2012:Robot IO Map
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| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
0-127 |
|
| 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 | Left side drivetrain motor (front) |
|
|
03 | Left side drivetrain motor (rear) |
|
|
04 | Right side drivetrain motor (front) |
|
|
05 | Right side drivetrain motor (rear) |
|
|
06 | Shooter wheel motor (upper) |
|
|
07 |
Shooter wheel motor (lower) |
|
|
08 |
turret rotation motor |
|
|
09 |
Wing deployer motor |
|
|
10 |
RESERVED - possible Conveyor stage 1 |
|
|
11 |
RESERVED - possible Conveyor stage 2 |
|
|
12 |
RESERVED - possible Conveyor stage 3 |
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
RESERVED
Conveyor Stage 1 Sensor - LED power only |
|
|
03 |
RESERVED Conveyor Stage 2 Sensor - LED power only |
|
|
04 |
RESERVED
Conveyor Stage 3 Sensor - LED power only |
|
|
05 |
RESERVED
Conveyor Entrance Sensor - LED power only |
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
RESERVED (Possible Wings output) |
|
|
02 |
Beater Bar motor |
|
|
03 |
Conveyor Stage 1 motor |
|
|
04 |
Conveyor Stage 2 motor |
|
|
05 |
Conveyor Stage 3 motor |
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
L1 |
02 |
Wing limit switch (optical OPB815WZ) - full deploy |
|
L2 |
03 |
Wing limit switch (optical OPB815WZ) - full retract |
|
P1 |
04 |
Wing deployer position - potentiometer |
|
L3 |
05 |
Turret limit switch (optical OPB815WZ) - max CW |
|
L4 |
06 |
Turret limit switch (optical OPB815WZ) - max CCW |
|
|
07 | |
|
RESERVED |
08 |
Battery Voltage Input (Don't use for other devices) |
| Digital IO (GPIO) | ||
|
IN - E1 |
01 |
Left drivetrain rotary encoder A |
| IN - E1 | 02 |
Left drivetrain rotary encoder B |
|
IN - E2 |
03 |
Right drivetrain rotary encoder A |
| IN - E2 |
04 |
Right drivetrain rotary encoder B |
|
IN - E3 |
05 |
Shooter upper wheel rotary encoder |
|
IN - E4 |
06 |
Shooter lower wheel rotary encoder |
| IN - E5 | 07 |
Turret motor shaft - rotary encoder |
| IN - E6 | 08 |
turret sprocket position - opto-reflective rotary encoder (homemade, 1" cube) |
| IN - B1 | 09 |
conveyor stage 1 entrance - beam break sensor (homemade, 1" cube) |
| IN - B2 | 10 |
conveyor stage 1 exit - beam break sensor (homemade, 1" cube) |
| IN - B3 | 11 |
conveyor stage 2 exit - beam break sensor (homemade, 1" cube) |
| IN - B4 | 12 |
conveyor stage 3 exit - beam break sensor (homemade, 1" cube) |
| IN | 13 |
|
| OUT | 14 |
Camera Light(s) |
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 |
