2015:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	RESERVED	n/a		Factory-default allows for adding CTRE devices quickly and re-assign its ID			don't use
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID			don't use
2	drivetrain	motor	CIM	Left Front Drive	driver1 joystick	y axis
3	drivetrain	motor	CIM	Left Rear Drive	driver1 joystick	y axis
4	drivetrain	motor	CIM	Right Front Drive	driver1 joystick	y axis
5	drivetrain	motor	CIM	Right Rear Drive	driver1 joystick	y axis
6	drivetrain	motor	CIM	Strafe	driver1 joystick	x axis	unclear on how to activate this motor
7	lifter	motor	RS775	Left lifter	driver2 joystick	y axis
8	lifter	motor	RS775	Right lifter	driver2 joystick	y axis
9	gripper	motor	RS550	Gripper/Motor	driver2 joystick	trigger button (depressed trigger = gripper closed)
10	pnuematics	PCM module	N/A	Stabilizer, Shifter, Strafing	roborio
11	power dist.	PD module	N/A	Power Distribution Readback	roborio
12
13
14
15
16

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4
5
6
7
8
9
10

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4

Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
1	drivetrain	gyro	?	drivetrain gyro		Used in Autonomous	?
2
3
4

Digital IO (GPIO)

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	IN	drivetrain	Encoder	?	Left Encoder, Phase A		Position measurement
2	IN	drivetrain	Encoder	?	Right Encoder, Phase A		Position measurement
3	IN	gripper	Banner Sensor	?	Gripper Wide Tote Config.	N/A	Wide Position
4	IN	lifter	Encoder	?	Lifter Height	N/A	Lifter Height Synced with Lifter Flag Sensor
5	IN	lifter	Flag Sensor	?	Home Position Height Level	N/A
6	IN	gripper	Encoder	?	Encoder Phase A	N/A	Gripper Position
7	IN	gripper	Encoder	?	Encoder Phase B	N/A	Gripper Position
8	IN	gripper	Flag Sensor	?	Home Gripper Position	N/A
9	IN	gripper	Ultrasonic Sensor	?	Right Gripper Proximity	N/A	Distance Between Gripper Arm and Tote
10	IN	gripper	Ultrasonic Sensor	?	Left Gripper Proximity	N/A	Distance Between Gripper Arm and Tote

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0
1
2
3
4
5
6

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	drivetrain	Valve	?	shifter UP	driver1 joystick	shifts up
2	drivetrain	Valve	?	shifter DOWN	driver1 joystick	shifts down
3	drivetrain	Valve	?	strafing wheel DOWN	driver1 joystick	lowers strafing wheel
4	drivetrain	Valve	?	strafing wheel UP	driver1 joystick	raises strafing wheel	Optional (the UP position is supposed to be spring returned)
5	stabilizer	Valve	?	Stabilizer Gripper IN	driver2 joystick	closes stabilizer
6	stabilizer	Valve	?	Stabilizer Gripper OUT	driver2 joystick	opens stabilizer	Optional (the OUT position is supposed to be spring return)
7
8

Operator Controls

Joystick 1/Left

Button/Axis	Description (brief)	Operation	Notes
Y-Axis	Move Forward/Backward	In Left/Right mode, this moves boths sides of the drivetrain; otherwise this moves just the left side of the drivetrain.
X-Axis
1/trigger
2	Raise center wheel	Wheel remains rasied while button is being pressed. Wheel lowers when button is released.
3	Left/Right mode	In Left/Right mode while button is being pressed.
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 2

Same as 1

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8
9
10
11
12
X-axis
Y-axis
Z-axis

Joystick 3

Button/Axis	Description (brief)	Operation	Notes
1	Grips	Hold means lower grips are closed (If needed, flip broken switch which means click to close) Released means lower grips are open (If needed, flip broken switch which means click button 2 to open)
2		If broken switch is flipped, open lower grips
3		Possibly use for "level 3" preset so tote is high enough to put on top of 2 totes created by human player
4		Close Upper grips
5		Open Upper grips
6	(or 8)	Pull RC grabber back in
7	(or 9)	Release RC grabber to get can
8
9
10
11
12
X-axis
Y-axis	Move	Lower grip up/down, control speed of movement
Z-axis

Joystick 4

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8			.
9
10
11
12
X-axis
Y-axis
Z-axis

IO Maps for Old Robots

• 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