2014:Robot Sensors/Motors/Lights/Controls Map
Sensors
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Analog Inputs or Digital/GPIO) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (Analog/Digital) |
IO Map Updated? |
Operation Details (including when broken) |
Output Level | Notes |
Shooter | Disc in Feeder Slot | Banner Pair | Q10RN6R and Q106E | Yes | Detects when the disc is in the feeder slot (slot #1). When in feed mode, if not the 4th disc, the blades will automatically index the disc to the next slot (slot #2). | Logic LOW = blocked | THIS IS JUST AN EXAMPLE | |
Motors
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. CAN or PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (CAN/PWM/Relay) |
IO Map Updated? |
Operation Details (including when broken) |
Notes |
Drivetrain | Left Front Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Left Rear Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Right Front Drive | CIM | TBD | CAN | Yes | TBD | |
Drivetrain | Right Rear Drive | CIM | TBD | CAN | Yes | TBD | |
Shooter | Drive Kicker arm | CIM | TBD | CAN | No | TBD | |
Shooter | Drive Kicker arm | CIM | TBD | CAN | No | TBD | |
Shooter | Drive Kicker arm | Mini CIM | TBD | CAN | No | TBD | |
Shooter | Drive Kicker arm | Mini CIM | TBD | CAN | No | TBD | |
Shooter | Drive Kicker arm | Mini CIM | TBD | CAN | No | TBD | |
Shooter | Drive Kicker arm | Mini CIM | TBD | CAN | No | TBD |
Servors/Actuators
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (PWM/Relay) |
IO Map Updated? |
Operation Details (including when broken) |
Notes |
Lights (on robot)
NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Relay or GPIO or I2C) (the "IO Map Updated?" column in the following table indicates if this was done)
Subsystem | Description (brief) |
Type | Model# | Controlled By (Relay/GPIO/I2C) |
IO Map Updated? |
Location | Used By (driver/human/alliance) |
Operation | Notes |
Storage | OK to feed | GPIO | Yes | Near feed slot on the storage mech | Human player | Will be 'green' when in Feed mode and it is ok for the human player to feed a disc. Will be 'red' when in Feed mode and it is NOT ok to feed a disc. Will be off when not in Feed mode. It is OK to feed when the entire mech is at the proper angle AND there are less than 4 discs in the robot AND the fan blades are in the feed position. | THIS IS JUST AN EXAMPLE |
Operator Controls
Subsystem | Description (brief) |
Type/Control | Button/Control Assigned? |
Operation | Notes |
Aux Driver | Feed Mode | Button | Yes | When pressed, the lift will put the entire mech at the angle needed for feeding and storage will automatically advance discs as they are feed into the robot. | The aux driver must continue to press the button to stay in feed mode.THIS IS JUST AN EXAMPLE |
Joystick 1 (Driver Left)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Turbo | ||
2 | Slow | ||
3 | |||
4 | |||
5 | |||
6 | Debug TBD | ||
7 | Debug TBD | ||
8 | |||
9 | |||
10 | Debug TBD | ||
11 | Debug Drive | ||
12 | n/a | ||
X-axis | |||
Y-axis | Left Wheels | Controls both left side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards. |
Shooter is the 'front' |
Z-axis |
Joystick 2 (Driver Right)
Button/Axis | Description (brief) |
Operation | Notes |
1 | Turbo | ||
2 | Slow | ||
3 | |||
4 | |||
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | n/a | ||
X-axis | |||
Y-axis | Right Wheels | Controls both right side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards. |
Shooter is the 'front' |
Z-axis |
Joystick 3 (Aux Driver)
Button/Axis | Description (brief) |
Operation | Notes | |
1 | Acquire Ball | Intake wheels spin such the ball is moved onto the robot. | ||
2 | Pass Ball Fast | Intake wheels spin such the ball is moved out of the robot. This will be the fastest it can be, allowing for a long pass. |
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3 | Pass Ball Slow | Intake wheels spin such the ball is moved out of the robot. This will be a 'slow' rate to allow for a short pass to a close by robot. |
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4 | ||||
5 | ||||
6 | ||||
7 | ||||
8 | ||||
9 | ||||
10 | ||||
11 | ||||
12 | ||||
X-axis | ||||
Y-axis | Intake | Moves intake in/out | When joystick is pushed forward (away from driver) the intake will got out (extend away from robot). | |
Z-axis |
Joystick 4 (Aux Controls/Extended IO)
Button/Axis | Description (brief) |
Operation | Notes |
1 | |||
2 | |||
3 | |||
4 | |||
5 | |||
6 | |||
7 | |||
8 | |||
9 | |||
10 | |||
11 | |||
12 | |||
X-axis | Manual Power | The amount of power for a manual shoot. | This is used when the Manual Shot button is pressed. |
Y-axis | Future use | This is not used for anything at this time. But is available if needed. | |
Z-axis |