRio IO</u> ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 1229px;"
{| style="width: 1229px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center;" | '''ID'''
| style="text-align: center" | '''ID'''
| style="text-align: center;" | '''Direction'''<br/> (IN/OUT)
| style="text-align: center" | '''Direction'''<br/> (IN/OUT)
| style="width: 69px; text-align: center;" | '''Subsystem'''
| style="width: 69px; text-align: center" | '''Subsystem'''
| style="width: 122px;" | <p style="text-align: center;">'''Component'''</p> <p style="text-align: center;">'''Type'''</p>  
| style="width: 122px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="width: 139px; text-align: center;" | '''Model #'''
| style="width: 139px; text-align: center" | '''Model #'''
| style="width: 193px; text-align: center;" | '''Description<br/> (brief)'''
| style="width: 193px; text-align: center" | '''Description<br/> (brief)'''
| style="width: 223px; text-align: center;" | '''Operation'''
| style="width: 223px; text-align: center" | '''Operation'''
| style="width: 231px; text-align: center;" | '''Notes'''
| style="width: 231px; text-align: center" | '''Notes'''
|-
|-
| style="text-align: center;" | 0
| style="text-align: center" | 0
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Drive
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | encoder
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | 63r256
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | left encoder phase A
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | measures distance traveled
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | 256 counts per rev
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 3
| style="text-align: center" | 1
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Arm
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | Leaf switch
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | Honeywell V7-2B17D8-048
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Limit at end of travel for back of robot
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | Limit "switch" - digital low at limit&nbsp;
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | &nbsp;
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 2
| style="text-align: center" | 2
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Drive
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | encoder
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | 63r256
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | right encoder phase A
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | measures distance traveled
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | 256 counts per rev
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 1
| style="text-align: center" | 3
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Arm
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | Leaf switch
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | Honeywell V7-2B17D8-048
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Limit at end of travel for front of robot
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | Limit "switch" - digital low at limit
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | &nbsp;
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 4
| style="text-align: center" | 4
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Intake
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | magnetic reed switch
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | &nbsp;
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Intake is all the way out&nbsp;
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" |  
| style="width: 223px; text-align: center" | &nbsp;
1 = Intake Up (In)
| style="width: 231px; text-align: center" | &nbsp;
 
0 = Intage Down (Out)
 
| style="width: 231px; text-align: center;" | &nbsp;
|-
|-
| style="text-align: center;" | 5
| style="text-align: center" | 5
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Left Lift&nbsp;
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | encoder
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | srx magnetic encoder
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Lift encoder phase A
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | measures distance traveled
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | 1024 counts per rev
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 6
| style="text-align: center" | 6
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Right Lift
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | encoder
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | srx magnetic encoder
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Lift encoder phase A
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | measures distance traveled
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | 1024 counts per rev
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 7
| style="text-align: center" | 7
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Left Lift
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | Leaf switch
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | Honeywell V7-2B17D8-048
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Limit at the upper end of the left lift travel
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | Limit "switch" - digital low at limit
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | &nbsp;
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 8
| style="text-align: center" | 8
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Right Lift
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | Leaf switch
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | Honeywell V7-2B17D8-048
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | Limit at the upper end of the right lift travel
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" | Limit "switch" - digital low at limit
| style="width: 223px; text-align: center" | &nbsp;
| style="width: 231px; text-align: center;" | &nbsp;
| style="width: 231px; text-align: center" | &nbsp;
|-
|-
| style="text-align: center;" | 9
| style="text-align: center" | 9
| style="text-align: center;" | IN
| style="text-align: center" | &nbsp;
| style="width: 69px; text-align: center;" | Hand
| style="width: 69px; text-align: center" | &nbsp;
| style="width: 122px; text-align: center;" | Allen Bradley diffuse sensor
| style="width: 122px; text-align: center" | &nbsp;
| style="width: 139px; text-align: center;" | 42EF-D1MNAK-A2
| style="width: 139px; text-align: center" | &nbsp;
| style="width: 193px; text-align: center;" | cube present
| style="width: 193px; text-align: center" | &nbsp;
| style="width: 223px; text-align: center;" |  
| style="width: 223px; text-align: center" | &nbsp;
1 = Cube Present
| style="width: 231px;  text-align: center" | &nbsp;
 
