2022:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	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
3
4
5
6
7								2
8
9
10
11
12
13
14
15

 

 

 

 

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Hang	Servo	Hs-322HD	Engages/disingages ratchet		N/A
1	Shooter	Servo	Hs-785HB	Moves turret hood to increase/decrease shot angle		N/A
2
3
4	Driver LEDs	LED	LED	Gives connection to Driver Interface LEDs	Allows drivers to see power cell count from the front/back of robot	N/A	20A (via voltage regulator)	10
5	Wheel of Fortune	Servo		Swing color sensor outside the frame perimeter
6	Drive base	Spark Max	Neo	Left front drive motor	Moves left side of robot forwards/backwards	Don't know	40A	14
7	Drive Base	Spark Max	Neo	Left rear drive motor		Don't know	40A	15
8	Drive Base	Spark Max	Neo	Right front drive motor	Moves right side of robot forwards/backwards	Don't know	40A	0
9	Drive Base	Spark Max	Neo	Right Rear drive Motor		Don't know	40A	1
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	Drive Base	Gyro	ADW22307	Located on center axis underneath the helix	Tells where the drive base is looking by degrees (for autonomous)	7mV/degree
1	Shooter	Potentiometer	Bournes 3547S-1AA-103A	Located on the output of the hood servo	Tells the angle of the hood
2
3

 

More Board Analog Inputs

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

 

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Intake	Banner Opto	Q10RN6R	Senses Incoming Power Cells	1 = Ball not present  0 = Ball Present	w/Q106E emitter, sensor open-collector out
1	IN
2	IN	Storage	Allen-Bradley RightSight Prox Sensor	42EF-D2MPAK-F4	Senses balls when ready to shoot	1 = Ball present 0 = Ball not present
3	IN	Shooter	Banner Opto	Q10RN6R	Senses when a ball is exiting the shooter	1 = Ball not present  0 = Ball Present	w/Q106E emitter, sensor open-collector out
4	IN	Drive base	Phase A Left Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
5	IN	Drive base	Phase B Left Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
6	IN	Drive base	Phase A Right Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
7	IN	Drive base	Phase B right encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
8	IN	Intake	Omron Reflective	EE-SPY415	Senses the presence of the intake mechanism to zero the rotation motor encoder	1 = not present 0 = present (Need to double check this)
9	IN	Hang	Optical Sensor Through-Beam	OPB815WZ	Sense when hanger is all the way retracted	1 = hanger sensed (all the way down), 0 = hanger not sensed

 

 

 

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN
1	IN
2	IN
3	IN
4	IN
5	IN
6	IN
7	IN
8	IN
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
0x52		Wheel of Fortune	Color Sensor	REV-31-1557	Reads colors of wheel	Provides these channels: Red, Green, Blue, Alpha, and Proximity

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 Modules

PCM ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	PDB #
1	0
	1
	2
	3
	4
	5
	6
	7
2	0
	1
	2
	3
	4
	5

 

 

Robot Lights Reference

• When Disabled:
  • Front Lights - Shows status of DIGITAL sensors, one sensor per row. Each row is GREEN for sensor not tripped, RED for when it is tripped.
    • Row 4 (top row): Shooter game piece exit sensor
    • Row 3: Helix-shooter game piece transition sensor
    • Row 2: Intake game piece count sensor
    • Row 1: Intake pivot zeroing sensor
    • Row 0: Hanger zeroing sensor
• When Enabled:
  • Red X: Ball count indeterminate
  • Otherwise, one row is lit from bottom to top for each game piece in robot

Operator Controls

Disable Xbox Controller

DisableXbox.docx

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y	Tank mode: left side drive motors forward/reverse Arcaded mode: robot moves foward/reverse
A-1	Left Joystick X
A-4	Right Joystick Y	Tank mode: right side drive motors foward/reverse
A-4	Right Joystick X	Arcade mode: robot moves left/right
B-6	Right Bumper	Right side drive motors: Slow
B-5	Left Bumper	Left side drive motors: Slow
A-3	Right Trigger	Right side drive motors: Turbo
A-2	Left Trigger	Left side drive motors: Turbo
B-1	A Button	Toggles between tank and arcade mode
B-3	X Button
B-4	Y Button	Calibrates Gyro
B-2	B Button

 

