2016:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Electrical	PD Module		Power Distribution Module feedback	monitor PD	must be CAN 0
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID		don't use
2
3
4
5
6
7
8	Breacher	motor	miniCIM	Breacher Bucket rotation		40A breaker (26A max calc load)
9	Breacher	motor	RS775	Ball Intake rollers		40A breaker (32A max calc load)
10	Scaler	motor	RS775	Winch #1 for scaler extension	min and max extension limit switches wired directly to speed controller	40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415
11	Scaler	motor	RS775	Winch #2 for scaler extension	min and max extension limit switches wired directly to speed controller	40A breaker (21A max calc load) min switch = OPB815WZ max switch = EE-SPY415
12	Scaler	motor	Bag	Arm Pivot rotation		30A breaker (13A max calc load)
13
14
15

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Drivetrain	motor	CIM	Left Front  Drive motor		40A Breaker
1	Drivetrain	motor	CIM	Left Rear Drive motor		40A Breaker
2	Drivetrain	motor	CIM	Right Front Drive motor		40A Breaker
3	Drivetrain	motor	CIM	Right Rear Drive motor		40A Breaker
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	Drivetrain	Gyro	ADW22307	drivetrain gyro position feedback	X-Y orientation	2.5V centered
1	Breacher	Potentiometer	3852A-282-102AL	Breacher bucket shaft rotation	absolute position of beacher rotation		1K ohms, linear taper
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	IN	Drivetrain	Shaft Encoder	E4T-360-250	Left Encoder, Phase A	Drivetrain rotation
1	IN	Drivetrain	Shaft Encoder	E4T-360-250	Left Encoder, Phase B	Drivetrain rotation
2	IN	Drivetrain	Shaft Encoder	E4T-360-250	Right Encoder, Phase A	Drivetrain rotation
3	IN	Drivetrain	Shaft Encoder	E4T-360-250	Left Encoder, Phase B	Drivetrain rotation
4	IN	Scaler	Shaft Encoder	61KS256	Arm Rotation, Phase A	Scaler arm rotation position
5	IN	Scaler	Shaft Encoder	61KS256	Arm Rotation,Phase B	Scaler arm rotation position
6	IN	Breacher	Banner Opto	Q10RN6R	Ball Intake	Trips for ball fully into bucket	w/Q106E emitter, sensor open-collector out
7	IN	Breacher	limit switch	AAP2T51Z11	breacher rotation upper limit		monster switch
8	IN	Breacher	limit switch	AAP2T51Z11	breacher rotation lower limit		monster switch
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

• 2015 IO Map
• 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