|}
0 = Cube Not Present


| style="width: 231px; text-align: center;" | needs 10+ volt via PD board #3
|}
=== <u>Rev Robotics More Board IO</u> ===
=== <u>Rev Robotics More Board IO</u> ===


{| border="1" cellpadding="1" cellspacing="1" style="width: 1022px"
{| style="width: 1022px" cellspacing="1" cellpadding="1" border="1"
|-
|-
| style="width: 16px; text-align: center" | '''ID'''
| style="width: 16px; text-align: center" | '''ID'''
| style="width: 56px; text-align: center" | '''Direction (IN/OUT)'''
| style="width: 56px; text-align: center" | '''Direction (IN/OUT)'''
| style="width: 74px; text-align: center" | '''Subsystem'''
| style="width: 74px; text-align: center" | '''Subsystem'''
| style="width: 74px; text-align: center" | '''Component Type'''
| style="width: 74px; text-align: center" | '''Component Type'''
| style="width: 56px; text-align: center" | '''Model #'''
| style="width: 56px; text-align: center" | '''Model #'''
| style="width: 197px; text-align: center" | '''Description (brief)'''
| style="width: 197px; text-align: center" | '''Description (brief)'''
| style="width: 254px; text-align: center" | '''Operation'''
| style="width: 254px; text-align: center" | '''Operation'''
| style="width: 141px; text-align: center" | '''Notes'''
| style="width: 141px; text-align: center" | '''Notes'''
|-
|-
| style="width: 16px" | 0
| style="width: 16px" | 0
Line 752: Line 717:
== I2C Registers ==
== I2C Registers ==


{| style="width: 1007px" border="1" cellpadding="2" cellspacing="1"
{| style="width: 1007px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center" | '''Address'''<br/>(e.g. 0100111X)
| style="text-align: center" | '''Address'''<br/> (e.g. 0100111X)
| style="width: 37px; text-align: center" | '''Pin'''<br/>(e.g. GP0)
| style="width: 37px; text-align: center" | '''Pin'''<br/> (e.g. GP0)
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Component'''</p><p style="text-align: center">'''Type'''</p>
| style="width: 75px" | <p style="text-align: center">'''Component'''</p> <p style="text-align: center">'''Type'''</p>  
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 205px; text-align: center" | '''Description<br/>(brief)'''
| style="width: 205px; text-align: center" | '''Description<br/> (brief)'''
| style="width: 241px; text-align: center" | '''Operation'''<br/>
| style="width: 241px; text-align: center" | '''Operation'''
| style="width: 112px; text-align: center" | '''Notes'''
| style="width: 112px; text-align: center" | '''Notes'''
|-
|-
| 0
| 0
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 1
| 1
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 2
| 2
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 3
| 3
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 4
| 4
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 5
| 5
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 6
| 6
| style="width: 37px" |  
| style="width: 37px" | &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | <br/>
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|}
|}


== SPI Devices ==
== SPI Devices ==


{| style="width: 1007px" border="1" cellpadding="2" cellspacing="1"
{| style="width: 1007px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center" | '''#'''<br/>
| style="text-align: center" | '''#'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>
| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>  
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
| style="width: 241px; text-align: center" | '''Operation'''<br/>
| style="width: 241px; text-align: center" | '''Operation'''
| style="width: 112px; text-align: center" | '''Notes'''<br/>
| style="width: 112px; text-align: center" | '''Notes'''
|-
|-
|  
| &nbsp;
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" |  
| style="width: 75px" | &nbsp;
| style="width: 53px" |  
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" |  
| style="width: 241px" | &nbsp;
| style="width: 112px" | <br/>
| style="width: 112px" | &nbsp;
|-
|-
| <br/>
| &nbsp;
| style="width: 76px" | <br/>
| style="width: 76px" | &nbsp;
| style="width: 75px" | <br/>
| style="width: 75px" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 53px" | &nbsp;
| style="width: 205px" | <br/>
| style="width: 205px" | &nbsp;
| style="width: 241px" | <br/>
| style="width: 241px" | &nbsp;
|}
|}


