2023:Robot IO Map

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	Grabber	Spark Max	Neo 550	Brake	Left intake motor		20A
3	Grabber	Spark Max	Neo 550	Brake	Right intake motor		20A
4	Lift	Spark Max	Neo	Brake	Telescoping arm extension		40A		Using Integrated Encoder
5	Lift	Spark Max	Neo 550	Brake	Left lift lead screw		40A		Using Integrated Encoder
6	Lift	Spark Max	Neo 550	Brake	Right lift lead screw		40A		Using Integrated Encoder
7
8
9	Drive	Spark Max	Neo	Brake	Front left drive motor		40A	0	Using Integrated Encoder
10	Drive	Spark Max	Neo	Brake	Back left drive motor		40A	1	Using Integrated Encoder
11	Drive	Spark Max	Neo	Brake	Back right drive motor		40A	14	Using Integrated Encoder
12	Drive	Spark Max	Neo	Brake	Front right drive motor		40A	15	Using Integrated Encoder
13	Drive	Spark Max	Neo 550	Brake	Front left rotation motor		20A	4	Using Integrated Encoder
14	Drive	Spark Max	Neo 550	Brake	Back left rotation motor		20A	5	Using Integrated Encoder
15	Drive	Spark Max	Neo 550	Brake	Back right rotation motor		20A	10	Using Integrated Encoder
16	Drive	Spark Max	Neo 550	Brake	Front right rotation motor		20A	11	Using Integrated Encoder
17	Drive	Encoder	CANCoder	N/A	Front left absolute encoder			N/A
18	Drive	Encoder	CANCoder	N/A	Back left absolute encoder			N/A
19	Drive	Encoder	CANCoder	N/A	Back right absolute encoder			N/A
20	Drive	Encoder	CANCoder	N/A	Front right absolute encoder			N/A

 

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Current	Note
0	Neo (Drive)	40A	40A
1	Neo 550 (Drive)	30A	30A
2	Neo (Drive)	40A	40A
3	Neo 550 (Drive)	30A	30A
4
5
6
7	Grabber Left	20A
8	Leadscrew Left (Lift)	20A
9	Telescoping (Lift)	40A
10	Network Switch	20A	Who Knows?
11	Leadscrew Right (Lift)	20A
12	Grabber Right	20A
13
14
15
16	Neo (Drive)	40A	40A
17	Neo 550 (Drive)	30A	30A
18	Neo (Drive)	40A	40A
19	Neo 550 (Drive)	30A	30A
20	RoboRio			Fused Port
21	Radio			Fused Port
22	Raspberry Pi VRM	10A	5A	Fused Port
23 (Switchable)				Fused Port

 

 

 

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Blinky Blinky	LED Strip			Illumination & Communication w/ HP	Yes	5V 2A on VRM
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	Grabber	Beam Break		Grabber intake sensor	Detect acquired game pieces
1	IN	Lift			Lift home sensor	Detect when telescoping arm is fully retracted
2	IN	Lift			Lift extension sensor	Detect when telescoping arm is fully extended
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	Drive	IMU	ADIS16470	3-Axis gyro and accelerometer	Sense rotation of robot

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	Grabber	Double		Extend	Difference between cone intake and cube intake
	1				Retract
	2	Grabber	Double		Extend	Difference between cone intake and cone transport
	3				Retract
	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

• 2022 IO Map
• 2020 IO Map (applies to 2021 as well!)
• 2019 IO Map
• 2018 IO Map
• 2017 IO Map
• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots