2020:Robot IO Map

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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

  
1 RESERVED n/a     Factory-default
allows for adding new device quickly and re-assign its ID 		  don't use  
2 Intake Spark Max Neo 550 Brake

Pivots intake in/out of robot

 

30A

Using integrated encoder

4
3 Intake Spark max Neo 550 Coast

Spins "beater bars"

  20A 5
4 Storage Spark max Neo 550 Brake Agitates balls up the corkscrew   30A 6
5 Storage Spark max Neo 550 Brake Feeds balls into shooter   30A 7
6 Shooter Spark max Neo Coast Spins left shooting motor  

40A

+: out

-: in

12
7 Shooter Spark max Neo Coast Spins right shooting motor  

40A

Using integrated encoder.

1 might run in follower mode

+: in

-: out

2
8 Turret Spark max Neo 550 Brake Rotates turret

 

30A 9
9 WoF Spark max Neo 550 Brake Rotates Wheel of Fortune   20A 11
10 Hang Spark max Neo  Brake Winches robot up  

40A

Using integrated encoder

13
11 Shooter Spark Max Neo  ? Primer wheel Feeds into the shooter

+: in

-: out

8
12                
13                
14                
15                
 
 
 
 
 

PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0 Hang Servo

 

Hs-322HD

Engages/disingages ratchet

 

N/A    
1 Shooter Servo

Hs-785HB

Moves turret hood to increase/decrease shot angle   N/A    
2                
3                
4 Rear LEDs LED LED Gives connection to Rear Driver LEDs Allows drivers to see power cell count N/A 20A (via voltage regulator) 10
5 Wheel of Fortune Servo   Swing color sensor outside the frame perimeter        

6

 

Drive base

 

Spark Max Neo Left front drive motor Moves left side of robot forwards/backwards Don't know 40A 14

7

 

Drive Base Spark Max Neo  Left rear drive motor   Don't know 40A 15
8 Drive Base Spark Max Neo Right front drive motor Moves right side of robot forwards/backwards Don't know 40A 0

9

 

Drive Base Spark Max Neo Right Rear drive Motor   Don't know 40A 1
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              

More Board Analog Inputs

ID Subsystem

Component

Type

 Model # Description
(brief) 		Operation

Voltage

Range

Notes
0              
1              
2              
3              

 

Digital IO (GPIO)

RoboRio IO

ID Direction
(IN/OUT) 		Subsystem

Component

Type

 Model # Description
(brief) 		Operation Notes
0 IN Intake Banner Opto Q10RN6R Senses Incoming Power Cells

1 = Ball not present 

0 = Ball Present

w/Q106E emitter,

sensor open-collector out

1 IN Storage Allen-Bradley RightSight Prox Sensor 42EF-D2MPAK-F4 Senses balls when ready to shoot

1 = Ball present

0 = Ball not present

 

2 IN            
3 IN Shooter Banner Opto Q10RN6R Senses when a ball is exiting the shooter

1 = Ball not present 

0 = Ball Present

w/Q106E emitter,

sensor open-collector out

4 IN Drive base  Phase A Left Encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
5 IN Drive base Phase B Left Encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
6 IN Drive base Phase A Right Encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
7 IN Drive base Phase B right encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
8 IN Intake Omron Reflective EE-SPY415 Senses the presence of the intake mechanism to zero the rotation motor encoder

1 = not present

0 = present
(Need to double check this)

 
9 IN Hang Optical Sensor Through-Beam OPB815WZ Sense when hanger is all the way retracted 1 = hanger sensed (all the way down), 0 = hanger not sensed  
 
 
 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0 IN            
1 IN            
2 IN            
3 IN            
4 IN            
5 IN            
6 IN            
7 IN            
8 IN            
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
0x52   Wheel of Fortune Color Sensor REV-31-1557 Reads colors of wheel Provides these channels: Red, Green, Blue, Alpha, and Proximity  
               
               
               
               
               
               