== USB Host Ports ==
== USB Host Ports ==


{| style="width: 1007px" border="1" cellpadding="2" cellspacing="1"
{| style="width: 1007px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center" | '''Address'''<br/>
| style="text-align: center" | '''Address'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 76px; text-align: center" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>
| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>  
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 53px; text-align: center" | '''Model #'''
| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
| style="width: 241px; text-align: center" | '''Operation'''<br/>
| style="width: 241px; text-align: center" | '''Operation'''
| style="width: 112px; text-align: center" | '''Notes'''
| style="width: 112px; text-align: center" | '''Notes'''
|-
|-
| 0
| 0
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" |  
| style="width: 75px" | &nbsp;
| style="width: 53px" |  
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" |  
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|-
|-
| 1
| 1
| style="width: 76px" |  
| style="width: 76px" | &nbsp;
| style="width: 75px" |  
| style="width: 75px" | &nbsp;
| style="width: 53px" |  
| style="width: 53px" | &nbsp;
| style="width: 205px" |  
| style="width: 205px" | &nbsp;
| style="width: 241px" |  
| style="width: 241px" | &nbsp;
| style="width: 112px" |  
| style="width: 112px" | &nbsp;
|}
|}


== Pneumatics Control Module ==
== Pneumatics Control Module ==


{| border="1" cellpadding="2" cellspacing="1" style="width: 931px"
{| style="width: 931px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| '''#'''
| '''#'''
| style="text-align: center" | '''Subsystem'''
| style="text-align: center" | '''Subsystem'''
| style="width: 75px" | <p style="text-align: center">'''Solenoid is Double or Single?'''</p>  
| style="width: 75px" | <p style="text-align: center">'''Solenoid is Double or Single?'''</p>  
| style="width: 64px;" | <p style="text-align: center">'''Solenoid'''</p> <p style="text-align: center">'''Model #'''</p>  
| style="width: 64px" | <p style="text-align: center">'''Solenoid'''</p> <p style="text-align: center">'''Model #'''</p>  
| style="width: 183px;" | <p style="text-align: center">'''Description'''</p> <p style="text-align: center">'''(brief)'''</p>  
| style="width: 183px" | <p style="text-align: center">'''Description'''</p> <p style="text-align: center">'''(brief)'''</p>  
| style="width: 290px; text-align: center" | '''Operation'''
| style="width: 290px; text-align: center" | '''Operation'''
| style="width: 118px; text-align: center" | '''Circuit Pressure'''
| style="width: 118px; text-align: center" | '''Circuit Pressure'''
| style="width: 118px; text-align: center" | '''Notes'''
| style="width: 118px; text-align: center" | '''Notes'''
|-
|-
| 0
| 0
| colspan="1" rowspan="2" | Intake
| colspan="1" rowspan="2" | &nbsp;
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 64px;" | SY3240-6
| colspan="1" rowspan="2" style="width: 64px" | &nbsp;
| style="width: 183px;" | Raise intake
| style="width: 183px" | &nbsp;
| style="width: 290px" | Extends cylinder to raise intake
| style="width: 290px" | &nbsp;
| colspan="1" rowspan="2" style="width: 118px" | 60 PSI
| colspan="1" rowspan="2" style="width: 118px" | &nbsp;
| style="width: 118px" | B
| style="width: 118px" | &nbsp;
|-
|-
| 1
| 1
| style="width: 183px;" | Lower intake
| style="width: 183px" | &nbsp;
| style="width: 290px" | Retracts cylinder to lower intake
| style="width: 290px" | &nbsp;
| style="width: 118px" | A
| style="width: 118px" | &nbsp;
|-
|-
| 2
| 2
| colspan="1" rowspan="2" | Brake (Arm)
| colspan="1" rowspan="2" | &nbsp;
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 64px;" | SY3240-6
| colspan="1" rowspan="2" style="width: 64px" | &nbsp;
| style="width: 183px;" | Disengage brake on arm pivot. Does not actually pass air (block output)
| style="width: 183px" | &nbsp;
| style="width: 290px" | Extends cylinder to disengage brake
| style="width: 290px" | &nbsp;
| colspan="1" rowspan="2" style="width: 118px" | 60 PSI
| colspan="1" rowspan="2" style="width: 118px" | &nbsp;
| style="width: 118px" | A
| style="width: 118px" | &nbsp;
|-
|-
| 3
| 3
| style="width: 183px;" | Engage brake on arm pivot
| style="width: 183px" | &nbsp;
| style="width: 290px" | Retracts cylinder to engage brake
| style="width: 290px" | &nbsp;
| style="width: 118px" | B
| style="width: 118px" | &nbsp;
|-
|-
| 4
| 4
| colspan="1" rowspan="2" | Hand (Arm)
| colspan="1" rowspan="2" | &nbsp;
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 64px;" | SY3240-6
| colspan="1" rowspan="2" style="width: 64px" | &nbsp;
| style="width: 183px;" |  
| style="width: 183px" | &nbsp;
Release hand's grip on cube
| style="width: 290px" | &nbsp;
 
| colspan="1" rowspan="2" style="width: 118px" | &nbsp;
Does not actually pass air (block output)
| style="width: 118px" | &nbsp;
 
| style="width: 290px" | Removes air pressure from cylinder to "relax" grip on cube
| colspan="1" rowspan="2" style="width: 118px" | &nbsp;?? PSI
| style="width: 118px" | B
|-
|-
| 5
| 5
| style="width: 183px;" | Tighten hand grip on cube
| style="width: 183px" | &nbsp;
| style="width: 290px" | Retracts cylinder to "close" hand
| style="width: 290px" | &nbsp;
| style="width: 118px" | A
| style="width: 118px" | &nbsp;
|-
|-
| 6
| 6
| colspan="1" rowspan="2" | Ramp
| colspan="1" rowspan="2" | &nbsp;
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 75px" | Double
| colspan="1" rowspan="2" style="width: 64px;" | SY3240-6
| colspan="1" rowspan="2" style="width: 64px" | &nbsp;
| style="width: 183px;" | Allows ramps to deploy to ground
| style="width: 183px" | &nbsp;
| style="width: 290px" | Retracts cylinder to release ramps to ground
| style="width: 290px" | &nbsp;
| colspan="1" rowspan="2" style="width: 118px" | 60 PSI
| colspan="1" rowspan="2" style="width: 118px" | &nbsp;
| style="width: 118px" | B
| style="width: 118px" | &nbsp;
|-
|-
| 7
| 7
| style="width: 183px;" | Holds ramps in stored position
| style="width: 183px" | &nbsp;
| style="width: 290px" | Extends cylinder to hold ramps in up position
| style="width: 290px" | &nbsp;
| style="width: 118px" | A
| style="width: 118px" | &nbsp;
|}
|}


= Operator Controls =
= Operator Controls =
=== Controller 1 - Primary Driver ===
=== Controller 1 - Primary Driver ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 908px"
{| style="width: 908px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="width: 92px;" | '''&nbsp;Button/Axis #'''
| style="width: 92px" | '''&nbsp;Button/Axis #'''
| style="width: 414px;" | '''Action/Button'''
| style="width: 414px" | '''Action/Button'''
| '''Description'''
| '''Description'''
| '''Details'''
| '''Details'''
|-
|-
| style="width: 92px; text-align: center;" | A-1
| style="width: 92px; text-align: center" | A-1
| style="width: 414px;" | Left Joystick Y
| style="width: 414px" | Left Joystick Y
| Drive Forward/Back
| &nbsp;
|  
| &nbsp;
Up drive the robot forward (Intake side)<br/> Down drives the robot backward
 
NOTE: will do the opposite if swap drive is toggled
 
|-
|-
| style="width: 92px; text-align: center;" | A-1
| style="width: 92px; text-align: center" | A-1
| style="width: 414px;" | Left Joystick X
| style="width: 414px" | Left Joystick X
| Nothing
| &nbsp;
| &nbsp;
| &nbsp;
|-
|-
| style="width: 92px; text-align: center;" | A-4
| style="width: 92px; text-align: center" | A-4
| style="width: 414px;" | Right Joystick Y
| style="width: 414px" | Right Joystick Y
| Nothing
| &nbsp;
| &nbsp;
| &nbsp;
|-
|-
| style="width: 92px; text-align: center;" | A-4
| style="width: 92px; text-align: center" | A-4
| style="width: 414px;" | Right Joystick X
| style="width: 414px" | Right Joystick X
| Turn Left/Right
| &nbsp;
|  
| &nbsp;
Right will turn the robot clockwise and vice<br/> versa. With no input from the left Joytick,<br/> does point turn. With input from left, does<br/> curve turn
 
NOTE: will do the opposite if swap drive is toggled
 
|-
|-
| style="width: 92px; text-align: center;" | B-6
| style="width: 92px; text-align: center" | B-6
| style="width: 414px;" | Right Bumper
| style="width: 414px" | Right Bumper
| Slow
| &nbsp;
| decreases the range of power to the<br/> motors by a set amount
| &nbsp;
|-
|-
| style="width: 92px; text-align: center;" | B-5
| style="width: 92px; text-align: center" | B-5
| style="width: 414px;" | Right Bumper
| style="width: 414px" | Right Bumper
| Nothing
| &nbsp;
| &nbsp;
| &nbsp;
|-
|-
| style="width: 92px; text-align: center;" | A-3
| style="width: 92px; text-align: center" | A-3
| style="width: 414px;" | Right Trigger
| style="width: 414px" | Right Trigger
| Turbo
| &nbsp;
| Increases the range of power to the motors by a set amount.
| &nbsp;
|-
|-
| style="width: 92px; text-align: center;" | A-2
| style="width: 92px; text-align: center" | A-2
| style="width: 414px;" | Left Trigger
| style="width: 414px" | Left Trigger
| Swap Drive
| &nbsp;
|  
| &nbsp;
Switches the front and back of the robot.
 
Press to toggle.
 
|}
|}


=== Controller 2 - Aux Driver ===
=== Controller 2 - Aux Driver ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 908px"
{| style="width: 908px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| style="text-align: center; width: 91px" | '''Button/Axis #'''
| style="text-align: center; width: 91px" | '''Button/Axis #'''
| style="width: 379px" | '''Action/Button'''
| style="width: 379px" | '''Action/Button'''
| '''Description'''
| '''Description'''
| '''Details'''
| '''Details'''
|-
|-
| style="text-align: center; width: 91px" | A-5
| style="text-align: center; width: 91px" | A-5
| style="width: 379px" | Right Joystick Y
| style="width: 379px" | Right Joystick Y
| Fine Arm Control
| &nbsp;
|
| &nbsp;
Up - towards front
 
Down - towards back
 
Only moves arm and intake,&nbsp;when not in moving to a preset.
 
Moves at a slower speed than the presets.
 
When broken switches 1 is flipped, the arm will not stop at the front of the robot&nbsp;automatically. The driver is responsible for stopping the arm by letting go of the joystick.
 
