2013:Robot IO Map

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 alignment sensor
IN	03	Disc 2 present
IN	04	Disc 3 present
IN	05	Climber motors rotation sensor - 10 turn potentiometer
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	Moving climber hook Left side engaged
IN	03	Right drivetrain rotary encoder A
IN	04	Moving climber hook Right side engaged
IN	05	Shooter motor rotary encoder A
	06
IN	07	Stationary climber hooks engaged (AND of LH and RH)
IN	08	Climber shuttle deploy position
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	disc 1 present
Address 0100111X	GP2	disc 2 present
Address 0100111X	GP3	disc 3 present
Address 0100111X	GP4	disc 4 present
Address 0100111X	GP5	disc RED
Address 0100111X	GP6	disc GRN
Address 0100111X	GP7	disc BLU