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-0	Left Joystick X-Axis
A-1	Left Joystick Y-Axis	Shooter manual speed	Not position-sensative -- accumulates change to speed slowly in whichever direction is held (up slowly increases speed setting, down slowly decreases it)
A-2	Left Trigger	Lower and run intake	Press and hold, release to stop.
A-3	Right Trigger	Shoot	Press and hold, release to stop.  Shoots when shooter has reached desired speed as long as balls remain in robot.
A-4	Right Joystick X-Axis
A-5	Right Joystick Y-Axis
B-1	A Button	Retract the hanger	Press and hold, release to stop
B-2	B button	Auto-shoot setting: Wall	Single press
B-3	X Button	Auto-shoot setting: Initiation Line	Single press
B-4	Y button	Extend the hanger	Press and hold, release to stop
B-5	Left bumper	Outtake game pieces	Press and hold, release to stop
B-6	Right bumper	Pre-heat shooter	Press and hold, release to stop
B-7	Back Button
B-8	Start Button	Auto-shoot setting: Panel	Single press
B-9	Left Stick Pressed
B-10	Right Stick Pressed
POV-0	D-pad up	Run Control Panel	Press and hold, release to cancel. Rotatation control, position control, or manual advance based on console switches

Controller 3 - Switches on console

Button/Axis #	Action/Button	Description	Details
B-1	Control Panel Sensor Broken	On = broken, run CP manually Off = Working, do whatever is in button 1
B-2	Intake Pivot Sensor Broken	On = broken, zero pivot based solely on startup position
B-3	Intake ball counter Broken	On = broken, don't use this sensor
B-4	Storage-shooter transition counter broken	On = broken, don't use this sensor
B-5	Shooter ball counter broken	On = broken, don't use this sensor
B-6	Control Panel Mode	Determines which control panel operation to run On = rotation Off = position
B-7	Shoot Manual Speed	On = Manual speed control, off = use presets
B-8	Disable drive "backdrive"	On = Disable backdrive code, off = enable backdrive code
B-9	Hanger Speed	On = Lift speed, Off = slow speed (test if hooked)

Dashboard

Key	Data Type	Value	Description
thunderdashboard_wheel	number	0 - do NOT know 1 - Red 2 - Green 3 - Blue 4 - Yellow	The color the robot's sensor is seeing
thunderdashboard_wheel_end	number	see thunderdashboard_wheel	The color FMS is asking for in the final stage
thunderdashboard_shooter_speed	number	0 - 100	the speed the shooter is running at: 0 is min and 100 is max
thunderdashboard_shooter_pos	number	0 - 360	the position of the turret, in degrees from home position: 0 is home
thunderdashboard_shooter_hood	number	0 - 100	the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_pos	number	0 - 100	the position of the arm, for hang: 0 is full retracted, 100 is full extended
thunderdashboard_hang_lock	number	0 - hang ratched is not locked 1 - hang ratched is locked	indicates whether the ratchet, for hang, is engaged or not
thunderdashboard_intake_pos	number	0 - intake is down (deployed) 1 - intake is up (retracted)	indicates whether the intake is up or not
thunderdashboard_ballcount	number	-1 - do not know 0 - 5	Number of balls (game pieces) the robot thinks it has
thunderdashboard_gyro	number	0 - dashboard background not based on this 1 - dashboard background goes red	used when: gyro is calibrating
thunderdashboard_yellow	number	0 - dashboard background not based on this 1 - dashboard background goes yellow	used when: TBD NOTE: thunderdashboard_gyro takes precedence
thunderdashboard_green	number	0 - dashboard background not based on this 1 - dashboard background goes green	used when: TBD NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_inpitmode	number	0 = dashboard background not based on this 1 = dashboard background is power blue	used when: robot is operating in 'pit mode' (for safer operatin in the pits) NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_max	number	0 = show normal 1 = fills screen	whether to fill the laptop screen with the dashboard or not
thunderdashboard_starting_count	number	0-3	editable, set initial count of power cells in robot before auto
thunderdashboard_auto_list	string	a comma seperated list	the list of auto modes (e.g. "0,1,2,3,4,5")
thunderdashboard_auto_#	string	any text	one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
Auto_Mode	number	a number from thunderdashboard_auto_list	the auto mode selected on the UI
thunderdashboard_auto_start_delay	number		user selected number of seconds, 0 to 15, to delay start of auto mode
thunderdashboard_drivearcade	number	0 = tank drive 1 = arcade drive	what mode drive is using. dashboard will show 'Tank Drive' when in that mode, otherwise nothing is shown

IO Maps for Old Robots

• 2019 IO Map (applies to 2021 as well!)
• 2019 IO Map
• 2018 IO Map
• 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