When broken switches 2 is&nbsp;flipped, the arm will not stop at the back&nbsp;of the robot&nbsp;automatically. The driver is responsible for stopping the arm by letting go of the joystick.
 
|-
|-
| style="width: 91px; text-align: center" | B-5
| style="width: 91px; text-align: center" | B-5
| style="width: 379px" | Left Bumper
| style="width: 379px" | Left Bumper
| Raise Right Ramp
| &nbsp;
|
| &nbsp;
Press and Hold
 
If button is let go, then the ramp&nbsp;will stop in place.
 
If broken switch 5&nbsp;is flipped, the ramp will not auto-stop when at top. Driver is responsible for stopping.
 
|-
|-
| style="width: 91px; text-align: center" | B-6
| style="width: 91px; text-align: center" | B-6
| style="width: 379px" | Right Bumper
| style="width: 379px" | Right Bumper
| Raise Left Ramp
| &nbsp;
|
| &nbsp;
Press and Hold
 
If button is let go, then the ramp&nbsp;will stop in place.
 
If broken switch 4&nbsp;is flipped, the ramp will not auto-stop when at top. Driver is responsible for stopping.
 
|-
|-
| style="width: 91px; text-align: center" | A-3
| style="width: 91px; text-align: center" | A-3
| style="width: 379px" | Right Trigger
| style="width: 379px" | Right Trigger
| Intake
| &nbsp;
|  
| &nbsp;
Press and Hold
 
Will auto-stop when cube is all the way in.
 
If broken switch 6&nbsp;is flipped, the intake will not auto-stop when cube is fully in.
 
|-
|-
| style="width: 91px; text-align: center" | A-2
| style="width: 91px; text-align: center" | A-2
| style="width: 379px" | Left Trigger
| style="width: 379px" | Left Trigger
| Outtake
| &nbsp;
| Press and Hold
| &nbsp;
|-
|-
| style="width: 91px; text-align: center" | POV-0
| style="width: 91px; text-align: center" | POV-0
| style="width: 379px" | Dpad Up
| style="width: 379px" | Dpad Up
| Moves Intake Up
| &nbsp;
|  
| &nbsp;
When broken switch 1 is flipped, this moves the intake up.
 
|-
|-
| style="width: 91px; text-align: center" | POV-180
| style="width: 91px; text-align: center" | POV-180
| style="width: 379px" | Dpad Down
| style="width: 379px" | Dpad Down
| Moves Intake Down
| &nbsp;
| When broken switch 1 is flipped, this moves the intake down
| &nbsp;
|-
|-
| style="width: 91px; text-align: center" | B-4
| style="width: 91px; text-align: center" | B-4
| style="width: 379px" | Y button
| style="width: 379px" | Y button
| Arm to Intake Level Front&nbsp; (Preset position)
| &nbsp;
|  
| &nbsp;
Press, and release, to move arm and intake there automatically.
 
When broken switch 1 is flipped, the presets do not work.
 
|-
|-
| style="width: 91px; text-align: center" | B-1
| style="width: 91px; text-align: center" | B-1
| style="width: 379px" | A button
| style="width: 379px" | A button
| Arm to&nbsp; Exchange Level Back (Preset position)
| &nbsp;
|  
| &nbsp;
Press, and release, to move arm and intake there automatically.
 
When broken switch 1 is flipped, the presets do not work.
 
|-
|-
| style="width: 91px; text-align: center" | B-2
| style="width: 91px; text-align: center" | B-2
| style="width: 379px" | B button
| style="width: 379px" | B button
| Arm to Switch Back (Preset position)
| &nbsp;
|  
| &nbsp;
Press, and release,&nbsp;to move arm and intake there automatically.
 