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

PCM

ID

# Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

 Operation Circuit Pressure PDB #
1 0              
1    
2            
3    
4            
5    
6            
7    
2 0              
1    
2            
3    
4            
5    
 
 

Operator Controls

Disable Xbox Controller

DisableXbox.docx

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 Left Bumper    
A-3 Right Trigger    
A-2 Left Trigger    
B-1 A Button    
B-3 X Button    
B-4 Y Button    
B-2 B Button    

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-1 Left Trigger Outtake-Just intake mechanism (not helix) Press hold, release to stop
A-2 Right Trigger Runs shooter/helix (warm up) binary action, press hold
A-3? Left Dial Rotates turret Positional rotation
A-4? Right Dial Controls shooter speed

Positional rotation

 

B-1 A Button Moves hang in retract direction  press hold, release to stop
B-2 B button Adjusts hood to wall Press only
B-3 X Button Adjusts hood to initiation line Press only
B-4 Y button Moves hang in extend direction  press hold, release to stop
B-5 Left bumper Run control panel press
B-6 Right bumper Preheat Shooter press hold, release to stop
B-7 Back Button Shoots the ball press only
B-8 Start Button Adjusts hood control panel press only
B-9      
POV-90 D-pad up    
POV-270 D-pad down    

Controller 3 - Switches on console

 Button/Axis #  Action/Button  Description Details
B-1 Control Panel Mode

Determines which control panel operation to run

On = rotation

Off = position

 
B-2 Control Panel Sensor Broken

On = broken, run CP manually

Off = Working, do whatever is in button 1

 
B-3 Intake Pivot Sensor Broken

On = broken, zero pivot based solely on startup position

 
B-4 Intake ball counter Broken On = broken, don't use this sensor  
B-5 Storage-shooter transition counter broken On = broken, don't use this sensor  
B-6 Shooter ball counter broken On = broken, don't use this sensor  
B-7 Hanger zero sensor broken On = broken, don't use the sensor to zero encoder, just use startup position  
B-8      
B-9      
 
 
 
 

Dashboard

Key Data Type Value Description
thunderdashboard_wheel number

0 - do NOT know

1 - Red

2 - Green

3 - Blue

4 - Yellow

The color the robot's sensor is seeing
thunderdashboard_wheel_end number see thunderdashboard_wheel The color FMS is asking for in the final stage
thunderdashboard_shooter_speed number 0 - 100 the speed the shooter is running at: 0 is min and 100 is max
thunderdashboard_shooter_pos number 0 - 360 the position of the turret, in degrees from home position: 0 is home 
thunderdashboard_shooter_hood number 0 - 100 the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_pos number

0 - 100

the position of the arm, for hang: 0 is full retracted, 100 is full extended
thunderdashboard_hang_lock number

0 - hang ratched is not locked

1 - hang ratched is locked

indicates whether the ratchet, for hang, is engaged or not
thunderdashboard_intake_pos number

0 - intake is down (deployed)

1 - intake is up (retracted)

indicates whether the intake is up or not
thunderdashboard_ballcount number -1 - do not know

0 - 5

Number of balls (game pieces) the robot thinks it has
thunderdashboard_gyro number

0 - dashboard background not based on this

1 - dashboard background goes red

used when: gyro is calibrating
thunderdashboard_yellow number

0 - dashboard background not based on this

1 - dashboard background goes yellow

used when: TBD

NOTE: thunderdashboard_gyro takes precedence

thunderdashboard_green number

0 - dashboard background not based on this

1 - dashboard background goes green

used when: TBD

NOTE: thunderdashboard_gyro takes precendence

thunderdashboard_inpitmode number

0 = dashboard background not based on this

1 = dashboard background is power blue

used when: robot is operating in 'pit mode' (for safer operatin in the pits)

NOTE: thunderdashboard_gyro takes precendence

thunderdashboard_max number

0 = show normal

1 = fills screen

whether to fill the laptop screen with the dashboard or not
thunderdashboard_starting_count number 0-5 editable, set initial count of power cells in robot before auto

IO Maps for Old Robots

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