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 Talon Limit Switch logic sense should be reversed to Normally Low	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 Talon Limit Switch logic sense should be reversed to Normally Low	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 Drive motor		40A Breaker, PWM Splits to two Spark Controllers
1	Drivetrain	motor	CIM	Right Drive motor		40A Breaker, PWM Splits to two Spark Controllers
2
3
4	Scaler	servo	hs-322hd	scaler lock
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	Scaler	Potentiometer	3852A-282-102AL	Scaler pivot position			1K ohms, linear taper
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 extention
5	IN	Scaler	Shaft Encoder	61KS256	Arm Rotation,Phase B	Scaler arm extention
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

Controller 1 - Primary Driver

Action/Button	Description	Details
Left Joystick Y	Moves the robot forward / back	"Up drive the robot forward (Breacher Side) Down drives the robot backward (Scaler Side)"
Right Joystick X	Turns the robot Left / Right	""Right will turn the robot clockwise and vice versa. With no input from the left Joytick, does point turn. With input from left, does curve turn""
Left Bumper	Slow mode for left wheels	"decreases the range of power to the left motors by a set amount. Amount tbd"
Right Bumper	Slow mode for Right wheels	"decreases the range of power to the Righ motors by a set amount. Amount tbd"
Left Trigger	turbo mode for left wheels	"Increases the range of power to the left motors by a set amount. Amount tbd"
Right Trigger	turbo mode for right wheels	"Increases the range of power to the right motors by a set amount. Amount tbd"
A button	toggle camera feed

Controller 2 - Aux Driver

Action/Button	Description	Details
Left Joystick Up	Breacher down	Breacher Rotates forward / toward the ground
Left Joystick Down	Breacher up	Breacher Rotates backward / toward the sky
Right Joystick Up	Scaler extend	Scaler telescopes upward
Right Joystick Down	Scaler retract Scaler	telescopes downward
Right Bumper	intake	"Spins the intake wheels as to intake a ball into the robot"
Right Trigger	Shoot	"Spins the intake wheels as to outtake a ball out of the robot"
X button	Rotate Scaler up	Scaler rotates upward
B button	Rotate Scaler downward	Scaler rotates downward
"Left Trigger + Dpad down"	Arm Lock	Rotates servo to lock Scaler arm in place
"Left Bumper + Dpad Up"	Arm Unlock	"Rotate servo to unlock Scaler arm and allow telescoping action"
A button	Toggle camera feed	-	"Y button"	Pivot Intake to the Drawbridge position (Byers use Intake::Drawbridge_Position()

Broken Switches

Broken Switch1	Breacher Pivot	Potentiometer broken
Broken Switch2	Breacher Intake	Beam Break Broken
Broken Switch3	Arm rotate	"??????????? Encoder"
Broken Switch4	Arm telescope	"Encoder  ???????????"
Broken Switch5	not used yet
Broken Switch6	not used yet
Broken Switch7	Tank drive	use tank drive instead of default drive mode

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