2019:Robot IO Map
Robot I/O
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Brake or Coast? | Description (brief) |
Operation |
Notes (8) max. 40A PDB # | |
| 0 | Electrical | PD Module |
Power Distribution Module feedback | monitor PD | must be CAN 0 |
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| 1 | RESERVED | n/a | Factory-default allows for adding new device quickly and re-assign its ID |
don't use | ||||
| 2 | Cargo | Talon-SRX | 775 Pro | Brake |
Intakes or expels cargo. Left half motor |
(+) = intake cargo (-) = expel cargo |
30 | 4 |
| 3 | Cargo | Talon SRX | 775 Pro | Brake |
Intakes or expels cargo Right half motor |
(+) = intake cargo (-) = expel cargo |
30 | 5 |
| 4 | Elevator | Talon SRX | 775 Pro | Brake |
Moves elevator up/down. Primary motor "A"/Left |
(+) = elevator up (-) = elevator down Vex encoder feeds direct to talon |
40 | 2 |
| 5 | Elevator | Talon SRX | 775 Pro | Brake |
Moves elevator up/down Secondary motor "B"/Right |
(+) = elevator up (-) = elevator down |
40 | 3 |
| 6 | Hab | Talon SRX | 775 Pro | Brake |
Drive "back legs" Primary motor; left"leg" |
(+) = move foward (-) = move reverse |
40 | 12 |
| 7 | Hab | Victor SPX | 775 Pro | Brake |
Drive "back legs" Secondary motor; right"leg" |
(+) = move foward (-) = move reverse |
40 | 13 |
| 8 | ||||||||
| 9 | ||||||||
| 10 | ||||||||
| 11 | ||||||||
| 12 | ||||||||
| 13 | ||||||||
| 14 | ||||||||
| 15 | ||||||||
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 | Drivetrain | SPARK | CIM |
Left front drive motor |
+ Moves left side of robot forward - Moves left side of robot reverts |
Don't know | 40 | 0 |
| Drivetrain | SPARK | CIM | Left rear drive motor | Don't know | 40 | 1 | ||
| 1 | Drivetrain | SPARK | CIM | Right front drive motor |
+ Moves left side of robot forward - Moves left side of robot reverts |
Don't know | 40 | 14 |
| Drivetrain | SPARK | CIM | Right reardrive motor | Don't know | 40 | 15 | ||
| 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 | Pnuematics | Pressure guage | REV-11-1107 | Senses amount of pressure we have | To know if we can actually do HAB | ||
| 1 | Gyro? | ||||||
| 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 | Hatch | Limit switch | Honeywell SZL-VL-S-B-N-M | Hatch against backplate |
0 = have hatch 1 = no hatch |
|
| 1 | IN | Cargo | Beam Break | Banner Q106 | Do we have a cargo |
1 = have cargo 0 = no cargo |
|
| 2 | IN | Cargo Left | Magnetic Reed Switch | Bimba MRS-.087-PBL-09 | Senses when the left cargo arm is fully open and out of the way |
0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall |
|
| 3 | IN | Cargo Right | Magnetic Reed Switch | Bimba MRS-.087-PBL-09 | Senses when the right cargo arm is fully open and out of the way |
0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall |
|
| 4 | IN | Elevator | Upper Limit | EE-SPY415 | senses when the elevator is at the top of its track |
0 = no face sensed 1 = face sensed |
|
| 5 | IN | Elevator | Lower Limit | Optek OPB815WZ | senses when the elevator is at the bottom of the track |
0 = elevator not at bottom 1 = elevator is at bottom |
|
| 6 | IN | Hab | Left Front Extended | Bimba MRS-.087-PBL-?? | senses when the front left cylinder is extended |
0 = cylinder extended 1 = cylinder not extended |
|
| 7 | IN | Hab | Right Front Extended | Bimba MRS-.087-PBL-?? | senses when the front right cylinder is extended |
0 = cylinder extended 1 = cylinder not extended |
|
| 8 | IN | Hab | Left Rear Extended | Bimba MRS-.087-PBL-?? | senses when the rear left cylinder is extended |
0 = cylinder extended 1 = cylinder not extended |
|
| 9 | IN | Hab | Right Rear Extended | Bimba MRS-.087-PBL-?? | senses when the rear right cylinder is extended |
0 = cylinder extended 1 = cylinder not extended |
Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 | IN | Hab | Magnetic Reed Switch | Bimba MRS-.087-PBL-?? | Left front cylinder retracted |
0 = cylinder retracted 1 = cylinder not retracted |
|
| 1 | IN | Hab | Magnetic Reed Switch | Bimba MRS-.087-PBL-?? | Right front cylinder retracted |
0 = cylinder retracted 1 = cylinder not retracted |
|
| 2 | IN | Drive | Encoder | 63R256 Grayhill | Left drive train encoder | Left encoder phase A | |