When broken switch 1 is flipped, the presets do not work.
 
|-
|-
| style="width: 91px; text-align: center" | B-3
| style="width: 91px; text-align: center" | B-3
| style="width: 379px" | X button
| style="width: 379px" | X button
| Arm to Switch Front (Preset position)
| &nbsp;
|  
| &nbsp;
Press, and release, to move arm and intake there automatically.
 
When broken switch 1&nbsp;is flipped, the presets do not work.
 
|-
|-
| style="width: 91px; text-align: center" | B-7 + B-8
| style="width: 91px; text-align: center" | B-7 + B-8
| style="width: 379px" | Start + Select
| style="width: 379px" | Start + Select
| Deploy Ramps
| &nbsp;
|
| &nbsp;
Press, and release,&nbsp;both at same time to lower ramps.
|}
 
Lowers all parts of the ramp.&nbsp;


|}
=== Broken Switches ===
=== Broken Switches ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 908px"
{| style="width: 908px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| '''Switch'''
| '''Switch'''
Line 1,151: Line 1,050:
|-
|-
| Broken Switch1
| Broken Switch1
| Arm/Intake Movement
| &nbsp;
|  
| &nbsp;
None of the presets work.
 
Intake doesn't move in and out with the arm automatically
 
|-
|-
| Broken Switch2
| Broken Switch2
| Arm Front Limit Switch
| &nbsp;
| Arm won't auto-stop when going towards the front.
| &nbsp;
|-
|-
| Broken Switch3
| Broken Switch3
| Arm Back Limit Switch
| &nbsp;
| Arm won't auto-stop when going towards the back.
| &nbsp;
|-
|-
| Broken Switch4
| Broken Switch4
| Ramp Left Lift
| &nbsp;
| Left Ramp doesnt auto-stop when at top.
| &nbsp;
|-
|-
| Broken Switch5
| Broken Switch5
| Ramp Right Lift
| &nbsp;
| Right Ramp doesn't auto-stop when at top.
| &nbsp;
|-
|-
| Broken Switch6
| Broken Switch6
| Cube Sensor
| &nbsp;
| Cube sensor broken - intake/hand doesn't auto-stop when cube is fully in.
| &nbsp;
|}
|}
=== Dashboard ===
=== Dashboard ===


{| border="1" cellpadding="2" cellspacing="1" style="width: 0px;"
{| style="width: 0px" cellspacing="1" cellpadding="2" border="1"
|-
|-
| '''Feature'''
| '''Feature'''
| style="width: 600px;" | '''Control'''
| style="width: 600px" | '''Control'''
| '''Key'''
| '''Key'''
| '''Value'''
| '''Value'''
|-
|-
| Have Cube
| &nbsp;
| The background areas of the dashboard will be green when there is a cube
| &nbsp;
| thunderdashboard_green
| &nbsp;
|  
| &nbsp;
0 - do not have a cube
 
1 - have a cube
 
|-
|-
| Arm position
| &nbsp;
| A horizontal meter/gauge that shows the arm's position.
| &nbsp;
An empty gauge means the arm is all the way down in the back.
| &nbsp;
 
| &nbsp;
A full gauge means the arm is all the way down in the front .
 
| thunderdashboard_armpos
|  
number ranging from 0 to 100
 
0 means arm is all the way down on the back
 
50 means arm is point straight up
 
100 means arm is all the way down on the front
 
|-
|-
| Intake position
| &nbsp;
| A panel that will be yellow when intake is up/in.
| &nbsp;
| thunderdashboard_intake
| &nbsp;
|  
| &nbsp;
0 - intake is up/in
 
1 - intake is down/out
 
|-
|-
| Gyro cal
| &nbsp;
|  
| &nbsp;
The background areas of the dashboard will be red when the gyro is in the middle of its calibration.
| &nbsp;
 
| &nbsp;
Helps to inform drivers to not touch the robot while calibrating,
 
| thunderdashboard_gyro
|  
0 - not calibrating
 
1 - in middle of calibration
 
|-
|-
| Auto Wait Time
| &nbsp;
|
| &nbsp;
Number input box next to Autonomous mode dropdown to indicate how many seconds to wait before executing the selected auto mode.
| &nbsp;
 
| &nbsp;
Default value is zero, If auto mode is changed, do NOT change value.
 
