2014:Robot IO Map

CAN ID Assignments

ID	Subsystem	Description (brief)
1	RESERVED	This is the factory-default CAN ID; not using it makes it easier to swap one in quickly and re-assign an ID.
2	Drivetrain	Left Front CAN Jaguar
3	Drivetrain	Left Rear CAN Jaguar
4	Drivetrain	Right Front CAN Jaguar
5	Drivetrain	Right Rear CAN Jaguar
6
7
8
9
10
11
12
13
14
15
16

PWM Outputs

ID	Subsystem	Description (brief)
1
2
3
4
5
6
7
8
9
10

Relay Outputs

ID	Subsystem	Description (brief)
1
2
3
4
5
6
7
8

Analog Inputs

ID	Subsystem	Description (brief)
1	Drivetrain	Gyro
2
3
4
5
6
7
8	RESERVED	Battery Voltage input (Do not use for any other device)

Digital IO (GPIO)

ID	Direction (IN/OUT)	Subsystem	Description (brief)
1	IN	Drivetrain	Left Encoder, Phase A
2	IN	Drivetrain	Left Encoder, Phase B
3	IN	Drivetrain	Right Encoder, Phase A
4	IN	Drivetrain	Right Encoder, Phase B
5
6
7
8
9
10
11
12
13
14

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Description (brief)

Pneumatics Bumper

ID	Subsystem	Description (brief)
1
2
3
4
5
6
7
8