2013:Robot IO Map

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Type / Function  Channel

Connected Device

CAN ID Assignments

   1-16


RESERVED


    01

DO NOT USE.
ID 1 is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.


    02 Left side drivetrain motor (front)


    03 Reserved for optional 2nd Left side drivetrain motor (rear)


    04 Right side drivetrain motor (front)


    05 Reserved for optional 2nd Right side drivetrain motor (rear)


    06 Left side Climber motor


    07
Right side Climber motor


    08
Shooter motor


    09
Shooter Tilt motor


    10
Shooter Carousel motor


    11


    12


    13


    14


    15


    16

PWM Outputs

   


    01
Camera Tilt servo


    02
Climber deploy LH servo


    03


Climber deploy RH servo


    04
Shooter load blocker servo


    05
Shooter load pusher servo


    06


Camera ring light (LED power only)


    07


    08


    09


    10

Relay Outputs


    01


    02


    03


    04


    05


    06


    07


    08

Analog Inputs



IN

    01
Gyro
 
IN     02
Robot Vee sensor
    03

 


 

    04


    05

IN

 

    06 Left side Shooter tilt sensor (potentiometer)

IN

    07 Right side Shooter tilt sensor (potentiometer)


RESERVED

    08
Battery Voltage input (Do not use for any other device)
Digital IO (GPIO)

IN

    01
Left drivetrain rotary encoder A
IN     02
Left drivetrain rotary encoder B

IN

    03
Right drivetrain rotary encoder A

IN

    04
Right drivetrain rotary encoder B

IN

    05
Shooter motor rotary encoder A

IN

    06
Climber motors rotary encoder A
IN     07
Stationary climber hooks engaged (AND of LH and RH)
IN     08
Moving climber hooks engaged (AND of LH and RH)
IN     09
Climber shuttle max extension
IN     10
Climber shuttle max retraction
IN     11
Shooter Disc 1 present
IN     12
Shooter position sensor - preload
IN     13

Shooter position sensor - load shooter

IN     14
Ready to shoot sensor (disc-dropped-into-shooter)
Pneumatics Bumper
01
02
03
I2C Registers

Address

0100111X

    GP0
OK to feed disc. off=red, on=green

Address

0100111X

    GP1

Address

0100111X

    GP2

Address

0100111X

    GP3

Address

0100111X

    GP4

Address

0100111X

    GP5

Address

0100111X

    GP6

Address

0100111X

    GP7


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