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	Drive	Motor	Kraken X60	Brake	Drive Motor Front Left
2	Drive	Motor	Kraken X60	Brake	Rotation Motor Front Left
3	Drive	Cancoder			Cancoder Front Left
4	Drive	Motor	Kraken X60	Brake	Drive Motor Front Right
5	Drive	Motor	Kraken X60	Brake	Rotation Motor Front Right
6	Drive	Cancoder			Cancoder Front Right
7	Drive	Motor	Kraken X60	Brake	Drive Motor Back Right
8	Drive	Motor	Kraken X60	Brake	Rotation Motor Back Right
9	Drive	Cancoder			Cancoder Back Right
10	Drive	Motor	Kraken X60	Brake	Drive Motor Back Left
11	Drive	Motor	Kraken X60	Brake	Rotation Motor Back Left
12	Drive	Cancoder			Cancoder Back Left
14	Drive	Pigeon	Pigeon		IMU
15	Elevator	Motor	Neo	Brake	Elevator Motor Right
16	Elevator	Motor	Neo	Brake	Elevator Motor Left
17	Cage	Motor	Neo	?	Hang winch
18
19
20
21
22

CAN Physical Chain Layout

Current Device	Next Device
Robo Rio	Elevator Left
Elevator Left	Rear Left Rotational
Rear Left Rotational	Rear Left Drive
Rear Left Drive	Rear Left Cancoder
Rear Left Cancoder	Front Left Rotational
Front Left Rotational	Front Left Drive
Front Left Drive	Front Left Cancoder
Front Left Cancoder	Front Right Cancoder
Front Right Cancoder	Front Right Drive
Front Right Drive	Front Right Rotational
Front Right Rotational	Rear Right Rotational
Rear Right Rotational	Rear Right Drive
Rear Right Drive	Rear Right Cancoder
Rear Right Cancoder	Pigeon
Pigeon	Elevator Right
Elevator Right	Hang
Hang	PDH (Termination)
NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Channel Current	Motor Type	Note
0	Front Right Drive (Drivebase)	40A		Kraken 60
1	Front Right Rotation (Drivebase)	40A		Kraken 60
2	Front Left Drive (Drivebase)	40A		Kraken 60
3	Front Left Rotation (Drivebase)	40A		Kraken 60
4	Rear Left Drive (Drivebase)	40A		Kraken 60
5	Rear Left Rotation (Drivebase)	40A		Kraken 60
6	Wrist	30A?		Neo
7	Intake Left Motor	30A?		Neo 550
8	Intake Right Motor	30A?		Neo 550
9
10	Rear Right Drive (Drivebase)	40A		Kraken 60
11	Rear Right Rotation (Drivebase)	40A		Kraken 60
12	Elevator Drive Left (Gamepiece)	40A		Neo
13	Elevator Drive Right (Gamepiece)	40A		Neo
14	Cage Solenoid	20A		Spike Relay
15	Cage Winch	40A		Neo
16
17
18
19
20	Radio (RCS)	10A			Fused Port
21	RoboRio (RCS)	10A			Fused Port
22	VRM	10A			Fused Port
23 (Switchable)

VRM Assignments

Port #	Device (Subteam)
5V/2A	Lights (RCS)
5V/2A
5V/500mA
5V/500mA
12V/2A	CANCoders (except right rear)
12V/2A	Pigeon (RCS)
12V/500mA	CANCoder - right rear
12V/500mA

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Gamepiece	Motor	Neo 550	Calgae Motors (Left and Right)		Brake
1	N/A	LED strips		Addressable LED strips		42 total nodes	VRM 5V
2	Gamepiece	Motor	Neo	Calgae Wrist		Brake
3
4
5
6
7
8
9
10
11

LED Strip Layout and Function

 

 

Node Numbers	Location	Function
0 - 18	Side of elevator on Robot-left.  Node 0 at bottom, 18 at top	Strategy-requested features for gameplay, fun stuff
19	Base of elevator on robot front, robot-left	Cage raw sensor status.  Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
20	Base of elevator on robot front, 1 node in from robot-left	Elevator limit raw sensor status.  Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
21	Base of elevator on robot front, 1 node in from robot-right	Coral raw sensor status.  Green if coral is sensed, red if not
22	Base of elevator on robot front,  robot-right	Algae raw sensor status. Green if algae is sensed, red if not
23 - 42	Side of elevator on Robot-right.  Node 23 at bottom, 42 at top	Strategy-requested features for gameplay, fun stuff

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Cage	SPIKE relay		Controls electric solenoid	Power on to disengage pawl from ratchet, power off to engage
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	Gamepiece	Sensor	OPB720B-06Z	Algae Sensor	Detects when Algae is present in the Calgae Intake.	Sensor should also detect slip and make sure the motors maintain grip on the Algae.
1	IN	Gamepiece	Sensor	OMRON	Coral Sensor	Detects when Coral is present in the Calgae Intake. Then stops the intake motors.
2	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Elevator Top Limit
3	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Elevator Bottom Limit
4	IN	Gamepiece	Encoder	REV 11-1271	Used in absolute position mode to indicate wrist pivot angle.
5	IN	Hang	Sensor		Hang Solenoid Up
6	IN	Hang	Sensor		Hang Hung
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

 

Junction Box For Gamepiece Communication (Base & Carriage)

# (left to right)	Subsystem	Component	Model	Description (brief)	Operation	Notes
1	Gamepiece	Spark Max		Calgae Motor  Controller PWM Signal	Controls Intake	After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers.
2	Gamepiece	PWM ground		Shared PWM ground		Ground for PWM outputs Sourced from Rio PWM 0
3	Gamepiece	Digital ground		Shared digital ground		Ground to sensors Sourced from Rio DIO 0
4	Gamepiece	Spark Max		Wrist Motor Controller PWM Signal	Controls Wrist
5	Gamepiece	+5V Digital power		Shared digital power		Power to sensors Sourced from Rio DIO 0
6	Gamepiece	Encoder	REV 11-1271	Bore Encoder	Used in absolute position mode to indicate wrist pivot angle.
7	Gamepiece	Sensor	OMRON	Coral Sensor	Detects when Coral is present in the Calgae Intake. Then stops the intake motors.
8	Gamepiece	Sensor	OPB720B-06Z	Algae Sensor	Detects when Algae is present in the Calgae Intake.	Sensor should also detect slip and make sure the motors maintain grip on the Algae.

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