T-Shirt Bot IO Map
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A brief description of the system:
2 Falcon 500s (one on each side) for actuating pivot
1 Falcon 500 for shooter rotation
4 NEO Drive Base (2 per side) driven over PWM.
2 REV Through Bore encoders (Shooter Pivot & Shooter Rotation) (ABS Signal to R-Pi)
CAN ID Assignments
| ID | Subsystem Name | Component Type | Brake or Coast? | Description | PDB # | Type of Breaker | General Notes |
|---|---|---|---|---|---|---|---|
| CAN 0 | |||||||
| CAN 1 | RESERVED | ||||||
| CAN 2 | Shooter Pivot Right | Falcon 500 | Brake | Pivot the shooter | 40A | ||
| CAN 3 | Shooter Pivot Left | Falcon 500 | Brake | Pivot the shooter | 40A | ||
| CAN 4 | Shooter Rotation | Falcon 500 | Brake | Rotate the shooter | 40A |
|
Raspberry Pi Pinout
| ID | Pin Type | Subsystem Name | Component Type | Description | General Notes |
|---|---|---|---|---|---|
| 1 | 3V3 Power | ||||
| 2 | 5V Power | ||||
| 3 | GPIO 2 (SDA) | ||||
| 4 | 5V Power | ||||
| 5 | GPIO 3 (SCL) | ||||
| 6 | Ground | ||||
| 7 | GPIO 4 (GPCLK0) | ||||
| 8 | GPIO 14 (TXD) | ||||
| 9 | Ground | ||||
| 10 | GPIO 15 (RXD) | ||||
| 11 | GPIO 17 | ||||
| 12 | GPIO 18 (PCM_CLK) | ||||
| 13 | GPIO 27 | ||||
| 14 | Ground | ||||
| 15 | GPIO 22 | ||||
| 16 | GPIO 23 | ||||
| 17 | 3V3 Power | ||||
| 18 | GPIO 24 | ||||
| 19 | GPIO 10 (MOSI) | ||||
| 20 | Ground | ||||
| 21 | GPIO 9 (MISO) | ||||
| 22 | GPIO 25 | ||||
| 23 | GPIO 11 (SCLK) | ||||
| 24 | GPIO 8 (CE0) | ||||
| 25 | Ground | ||||
| 26 | GPIO 7 (CE1) | ||||
| 27 | GPIO 0 (ID_SD) | ||||
| 28 | GPIO 1 (ID_SC) | ||||
| 29 | GPIO 5 | ||||
| 30 | Ground | ||||
| 31 | GPIO 6 | ||||
| 32 | GPIO 12 (PWM0) | ||||
| 33 | GPIO 13 (PWM1) | ||||
| 34 | Ground | ||||
| 35 | GPIO 19 (PCM_FS) | ||||
| 36 | GPIO 16 | ||||
| 37 | GPIO 26 | ||||
| 38 | GPIO 20 (PCM_DIN) | ||||
| 39 | Ground | ||||
| 40 | GPIO 21 (PCM_DOUT) |