| 3 | IN | Drive | Encoder | 63R256 Grayhill | Right drive train encoder | Right encoder phase A | |
| 4 | IN | Hab | Range Finder | Optek | Front robot over a hab level |
0 = over level? 1 = not? |
|
| 5 | IN | Hab | Range Finder | Optek | Back robot over a hab level |
0 = over level? 1 = not? |
|
| 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 |
| 0x29 | Habitat | laser range finder | VL53L0X | detects when we are ready to retract the first set of cylinders |
If climbing to level 3, when distance changes from 21.162 to 2.162 the cylinders will retract . If climbing to level 2, when distance changes from 21.162 to 15.162 the cylinders will retract. |
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| 0x2A | Habitat | laser range finder | VL53L0X | detects when we are ready to retract the second set of cylinders |
If climbing to level 3, when distance changes from 21.162 to 2.162 the cylinders will retract . If climbing to level 2, when distance changes from 21.162 to 15.162 the cylinders will retract. |
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| 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 Modules
| ID | # | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 | Hatch | Double | SY3240-6LZ | Hold hatch | Extends cylinder to raise hook | 50 | N/A (dedicated PCM terminal) |
| 1 | Allow hatch to release | Retract cylinder to lower hook | ||||||
| 2 | Cargo | Double | SY3240-6LZ | Enables cargo mechanism | Extends cargo cylinders (2) to extend cargo mechism to usable position | 50 | ||
| 3 | Store cargo, enable hatch | Retracts cargo cylinders (2) to store cargo mechanism out of way of hatch mechanism | ||||||
| 4 | Elevator | Double | SY3240-6LZ | Lowers elevator to inside robot frame | Extends cylinder to lower entire elevator | 50 | ||
| 5 | Raises elevator to usable position | Retracts cylinder to raise elevator to usable position for game piece | ||||||
| 6 | Elevator | Double | SY3240-6LZ | Engage brake | Extends cylinder to engage elevator brake | 50 | ||
| 7 | Release brake | Retracts cylinder to release elevator brake | ||||||
| 2 | 0 | Habitat | Double | SY3240-6LZ | Lift front of robot | Extends cylinders (2) to lift front end of robot | 50 | 8 |
| 1 | Lower front of robot | Retracts cylinders (2) to lower front end of robot | ||||||
| 2 | Habitat | Double | SY3240-6LZ | Lift rear of robot | Extends cylinders (2) to lift back end of robot | 50 | ||
| 3 | Lower rear of robot | Retracts cylinders (2) to lower back end of robot |
Operator Controls
Controller 1 - Primary Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | Left Joystick Y | Forward/backward drive | |
| A-1 | Left Joystick X | ||
| A-4 | Right Joystick Y | ||
| A-4 | Right Joystick X | Left/right steering/pivot | |
| B-6 | Right Bumper | Slow on right side | |
| B-5 | Left Bumper | Slow on left side | |
| A-3 | Right Trigger | Fast on right side (binary) | |
| A-2 | Left Trigger | Fast on left (binary) | |
| B-1 | A Button | Swap Drive | |
| B-3 | X Button | Switch camera view | |
| B-4 | Y Button | Calibrate Gyro | |
| B-2 | B Button | Slow Mode Toggle |
Controller 2 - Aux Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | Elevator Manual Override | Joystick; only up and down | |
| B-1 | Cargo @ Rocket High | Press only | |
| B-2 | Cargo @ Rocket Middle | Press only | |
| B-3 | Cargo @ Rocket Low | Press only | |
| B-4 | Hatch @ Rocket High | Press only | |
| B-5 | Hatch @ Rocket Middle | Press only | |
| B-6 | Hatch @ Rocket Low, Cargo Ship, Driver Station | Press only | |
| B-7 | Cargo @ Cargo Ship | Press only | |
| B-8 | Cargo @ Driver Station | Press only | |
| B-9 | Hatch Acquire | Press and Hold | |
| B-10 | Hatch Release | Press and Hold | |
| B-11 | Cargo In | Press and Hold | |
| B-12 | Cargo Out | Press and Hold |
Controller 2 - Aux Driver (Continued)
| Button/Axis # | Action/Button | Description | Details |
| B-1 | HAB Front | Press only | |
| B-2 | HAB Rear | Press only | |
| B-3 | Broken Switch 1 | Press only | |
| B-4 | Broken Switch 2 | Press only | |
| B-5 | Broken Switch 3 | Press only | |
| B-6 | Broken Switch 4 | Press only | |
| B-7 | Broken Switch 5 | Press only | |
| B-8 | Broken Switch 6 | Press only | |
| B-9 | |||
| B-10 | |||
| B-11 | |||
| B-12 |
Dashboard
| Feature | Control | Key | Value |
