2016:Robot IO Map

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Robot I/O

CAN ID Assignments

ID Subsystem

Component

Type

Model # Description
(brief)
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 miniCIM Left #1
40A breaker
3 Drivetrain motor miniCIM Left #2
40A breaker
4 Drivetrain motor miniCIM Left #3
40A breaker
5 Drivetrain motor miniCIM Right #1
40A breaker
6 Drivetrain motor miniCIM Right #2
40A breaker
7 Drivetrain motor miniCIM Right #3
40A breaker
8 Breacher motor miniCIM Manipulator Arm
30A breaker
9 Breacher motor RS775 Ball Intake
30A breaker
10 Scaler motor CIM Winch #1
40A breaker
11 Scaler motor CIM Winch #2
40A breaker
12 Scaler motor Bag Arm Pivot
30A breaker
13


14


15
N/A

PWM Outputs

ID Subsystem

Component

Type

Model # Description
(brief)

Operation


Notes
0



1


2


3


4


5


6





7





8


9



Relay Outputs

ID Subsystem

Component

Type

Model # Description
(brief)
Operation
Notes
0


1


2


3


Analog IO

RoboRIO Analog Inputs

ID Subsystem

Component

Type

Model # Description
(brief)
Operation

Voltage

Range

Notes
0
1





2



3



Rev Robotics More Board Analog IO

ID Subsystem

Component

Type

Model # Description
(brief)
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)
Operation
Notes
0
1
2
3
4
5
6
7
8
9

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation
Notes
0
1
2
3






4






5






6






7






8






9






10






11






12






13






14






15






I2C Registers

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

Component

Type

Model # Description
(brief)
Operation
Notes
0


1


2


3


4


5


6


SPI Devices

#
Subsystem

Component Type

Model # Description (brief) Operation
Notes




 

USB Host Ports

Address
Subsystem

Component Type

Model # Description (brief) Operation
Notes
0
1

Pneumatics Control Module

ID Subsystem

Component

Type

Model #

Description

(brief)

Operation
Notes Pressure Circuit
0
1
2
3
4

 



5






6

 



7



Operator Controls

.... tbd ....


IO Maps for Old Robots