T-Shirt Bot IO Map
From 1511Wookiee
Jump to navigationJump to search
A brief description of the system:
2 Falcon 500s (one on each side) for actuating pivot
1 Falcon 500 for shooter rotation
4 NEO Drive Base (2 per side) driven over PWM.
1 REV Through Bore encoder for shooter rotation (ABS Signal to R-Pi)
CAN ID Assignments
| ID | Subsystem Name | Component Type | Brake or Coast? | Description | PDB # | Type of Breaker | General Notes |
|---|---|---|---|---|---|---|---|
| CAN 0 | |||||||
| CAN 1 | RESERVED | ||||||
| CAN 2 | Shooter Pivot Right | Falcon 500 | Brake | Pivot the shooter | 40A | ||
| CAN 3 | Shooter Pivot Left | Falcon 500 | Brake | Pivot the shooter | 40A | ||
| CAN 4 | Shooter Rotation | Falcon 500 | Brake | Rotate the shooter | 40A |
|
Raspberry Pi Pinout
| ID | Pin Type | Subsystem Name | Component Type | Description | General Notes |
|---|---|---|---|---|---|
| 1 | 3V3 Power | ||||
| 2 | 5V Power | ||||
| 3 | GPIO 2 (SDA) | ||||
| 4 | 5V Power | ||||
| 5 | GPIO 3 (SCL) | ||||
| 6 | Ground | ||||
| 7 | GPIO 4 (GPCLK0) | CAN | RS485 CAN Hat | RS485 TX/RX Control | No work required |
| 8 | GPIO 14 (TXD) | CAN | RS485 CAN Hat | RS485 UART Transmit | No work required |
| 9 | Ground | ||||
| 10 | GPIO 15 (RXD) | CAN | RS485 CAN Hat | RS485 UART Receive | No work required |
| 11 | GPIO 17 | Pneumatics | 12V Relay + Solenoid Valve | ||
| 12 | GPIO 18 (PCM_CLK) | ||||
| 13 | GPIO 27 | Pneumatics | 12V Relay + Solenoid Valve | ||
| 14 | Ground | ||||
| 15 | GPIO 22 | Pneumatics | 120 Psi Limit Switch | ||
| 16 | GPIO 23 | ||||
| 17 | 3V3 Power | ||||
| 18 | GPIO 24 | ||||
| 19 | GPIO 10 (MOSI) | CAN | RS485 CAN Hat | SPI Data Input | No work required |
| 20 | Ground | ||||
| 21 | GPIO 9 (MISO) | CAN | RS485 CAN Hat | SPI Data Output | No work required |
| 22 | GPIO 25 | CAN | RS485 CAN Hat | Interrupt | No work required |
| 23 | GPIO 11 (SCLK) | CAN | RS485 CAN Hat | SPI Clock Input | No work required |
| 24 | GPIO 8 (CE0) | CAN | RS485 CAN Hat | SPI Chip Selection | No work required |
| 25 | Ground | ||||
| 26 | GPIO 7 (CE1) | ||||
| 27 | GPIO 0 (ID_SD) | ||||
| 28 | GPIO 1 (ID_SC) | ||||
| 29 | GPIO 5 | ||||
| 30 | Ground | Drive Left | 2x Spark Max + 2x Neo | Spark Max PWM ground wires soldered together | |
| 31 | GPIO 6 | Shooter Rotation | REV Through Bore Encoder | ABS Signal Wire | |
| 32 | GPIO 12 (PWM0) | Drive Left | 2x Spark Max + 2x Neo | Spark Max PWM signal wires soldered together | |
| 33 | GPIO 13 (PWM1) | Drive Right | 2x Spark Max + 2x Neo | Spark Max PWM signal wires soldered together | |
| 34 | Ground | Drive Right | 2x Spark Max + 2x Neo | Spark Max PWM ground wires soldered together | |
| 35 | GPIO 19 (PCM_FS) | ||||
| 36 | GPIO 16 | ||||
| 37 | GPIO 26 | ||||
| 38 | GPIO 20 (PCM_DIN) | ||||
| 39 | Ground | ||||
| 40 | GPIO 21 (PCM_DOUT) |
VRM
| Port # | Device (Subteam) |
|---|---|
| 5V/2A | Blinky Blinky |
| 5V/2A | Blinky Blinky |
| 5V/500mA | Shooter Rotation REV Through Bore Encoder |
| 5V/500mA | |
| 12V/2A | Solenoid Valve Relay Module |
| 12V/2A | Solenoid Valve Relay Module |
| 12V/500mA | |
| 12V/500mA |
