2018:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A         PDB #
0	Electrical	PD Module		Power Distribution Module feedback	monitor PD	must be CAN 0
1	RESERVED	n/a		Factory-default allows for adding new device quickly and re-assign its ID		don't use
2	cube intake	RS 775	Talon SRX	left	Intake cube to hand (+) eject cube (-)	30 A	8
3	cube intake	RS 775	Talon SRX	right	Intake cube to hand (+) eject cube (-)	30 A	7
4	arm	RS 775	Talon SRX	moves arm	moves from arm front (+) to back (-)	30 A	9
5	hand	RS 775	Talon SRX	hold and eject the cube	rollers intake (+) eject the cube (-)	30 A	6
6	Left Ramp, Near Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	30 A	13
7	Left Ramp, Far Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	40 A	12
8	Right Ramp, Near Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	40 A	3
9	Right Ramp, Far Jack	RS 775	Talon SRX	Raise/Lower jack	Raise jack (+) Vex encoder feeds direct to talon	30 A	11
10
11
12
13
14
15

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A              PDB #
0	DriveBase	CIM		SPARK	Left Motor 1;  +Voltage = Forwards	40A	0
0	DriveBase	CIM		SPARK	Left Motor 2; +Voltage = Forwards	40A	1
1	DriveBase	CIM		SPARK	Right Motor 1; +Voltage = Forwards	40A	15
1	DriveBase	CIM		SPARK	Right Motor 2; +Voltage = Forwards	40A	14
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	Drive	gyro	TBD	gyro	telling angle and rate in auto
2	Arm	pot	3852A-282-103AL-ND	arm position	arm forward (+) arm back (-)	0-4 v ?
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	Drive	encoder	63r256	left encoder phase A	measures distance traveled	256 counts per rev
1	IN	Arm	Mechanic leaf switch	Honeywell V7-2B17D8-048	Limit at end of travel for front of robot	Limit "switch" - digital low at limit
2	IN	Drive	encoder	63r256	right encoder phase A	measures distance traveled	256 counts per rev
3	IN	Arm	Mechanic leaf switch	Honeywell V7-2B17D8-048	Limit at end of travel for back of robot	Limit "switch" - digital low at limit
4	IN	Intake	magnetic reed switch		Intake is all the way out	when it is all the way out it is digital low
5	IN	Arm	encoder	srx magnetic encoder	arm encoder phase A		1024 counts per rev
6	IN	Arm	encoder	srx magnetic encoder	arm encoder phase B		1024 counts per rev
7	IN
8	IN
9	IN	Hand	Allen Bradley diffuse sensor	42EF-D1MNAK-A2	cube present	when cube is present digital low	needs 10+ volt via PD board #3

 

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

#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	Notes
0	Intake	Double	SY3240-6	Raise intake	Extends cylinder to raise intake	60 PSI	B
1				Lower intake	Retracts cylinder to lower intake		A
2	Brake (Arm)	Double	SY3240-6	Disengage brake on arm pivot. Does not actually pass air (block output)	Extends cylinder to disengage brake	60 PSI	B
3				Engage brake on arm pivot	Retracts cylinder to engage brake		A
4	Hand (Arm)	Double	SY3240-6	Release hand's grip on cube Does not actually pass air (block output)	Removes air pressure from cylinder to "relax" grip on cube	?? PSI	B
5				Tighten hand grip on cube	Retracts cylinder to "close" hand		A
6	Ramp	Double	SY3240-6	Holds ramps in stored position	Extends cylinder to hold ramps in up position	60 PSI	B
7				Allows ramps to deploy to ground	Retracts cylinder to release ramps to ground		A

Operator Controls

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y	Drive Forward/Back	Up drive the robot forward (Intake side) Down drives the robot backward NOTE: will do the opposite if swap drive is toggled
	Left Joystick X	Nothing
	Right Joystick Y	Nothing
A-4	Right Joystick X	Turn 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 NOTE: will do the opposite if swap drive is toggled
B-5	Left Bumper	Slow	decreases the range of power to the motors by a set amount
B-6	Right Bumper	Nothing
A-2	Left Trigger	Turbo	Increases the range of power to the motors by a set amount.
A-3	Right Trigger	Swap Drive	Switches the front and back of the robot. Press to toggle.

 

 

 

 

 

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-5	Right Joystick Y	Fine Arm Control	Up - towards front Down - towards back Only moves arm and intake, when not in moving to a preset. Moves at a slower speed than the presets. When broken switches 1 is flipped, the arm will not stop at the front of the robot automatically. The driver is responsible for stopping the arm by letting go of the joystick. When broken switches 2 is flipped, the arm will not stop at the back of the robot automatically. The driver is responsible for stopping the arm by letting go of the joystick.
B-5	Left Bumper	Raise Right Ramp	Press and Hold If button is let go, then the ramp will stop in place. If broken switch 5 is flipped, the ramp will not auto-stop when at top. Driver is responsible for stopping.
B-6	Right Bumper	Raise Left Ramp	Press and Hold If button is let go, then the ramp will stop in place. If broken switch 4 is flipped, the ramp will not auto-stop when at top. Driver is responsible for stopping.
A-3	Right Trigger	Intake	Press and Hold Will auto-stop when cube is all the way in. If broken switch 6 is flipped, the intake will not auto-stop when cube is fully in.
A-2	Left Trigger	Outtake	Press and Hold
POV-0	Dpad Up	Moves Intake Up	When broken switch 1 is flipped, this moves the intake up.
POV-180	Dpad Down	Moves Intake Down	When broken switch 1 is flipped, this moves the intake down
B-4	Y button	Arm to Intake Level Front  (Preset position)	Press, and release, to move arm and intake there automatically. When broken switch 1 is flipped, the presets do not work.
B-1	A button	Arm to  Exchange Level Back (Preset position)	Press, and release, to move arm and intake there automatically. When broken switch 1 is flipped, the presets do not work.
B-2	B button	Arm to Switch Back (Preset position)	Press, and release, to move arm and intake there automatically. When broken switch 1 is flipped, the presets do not work.
B-3	X button	Arm to Switch Front (Preset position)	Press, and release, to move arm and intake there automatically. When broken switch 1 is flipped, the presets do not work.
B-7 + B-8	Start + Select	Deploy Ramps	Press, and release, both at same time to lower ramps. Lowers all parts of the ramp.

 

 

Broken Switches

Switch	Description	Details
Broken Switch1	Arm/Intake Movement	None of the presets work. Intake doesn't move in and out with the arm automatically
Broken Switch2	Arm Front Limit Switch	Arm won't auto-stop when going towards the front.
Broken Switch3	Arm Back Limit Switch	Arm won't auto-stop when going towards the back.
Broken Switch4	Ramp Left Lift	Left Ramp doesnt auto-stop when at top.
Broken Switch5	Ramp Right Lift	Right Ramp doesn't auto-stop when at top.
Broken Switch6	Cube Intake	Cube intake doesn't auto-stop when cube is fully in.

IO Maps for Old Robots

• 2017 IO Map
• 2016 IO Map
• 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