2019: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 lift	RS 775	Talon SRX	raises the left lift	raise lift (+) Vex encoder feeds direct to talon	30 A	13
7	Right lift	RS 775	Talon SRX	raises the right lift	Raise lift (+) Vex encoder feeds direct to talon	40 A	12
8
9
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
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
3	IN	Arm	Leaf switch	Honeywell V7-2B17D8-048	Limit at end of travel for back of robot	Limit "switch" - digital low at limit
2	IN	Drive	encoder	63r256	right encoder phase A	measures distance traveled	256 counts per rev
1	IN	Arm	Leaf switch	Honeywell V7-2B17D8-048	Limit at end of travel for front of robot	Limit "switch" - digital low at limit
4	IN	Intake	magnetic reed switch		Intake is all the way out	1 = Intake Up (In) 0 = Intage Down (Out)
5	IN	Left Lift	encoder	srx magnetic encoder	Lift encoder phase A	measures distance traveled	1024 counts per rev
6	IN	Right Lift	encoder	srx magnetic encoder	Lift encoder phase A	measures distance traveled	1024 counts per rev
7	IN	Left Lift	Leaf switch	Honeywell V7-2B17D8-048	Limit at the upper end of the left lift travel	Limit "switch" - digital low at limit
8	IN	Right Lift	Leaf switch	Honeywell V7-2B17D8-048	Limit at the upper end of the right lift travel	Limit "switch" - digital low at limit
9	IN	Hand	Allen Bradley diffuse sensor	42EF-D1MNAK-A2	cube present	1 = Cube Present 0 = Cube Not Present	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	A
3				Engage brake on arm pivot	Retracts cylinder to engage brake		B
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	Allows ramps to deploy to ground	Retracts cylinder to release ramps to ground	60 PSI	B
7				Holds ramps in stored position	Extends cylinder to hold ramps in up position		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
A-1	Left Joystick X	Nothing
A-4	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-6	Right Bumper	Slow	decreases the range of power to the motors by a set amount
B-5	Right Bumper	Nothing
A-3	Right Trigger	Turbo	Increases the range of power to the motors by a set amount.
A-2	Left 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 Sensor	Cube sensor broken - intake/hand doesn't auto-stop when cube is fully in.

Dashboard

Feature	Control	Key	Value
Have Cube	The background areas of the dashboard will be green when there is a cube	thunderdashboard_green	0 - do not have a cube 1 - have a cube
Arm position	A horizontal meter/gauge that shows the arm's position. An empty gauge means the arm is all the way down in the back. A full gauge means the arm is all the way down in the front .	thunderdashboard_armpos	number ranging from 0 to 100 0 means arm is all the way down on the back 50 means arm is point straight up 100 means arm is all the way down on the front
Intake position	A panel that will be yellow when intake is up/in.	thunderdashboard_intake	0 - intake is up/in 1 - intake is down/out
Gyro cal	The background areas of the dashboard will be red when the gyro is in the middle of its calibration. Helps to inform drivers to not touch the robot while calibrating,	thunderdashboard_gyro	0 - not calibrating 1 - in middle of calibration
Auto Wait Time	Number input box next to Autonomous mode dropdown to indicate how many seconds to wait before executing the selected auto mode. Default value is zero, If auto mode is changed, do NOT change value. NOTE: if value already in NetTables, the dasboard may not overright it. This can happen if robot is running before Dashboard starts, and value was set previously. Auto mode dropdown border (and list background) will be yellow if delay is not zero; to assist drivers in knowing it is non-zero.	thunderdashboard_auto_start_delay	Number of seconds to wait before executing auto mode NOTE: up to two digits

IO Maps for Old Robots

• 2018 IO Map
• 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