2011:Robot IO Map

Type / Function	Channel	Connected Device
CAN ID Assignments
RESERVED	01	DO NOT USE. ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id.
	02
	03	Left side drive train (front motor)
	04	Right side drive train (front motor)
	05	Arm Drive
	06	Manipulator- top rollers
	07	Manipulator- bottom rollers
	08
PWM Outputs
	01	Minibot Deployer release (servo) - deployment
	02	Camera pan servo
	03	Camera tilt servo
	04	Robot front guide release (servo) - cowcatcher
	05
	06
	07
	08
	09
	10
Relay Outputs
	01
	02
	03
	04
	05
	06
	07
	08
Analog Inputs
	01	Gyro
	02	Floor Line Sensor- Right
	03	Floor Line Sensor- Middle
	04	Floor Line Sensor- Left
	05	Banner photoelectric sensor for "Got It" (Logic High =  +3.6Vdc min., Logic Low = 0Vdc)
	06	Photoelectric sensor for arm "Home/Park"
	07
RESERVED	08	Battery Voltage Input (Don't use)
Digital IO (GPIO)
IN	01	Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)
IN	02	Left drivetrain encoder, channel B (YEL=SIGB)
IN	03	Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND)
IN	04	Right drivetrain encoder, channel B (YEL=SIGB)
IN	05	Left arm encoder, channel A
IN	06	Left arm encoder, channel B
IN	07	Right arm encoder, channel A
IN	08	Right arm encoder, channel B
OUT	09	Output for Signal Light RED
OUT	10	Output for Signal Light WHITE
OUT	11	Output for Signal Light BLUE
IN	12	Photoelectric sensor for arm "Playing Position"
IN	13	Photoelectric sensor for arm "Reverse Position"
OUT	14	Output for signal light GREEN "Got-It"
Pneumatics Bumper
	01	Power for Floor Line Sensor Right
	02	Power for Floor Line Sensor Middle
	03	Power for Floor Line Sensor Left