2025:Robot IO Map

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 please
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22

 

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Channel Current	Motor Type	Note
0	Front Right Drive (Drivebase)	40A		Kraken 60	Port is subject to change
1	Front Right Rotation (Drivebase)	40A		Kraken 60	Port is subject to change
2	Front Left Drive (Drivebase)	40A		Kraken 60	Port is subject to change
3	Front Left Rotation (Drivebase)	40A		Kraken 60	Port is subject to change
4	Rear Right Drive (Drivebase)	40A		Kraken 60	Port is subject to change
5	Rear Right Rotation (Drivebase)	40A		Kraken 60	Port is subject to change
6	Rear Left Drive (Drivebase)	40A		Kraken 60	Port is subject to change
7	Rear Left Rotation (Drivebase)	40A		Kraken 60	Port is subject to change
8	Cage Lift 1 (Cage)	40A		Neo?	Port is subject to change
9	Cage Lift 2 (Cage)	40A		Neo?	Port is subject to change
10	Elevator Drive 1 (Gamepiece)	40A?			Port is subject to change
11	Elevator Drive 2 (Gamepiece)?	40A?			Port is subject to change.  Not sure if we need multiple motors for elevator.
12	Wrist (Gamepiece)	30A?			Port is subject to change
13	Intake (Gamepiece)	30A?			Port is subject to change
14
15
16
17
18
19
20	Radio (RCS)	15A			Fused Port
21	RoboRio (RCS)	15A			Fused Port
22
23 (Switchable)

VRM Assignments

Port #	Device (Subteam)
5V/2A
5V/2A
5V/500mA
5V/500mA
12V/2A
12V/2A
12V/500mA
12V/500mA

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0
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
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
1	IN
2	IN
3	IN
4	IN
5	IN
6	IN
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

SPI Devices

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

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

Operator Controls

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y
A-1	Left Joystick X
	Left Joystick Press
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	Square / A Button
B-3	Cross / X Button
B-4	Triangle / Y Button
B-2	Circle / 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	Square / A Button
B-2	Circle / B button
B-3	Cross / X Button
B-4	Triangle / 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
POV-90	D-pad right
POV-180	D-pad down
POV-270	D-pad left

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

IO Maps for Old Robots

• 2024 IO Map
• 2023 IO Map
• 2022 IO Map
• 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