2014:Robot IO Map

CAN ID Assignments

ID	Subsystem	Description (brief)	Robot Map Updated?
1	RESERVED	This is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.	n/a
2	Drivetrain	Left Front CAN Jaguar	Yes
3	Drivetrain	Left Rear CAN Jaguar	Yes
4	Drivetrain	Right Front CAN Jaguar	Yes
5	Drivetrain	Right Rear CAN Jaguar	Yes
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15
16

PWM Outputs

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8
9
10

Relay Outputs

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
3
4
5
6
7
8

Analog Inputs

ID	Subsystem	Description (brief)	Robot Map Updated?
1	Drivetrain	Gyro	No
2
3
4
5
6
7
8	RESERVED	Battery Voltage input (Do not use for any other device)	n/a

Digital IO (GPIO)

ID	Direction (IN/OUT)	Subsystem	Description (brief)	Robot Map Updated?
1	IN	Drivetrain	Left Encoder, Phase A	no
2	IN	Drivetrain	Left Encoder, Phase B	no
3	IN	Drivetrain	Right Encoder, Phase A	no
4	IN	Drivetrain	Right Encoder, Phase B	no
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12
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14

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Description (brief)	Robot Map Updated?

Pneumatics Bumper

ID	Subsystem	Description (brief)	Robot Map Updated?
1
2
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5
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8