<span style="color:#c0392b;">NOTE: if value already in NetTables, the dasboard may not overright it. This can happen if&nbsp;robot is running before Dashboard starts, and value was set previously. Auto mode dropdown border (and list background) will be yellow if&nbsp;delay is not zero; to assist drivers in knowing it is non-zero.</span>
 
&nbsp;
 
| thunderdashboard_auto_start_delay
|  
Number of seconds to wait before executing auto mode
 
<span style="color:#c0392b;">NOTE: up to two digits</span>
 
&nbsp;
 
|}
|}


= IO Maps for Old Robots =
= IO Maps for Old Robots =


*[[2018:Robot IO Map|2018&nbsp;IO Map]]
*[[2018:Robot_IO_Map|2018&nbsp;IO Map]]  
*[[2017:Robot IO Map|2017&nbsp;IO Map]]
*[[2017:Robot_IO_Map|2017&nbsp;IO Map]]  
*[[2016:Robot IO Map|2016&nbsp;IO Map]]
*[[2016:Robot_IO_Map|2016&nbsp;IO Map]]  
*[[2015:Robot IO Map|2015&nbsp;IO Map]]
*[[2015:Robot_IO_Map|2015&nbsp;IO Map]]  
*[[2014:Robot IO Map|2014 IO Map]]
*[[2014:Robot_IO_Map|2014 IO Map]]  
*[[2013:Robot IO Map|2013 IO Map]]
*[[2013:Robot_IO_Map|2013 IO Map]]  
*[[2012:Robot IO Map|2012 IO Map]]
*[[2012:Robot_IO_Map|2012 IO Map]]  
*[[2011:Robot IO Map|2011 Thunderous Prime IO Map]]
*[[2011:Robot_IO_Map|2011 Thunderous Prime IO Map]]  
*[[2010:Electrical Main#IO Map 2010 Thunderfoot|2010 Thunderfoot IO Map]]
*[[2010:Electrical_Main#IO_Map_2010_Thunderfoot|2010 Thunderfoot IO Map]]  
*[[2009:IO Map|2009 Thunderplucker]]
*[[2009:IO_Map|2009 Thunderplucker]]  
*[[IO Pin Maps for Pre-2009 Robots]]
*[[IO_Pin_Maps_for_Pre-2009_Robots|IO Pin Maps for Pre-2009 Robots]]  
</div>

Revision as of 12:20, 2 January 2019

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              
1              
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              
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              
1              
2              
3              
4              
5              
6              
7              
8              
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

# Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

 Operation Circuit Pressure Notes
0   Double          
1      
2   Double          
3      
4   Double          
5      
6   Double          
7      

Operator Controls

Controller 1 - Primary Driver

 Button/Axis # Action/Button Description Details
A-1 Left Joystick Y    
A-1 Left Joystick X    
A-4 Right Joystick Y    
A-4 Right Joystick X    
B-6 Right Bumper    
B-5 Right Bumper    
A-3 Right Trigger    
A-2 Left Trigger    

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-5 Right Joystick Y    
B-5 Left Bumper    
B-6 Right Bumper    
A-3 Right Trigger    
A-2 Left Trigger    
POV-0 Dpad Up    
POV-180 Dpad Down    
B-4 Y button    
B-1 A button    
B-2 B button    
B-3 X button    
B-7 + B-8 Start + Select    

Broken Switches

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

Dashboard

Feature Control Key Value
       
       
       
       
       

IO Maps for Old Robots

Retrieved from "https://wiki.penfieldrobotics.com/wiki/index.php?title=2019:Robot_IO_Map&oldid=9621"