2023:Robot IO Map

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CAN ID Assignments

ID Subsystem

Component

Type

Model # Brake or Coast? Description
(brief)
Operation

PD Board Info

(8) max. 40A         PDB #

General Notes
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 please  
2 Swerve Rotation  
3


 
4
5
6  
7
8
9
10
11  
12
13  
14  
15  
16  
17
18
19
20
 
PDB Assignments
Port # Device (Subteam) Breaker Value Max Current
0
1
2
3
4
5
6
7
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    
1      
2        
3        
4
5          
6
7  
8
9  
10                
11                

 

 
 

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
1 IN
2 IN
3 IN
4 IN
5
6
7 IN  
8 IN  
9 IN  
10 IN  
 
 
 

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    
               
               
               
               
               
               

SPI Devices

# Subsystem

Component Type

Model # Description (brief) Operation Notes
0  

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-0 Left Joystick X-Axis    
A-1 Left Joystick Y-Axis
A-2 Left Trigger
A-3 Right Trigger
A-4 Right Joystick X-Axis

 

 

A-5 Right Joystick Y-Axis    
B-1 A Button
B-2 B button
B-3 X Button
B-4 Y button
B-5 Left bumper
B-6 Right bumper
B-7 Back Button    
B-8 Start Button
B-9 Left Stick Pressed    
B-10 Right Stick Pressed    
POV-0 D-pad up

Controller 3 - Switches on console

 Button/Axis #  Action/Button  Description Details
B-1  
B-2  
B-3  
B-4  
B-5  
B-6  
B-7  
B-8  
B-9  

Dashboard

Key Data Type Value Description
thunderdashboard_alliance number

0 - Red

1 - Blue

Alliance we are one
thunderdashboard_stage1 number 0 - not blocked

1 - blocked

Stage 1 sensor blocked?
thunderdashboard_stage2 number 0 - not blocked

1 - blocked

Stage 2 sensor blocked?
thunderdashboard_ballcount number -1 - don't know

0 to 9 - number of balls

how many balls are in the robot
thunderdashboard_shooter_hood number 0 - 100 the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_bar number

0 - unknown

1 - mid

2 - high

3 - traversal

the bar the robot is on
thunderdashboard_hang_status number

0 - unknown

1 - red

2 - green

3 - yellow

hang status color to show
thunderdashboard_match_length number

0 - no bar

1 to 599 - show bar, max seconds for the match period

Displays countdown progress bar at bottom of dashboard.
thunderdashboard_match_remaining number 0 to 599 Number of seconds left in the match period
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_frontcamera number 0 - LimeLight (mjpeg, roboRIO-1511-FRC.local:5800)

1 - USB camera (mjpeg, 10.15.11.11:1181)

which camera the dashboard should connect to
thunderdashboard_auto_list string a comma seperated list the list of auto modes (e.g. "0,1,2,3,4,5")
thunderdashboard_auto_# string any text one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
Auto_Mode number a number from thunderdashboard_auto_list the auto mode selected on the UI
thunderdashboard_auto_start_delay number   user selected number of seconds, 0 to 15, to delay start of auto mode

IO Maps for Old Robots