2015:Robot IO Map

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Revision as of 18:06, 24 January 2015 by ElectricalMain (talk | contribs) (update to the IO Map)
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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
X & Y orientation used in Autonomous  ?
2




3




4




Digital IO (GPIO)

RoboRio IO

ID Direction
(IN/OUT)
Subsystem

Component

Type

Model # Description
(brief)
Controlled By Operation Notes
DIO0 IN drivetrain Encoder  ? Left Encoder, Phase A
Drivetrain rotation - calculate Position measurement
DIO1 IN drivetrain Encoder  ? Right Encoder, Phase A
Drivetrain rotation - calculate Position measurement
DIO2 IN gripper Banner Sensor  ? Gripper Wide Tote Config. N/A Outward Wide Position
DIO3 IN lifter Encoder  ? Lifter Height  N/A Lifter drive rotation -  calculate Height Zeroed with Lifter Flag Sensor
DIO4 IN lifter Flag Sensor  ? Home Position Height Level N/A Lower position
DIO5 IN gripper Encoder  ? Encoder Phase A N/A Gripper drive rotation - calculate Position
DIO6 IN gripper Encoder  ? Encoder Phase B N/A Gripper drive rotartion - calculate Position
DIO7 IN gripper Flag Sensor  ? Home Gripper Position N/A Inner position
DIO8
IN gripper Ultrasonic Sensor  ? Right Gripper Proximity N/A Distance Between Gripper Arm and Tote replace with optical banner sensor?
DIO9 IN gripper Ultrasonic Sensor  ? Left Gripper Proximity N/A Distance Between Gripper Arm and Tote

replace with optical banner sensor?

If 2 per robot need to buy more!!!

AIN0 IN






AIN1 IN






AIN2 IN






AIN3 IN






RELAY0 OUT






RELAY1 OUT






RELAY2 OUT






RELAY3 OUT






PWM0 OUT






PWM1 OUT






PWM2 OUT






PWM3 OUT






PWM4 OUT







PWM5 OUT







PWM6 OUT







PWM7 OUT







PWM8 OUT








PWM9 OUT








REV Robotics More Board

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Controlled By Operation Notes
DIO0 IN Gripper Flag Sensor ? Electrical limit for end of travel of gripper arms.

There will actually be two sensors for either side electrically OR-ed back to the controller.
DIO1







DIO2







DIO3







DIO4







DIO5







DIO6







DIO7







DIO8







DIO9







DIO10







DIO11







DIO12







DIO13







DIO14







DIO15







AIN0







AIN1







AIN2







AIN3







AOUT0







AOUT1







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 lifter valve ? Lifter brake
pnuematic cylinder engages bicycle brake which holds lifter cable in present position
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 Shift On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed. 
2 Raise center wheel
.Wheel remains rasied while button is being pressed (or button 2 on right joystick is being pressed). Wheel lowers when both button 2s are released.
3 Left/Right mode
In Left/Right mode while this button is being pressed (or button 3 on right joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 2/Right

Button/Axis Description
(brief)
Operation Notes
X-axis Move Forward/Backward

In Left/Right mode, this moves nothing; otherwise this moves just the right side of the drivetrain.

Y-axis Move Left/Right In Left/Right mode, this moves the center wheel left/right; otherwise this move nothing.
1 Shift On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
2  Raise center wheel Wheel remains rasied while button is being pressed (or button 2 on left joystick is being pressed). Wheel lowers when both button 2s are released.
3 Left/Right mode

In Left/Right mode while this button is being pressed (or button 3 on left joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Joystick 3

Button/Axis Description
(brief)
Operation
Notes
X-axis
Y-axis Move up/down Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement.
1/trigger Close lower grips

Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released.


2 Open lower grips Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released.
3 Level 3 Preset Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height.
4
TBD - RC gripper
5 TBD - RC gripper
6


7
8
9
10
11
12
Z-axis

Joystick 4/LaunchPad

Button/Axis Description
(brief)
Operation Notes
1 Auto 'main' Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode.
2 Auto 'dashboard' Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used.
3 Broken #1

future

left-most switch on top row
4 Broken #2 future located to the right of Broken #1
5 Broken #3 future located to the left of Broken #4
6 Broken #4 future right-most switch on top row
7 Broken #5 future left-most switch on bottom row
8 Broken #6 future lcated to the right of Broken #5
9 Broken #7 future located to the left of Broken #8
10 Broken #8 future Right-most switch on bottom row

IO Maps for Old Robots