2018:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A         PDB #
0	Electrical	PD Module		Power Distribution Module feedback	monitor PD	must be CAN 0
1	RESERVED	n/a		Factory-default allows for adding new device quickly and re-assign its ID		don't use
2	cube intake	RS 775	Talon SRX	left	Intake cube to hand (+) eject cube (-)	30 A	6
3	cube intake	RS 775	Talon SRX	right	Intake cube to hand (+) eject cube (-)	30 A	7
4	arm	RS 775	Talon SRX	moves arm	moves from arm front (+) to back (-)	30 A	5
5	hand	RS 775	Talon SRX	hold and eject the cube	rollers intake (+) eject the cube (-)	30 A	4
6	Left Ramp, Near Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+)	30 A	8
7	Left Ramp, Far Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	40 A	12
8	Right Ramp, Near Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	40 A	3
9	Right Ramp, Far Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	30 A	11
10
11
12
13
14
15

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A              PDB #
0	DriveBase	CIM		SPARK	Left Motor 1;  +Voltage = Forwards	40A	0
0	DriveBase	CIM		SPARK	Left Motor 2; +Voltage = Forwards	40A	1
0	DriveBase	CIM		SPARK	Left Motor 3; +Voltage = Forwards	40A	2
1	DriveBase	CIM		SPARK	Right Motor 1; +Voltage = Forwards	40A	15
1	DriveBase	CIM		SPARK	Right Motor 2; +Voltage = Forwards	40A	14
1	DriveBase	CIM		SPARK	Right Motor 3; +Voltage = Forwards	40A	13
2
3
4
5
6
7
8
9

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3

Analog IO

RoboRIO Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1	Drive	gyro	TBD	gyro	telling angle and rate in auto
2	Arm	pot	3852A-282-103AL-ND	arm position	arm forward (+) arm back (-)	0-4 v ?
3

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

 

 

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Drive	encoder	63r256	left encoder phase A	measures distance traveled	256 counts per rev
1	IN	Arm	???	???	Limit at end of travel for front of robot	Limit "switch" - digital low at limit
2	IN	Drive	encoder	63r256	right encoder phase A	measures distance traveled	256 counts per rev
3	IN	Arm	???	???	Limit at end of travel for back of robot	Limit "switch" - digital low at limit
4	IN	Intake	magnetic reed switch		Intake is all the way out	when it is all the way out it is digital low
5	IN	Arm	encoder	srx magnetic encoder	arm encoder phase A		1024 counts per rev
6	IN	Arm	encoder	srx magnetic encoder	arm encoder phase B		1024 counts per rev
7	IN
8	IN
9	IN	Hand	banner diffuse sensor	sm312fvqd	cube present	when cube is present digital low	needs 10+ volt via PD board #3

 

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1

Pneumatics Control Module

#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	Notes
0	Intake	Double	SY3240-6	Raise intake	Extends cylinder to raise intake	60 PSI
1	Intake	Double	SY3240-6	Lower intake	Retracts cylinder to lower intake	60 PSI
2	Arm	Double	SY3240-6	Disengage brake on arm pivot. Does not actually pass air (block output)	Extends cylinder to disengage brake	60 PSI
3	Arm	Double	SY3240-6	Engage brake on arm pivot	Retracts cylinder to engage brake	60 PSI
4	Arm	Double	SY3240-6	Release hand's grip on cube Does not actually pass air (block output)	Removes air pressure from cylinder to "relax" grip on cube	?? PSI
5	Arm	Double	SY3240-6	Tighten hand grip on cube	Retracts cylinder to "close" hand	?? PSI
6	Ramp	Double	SY3240-6	Holds ramps in stored position	Extends cylinder to hold ramps in up position	60 PSI
7	Ramp	Double	SY3240-6	Allows ramps to deploy to ground	Retracts cylinder to release ramps to ground	60 PSI

Operator Controls

Controller 1 - Primary Driver

Button #	Action/Button	Description	Details
1	Left Joystick Y	Drive Forward/Back	Up drive the robot forward (Intake side) Down drives the robot backward NOTE: will do the opposite if drive is toggled
	Left Joystick X	Nothing
	Right Joystick Y	Nothing
4	Right Joystick X	Turn Left/Right	Right will turn the robot clockwise and vice versa. With no input from the left Joytick, does point turn. With input from left, does curve turn NOTE: will do the opposite if drive is toggled
5	Left Bumper	Slow	decreases the range of power to the motors by a set amount
6	Right Bumper	Nothing
2	Left Trigger	Turbo	Increases the range of power to the motors by a set amount.
3	Right Trigger	Swap Drive	Switches the front and back of the robot. Press to toggle.w

 

 

 

Controller 2 - Aux Driver

Button #	Action/Button	Description	Details
5	Right Joystick Y	Fine Arm Control	Up - towards front Down - towards back Moves arm only when preset is complete. Moves at a slower speed than the presets.
5	Left Bumper	Raise Right Ramp	Press and Hold If button is let go, then the ramp will stop in place.
6	Right Bumper	Raise Left Ramp	Press and Hold If button is let go, then the ramp will stop in place.
3	Right Trigger	Intake	Press and Hold
2	Left Trigger	Outtake	Press and Hold
0	Dpad Up	Moves Intake Up	When arm is broken
180	Dpad Down	Moves Intake Down	When arm is broken
4	Y button	Arm to Front (Preset position)	Exchange Level Press to move arm there automatically. Doesn't accept any other arm movement requests until the current movement is complete.
1	A button	Arm to Back (Preset position)	Exchange Level Press to move arm there automatically. Doesn't accept any other arm movement requests until the current movement is complete.
2	B button	Arm to Switch Back (Preset position)	Press to move arm there automatically. Doesn't accept any other arm movement requests until the current movement is complete.
3	X button	Arm to Switch Front (Preset position)	Press to move arm there automatically. Doesn't accept any other arm movement requests until the current movement is complete.
7 + 8	Start + Select	Deploy Ramps	Press both at same time to lower ramps. Lowers all parts of the ramp.

Broken Switches

Switch	Description	Details
Broken Switch1
Broken Switch2
Broken Switch3
Broken Switch4
Broken Switch5
Broken Switch6
Broken Switch7

IO Maps for Old Robots

• 2017 IO Map
• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots