2022:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	Description (brief)	Operation	PD Board Info (8) max. 40A         PDB #		General Notes
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	Hang	Spark Max	Neo	Brake	Winch robot up		40A,	13	REV Through Bore Encoder attached directly to SPARK
3	Intake	Spark Max	Neo 550	Brake	Get ball into robot		30A	6
4	Storage	Spark Max	Neo 550	Brake	Move ball into first position		20A/30A	xx
5	Storage	Spark Max	Neo 550	Brake	Move ball into upper storage area		20A/30A	xx
6	Shooter/Storage	Spark Max	Neo 550	Brake	Transition motor to go into fly wheels		20A/30A	7
7	Shooter	Spark Max	Neo	Brake	Left side fly wheel		40A	2	Using Integrated Encoder
8	Shooter	Spark Max	Neo	Brake	Right side fly wheel		40A	3	Using Integrated Encoder
9	Drive	Spark Max	Neo	Coast	Front left drive motor		40A	0	Using Integrated Encoder
10	Drive	Spark Max	Neo	Coast	Back left drive motor		40A	1	Using Integrated Encoder
11	Drive	Spark Max	Neo	Coast	Back right drive motor		40A	14	Using Integrated Encoder
12	Drive	Spark Max	Neo	Coast	Front right drive motor		40A	15	Using Integrated Encoder
13	Drive	Spark Max	Neo 550	Coast	Front left turning motor		20A	4	Using Integrated Encoder
14	Drive	Spark Max	Neo 550	Coast	Back left turning motor		20A	5	Using Integrated Encoder
15	Drive	Spark Max	Neo 550	Coast	Back right turning motor		20A	10	Using Integrated Encoder
16	Drive	Spark Max	Neo 550	Coast	Front right turning motor		20A	11	Using Integrated Encoder
17	Drive	Encoder	CANCoder	N/A	Front left absolute encoder
18	Drive	Encoder	CANCoder	N/A	Back left absolute encoder
19	Drive	Encoder	CANCoder	N/A	Back right absolute encoder
20	Drive	Encoder	CANCoder	N/A	Front right absolute encoder

 

 

 

 

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Hang	Servo		Ratchet and Pawl
1
2
3
4
5
6
7
8
9
10
11

 

 

 

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	Shooter	Potentiometer	Bourns 3-Turn Bourns 5-Turn	Used for hood to show where it is	Tells the angle for the hood		Need to know how many rotations???
1
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	Hang	Flag sensor	OPB815WZ	Tell if hang is all the way in	0 = out, 1 = in	Power From RoboRio, Requires Pullup
1	IN	Hang	Flag sensor	OPB815WZ	Tells if hang is out	0 = in 1 = out	Power From RoboRio, Requires Pullup
2	IN	Hang	Flag sensor	OPB815WZ	Tells if hang is out	0 = in 1 = out	Power From RoboRio, Requires Pullup
3	IN	Intake	Banner Optical	Q10RN6R/Q106E	Counts balls that enter robot	1 = Ball present 0 = Ball not present	Requires 12V and Pullup
4	IN	Storage	Banner Optical	Q10RN6R/Q106E	Sees when a ball is at stage one	1 = Ball present 0 = Ball not present	Requires 12V and Pullup
5	IN	Storage	Banner Optical	Q10RN6R/Q106E	Sees when a ball is at stage two	1 = Ball present 0 = Ball not present	Requires 12V and Pullup
6	IN	Shooter	Banner Optical	Q10RN6R/Q106E	Counts balls that leave the robot	1 = Ball present 0 = Ball not present	Requires 12V and Pullup
7	IN
8	IN
9	IN
10	IN

 

 

 

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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Drive	IMU	ADIS16470 IMU	A 3d gyro and accelerometer	Tells the rotation for swerve drive

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	Hang(left arm)	Double		hold arm straight	extend piston to pivot
	1				pivot arm to bar	retract to straighten
	2	Hang	Double		engage brake	retract to engage
	3				disengage brake	extend piston to disengage
	4	Intake	Double		Intake deployed	extend piston to deploy
	5				Intake not deployed	retract piston to disengage
	6	Intake	Double		Intake deployed	extend piston to deploy
	7				Intake not deployed	retract piston to disengage
2	0
	1
	2
	3
	4
	5

 

 

Robot Lights Reference

TBD if lights on 2022 robot

• When Disabled:
  • TBD
• When Enabled:
  • TBD

Operator Controls

Disable Xbox Controller

DisableXbox.docx

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y
A-1	Left Joystick X
A-4	Right Joystick Y
A-4	Right Joystick X
B-6	Right Bumper
B-5	Left Bumper
A-3	Right Trigger
A-2	Left Trigger
B-1	A Button
B-3	X Button
B-4	Y Button
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
A-2	Left Trigger
A-3	Right Trigger
A-4	Right Joystick X-Axis
A-5	Right Joystick Y-Axis
B-1	A Button
B-2	B button
B-3	X Button
B-4	Y button
B-5	Left bumper
B-6	Right bumper
B-7	Back Button
B-8	Start Button
B-9	Left Stick Pressed
B-10	Right Stick Pressed
POV-0	D-pad up

Controller 3 - Switches on console

Button/Axis #	Action/Button	Description	Details
B-1
B-2
B-3
B-4
B-5
B-6
B-7
B-8
B-9

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

• 2020 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