2015:Robot 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 | |||||||
11 | |||||||
12 | |||||||
13 | |||||||
14 | |||||||
15 | pnuematics | PCM module |
N/A |
Stabilizer, Shifter, Strafing | roborio |
address spaces for Jaguars, SRXs, PCM, and PDP are all separate. We are limited to one PDP, and will need only one PCM | |
16 | power dist. | PD module |
N/A |
Power Distribution Readback | roborio |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By |
Operation
|
Notes |
1 | |||||||
2 | |||||||
3 | |||||||
4 | |||||||
5 | |||||||
6 | |||||||
7 |
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8 |
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9 |
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10 |
Relay Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation | Notes |
1 | |||||||
2 | |||||||
3 | |||||||
4 |
Analog IO
RoboRIO Analog Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation |
Voltage Range |
Notes |
1 | drivetrain | gyro | ADW22307 | drivetrain gyro rot feedback | X & Y orientation used in Autonomous | 2.5 V center, 0.007 V/deg/sec | ||
2 | drivetrain | gyro | ADW22307 |
drivetrain gyro temperature feedback | for rotation correction | 2.5V at 25 degree plus 9mV/ degree |
||
3 | ||||||||
4 |
Rev Robotics More Board Analog IO
ID | Subsystem | Component Type |
Model # | Description (brief) |
Controlled By | Operation |
Voltage Range |
Notes |
AIN0 | ||||||||
AIN1 | ||||||||
AIN2 | ||||||||
AIN3 | ||||||||
AOUT0 | ||||||||
AOUT1 |
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 or flag sensor | ? | Gripper Wide Tote Config. | N/A | Outward Wide Position |
same flag as home position sensor uses ? |
DIO3 | IN | lifter | Encoder | 63R256 | Lifter Height | N/A | Lifter drive rotation - calculate Height Zeroed with Lifter Flag Sensor. Channel A | |
DIO4 | IN | lifter | Flag Sensor | ? | Home Position Height Level | N/A | Lower position | |
DIO5 | IN | gripper | Encoder | 63R256 | Encoder Phase A | N/A | Gripper drive rotation - calculate Position | |
DIO6 | IN | gripper | Encoder | 63R256 | Encoder Phase B | N/A | Gripper drive rotation - 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!!! |
Rev Robotics More Board IO
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 | IN |
drivetrain |
Encoder |
Left Encoder, Phase B |
Drivetrain rotation - calculate Position measurement |
|||
DIO2 | IN |
drivetrain |
Encoder |
Right Encoder, Phase B |
Drivetrain rotation - calculate Position measurement |
|||
DIO3 | IN | lifter | Encoder |
63R256 | Lift encoder, phase B | Lifter drive rotation - calculate Height Zeroed with Lifter Flag Sensor. Channel A |
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DIO4 | ||||||||
DIO5 | ||||||||
DIO6 | ||||||||
DIO7 | ||||||||
DIO8 | ||||||||
DIO9 | ||||||||
DIO10 | ||||||||
DIO11 | ||||||||
DIO12 | ||||||||
DIO13 | ||||||||
DIO14 | ||||||||
DIO15 | ||||||||
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 |
SPI Devices
# |
Subsystem | Component Type |
Model # | Description (brief) | Controlled By | Operation | Notes |
0 | drivetrain | accelerometer | ADXL245 |
accelerometer, right by the gyro | drivetrain | Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto | |
USB Host Ports
Address |
Subsystem | Component Type |
Model # | Description (brief) | Controlled By | Operation | Notes |
0 | Camera | Camera | HD-3000 | USB camera | vision code | Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto | |
1 | Logging | USB Stick | ? | USB Stick to log info | robot general | record match and state information at high rate, for postmortem match analysis |
Pneumatics Control Module
ID | Subsystem | Component Type |
Model # |
Description (brief) |
Controlled By | Operation | Notes | Pressure Circuit |
1 | Drivetrain | Single Solenoid | SY3140-6LZ | shifter LOW (default high) | driver1 joystick | shifts down | double action cylinder (vented no action) | A (4 total, 40-60 psi tbd) |
2 | Drivetrain |
Single Solenoid |
SY3140-6LZ |
strafing wheel DOWN (default up) |
driver1 joystick |
lowers strafing wheel |
single action, spring retract cylinder (vented up) | B (3 total, 20-60 psi tbd) |
3 | Stabilizer |
Single Solenoid |
SY3140-6LZ | Stabilizer Gripper IN (default out) |
driver2 joystick |
closes stabilizer |
double action cylinder (vented no action) |
A |
4 | Lifter |
Single Solenoid |
SY3140-6LZ |
Lifter brake OPEN (default locked) |
lifter code | pnuematic cylinder engages bicycle brake to lock lift elevator |
double action cylinder (vented open, spring on brake) |
A |
5 | ||||||||
6 | ||||||||
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 | 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 |
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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 |