2019:Robot IO Map

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Robot I/O

CAN ID Assignments

ID Subsystem

Component

Type

 Model # Brake or Coast? 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 Cargo Talon-SRX 775 Pro Brake

Intakes or expels cargo.

Left half motor

(+) = intake cargo

(-) = expel cargo

   
3 Cargo Talon SRX 775 Pro Brake

Intakes or expels cargo

Right half motor

(+) = intake cargo

(-) = expel cargo

   
4 Elevator Talon SRX 775 Pro Brake

Moves elevator up/down.

Primary motor "A"/Left

(+) = elevator up

(-) = elevator down

   
5 Elevator Talon SRX 775 Pro Brake

Moves elevator up/down

Secondary motor "B"/Right

(+) = elevator up

(-) = elevator down

   
6 Hab Talon SRX 775 Pro Brake

Drive "back legs"

Primary motor; left"leg"

(+) = move foward

(-) = move reverse

   
7 Hab Victor SPX 775 Pro Brake

Drive "back legs"

Secondary motor; right"leg"

(+) = move foward

(-) = move reverse

   
8 Pnuematics PCM 1   N/A Controls the solenoids Solenoids    
9 Pnuematics PCM 2   N/A Controls more of the solenoids Solenoids    
10                
11                
12                
13                
14                
15                

 

 

PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0 Drivetrain SPARK CIM

Left front drive motor

+ Moves left side of robot forward

- Moves left side of robot reverts

Don't know 40  
Drivetrain SPARK CIM Left rear drive motor   Don't know 40  
1 Drivetrain SPARK CIM Right front drive motor

+ Moves left side of robot forward

- Moves left side of robot reverts

Don't know 40  
Drivetrain SPARK CIM Right reardrive motor   Don't know 40  
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 Pnuematics Pressure guage REV-11-1107 Senses amount of pressure we have To know if we can actually do HAB    
1 Gyro?            
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 Hatch Limit switch Honeywell SZL-VL-S-B-N-M Hatch against backplate

1 = have hatch

 0 = no hatch

 
1 IN Cargo Beam Break Banner Q106 Do we have a cargo

1 = have cargo

0 = no cargo

 
2 IN Cargo Left Magnetic Reed Switch Bimba MRS-.087-PBL-09 Senses when the left cargo arm is fully open and out of the way

0 = arm open, cylinder retracted

1 = arm not open, pls dont hit wall

 
3 IN Cargo Right Magnetic Reed Switch Bimba MRS-.087-PBL-09 Senses when the right cargo arm is fully open and out of the way

0 = arm open, cylinder retracted

1 = arm not open, pls dont hit wall

 
4 IN Elevator Upper Limit EE-SPY415 senses when the elevator is at the top of its track

0 = no face sensed

1 = face sensed

 
5 IN Elevator Lower Limit Optek OPB815WZ senses when the elevator is at the bottom of the track

0 = elevator not at bottom

1 = elevator is at bottom

 
6 IN Hab Left Front Extended Bimba MRS-.087-PBL-?? senses when the front left cylinder is extended

0 = cylinder extended

1 = cylinder not extended

 
7 IN Hab Right Front Extended Bimba MRS-.087-PBL-?? senses when the front right cylinder is extended

0 = cylinder extended

1 = cylinder not extended

 
8 IN Hab Left Rear Extended Bimba MRS-.087-PBL-?? senses when the rear left cylinder is extended

0 = cylinder extended

1 = cylinder not extended

 
9 IN Hab Right Rear Extended Bimba MRS-.087-PBL-?? senses when the rear right cylinder is extended

0 = cylinder extended

1 = cylinder not extended

 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0 IN Hab Magnetic Reed Switch Bimba MRS-.087-PBL-?? Left front cylinder retracted

0 = cylinder retracted

1 = cylinder not retracted

 
1 IN Hab Magnetic Reed Switch Bimba MRS-.087-PBL-?? Right front cylinder retracted

0 = cylinder retracted

1 = cylinder not retracted

 
2 IN Drive Encoder 63R256 Grayhill Left drive train encoder counts when moving?  
3 IN Drive Encoder 63R256 Grayhill Right drive train encoder    
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 Modules

ID # Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

 Operation Circuit Pressure Notes
1 0 Hatch Double SY3240-6LZ Hold hatch Extends cylinder to raise hook 50  
1 Allow hatch to release Retract cylinder to lower hook  
2 Cargo Double SY3240-6LZ Enables cargo mechanism Extends cargo cylinders (2) to extend cargo mechism to usable position 50  
3 Store cargo, enable hatch Retracts cargo cylinders (2) to store cargo mechanism out of way of hatch mechanism  
4 Elevator Double SY3240-6LZ Lowers elevator to inside robot frame Extends cylinder to lower entire elevator 50  
5 Raises elevator to usable position Retracts cylinder to raise elevator to usable position for game piece  
6 Elevator Double SY3240-6LZ Engage brake Extends cylinder to engage elevator brake 50  
7 Release brake Retracts cylinder to release elevator brake  
2 0 Habitat Double SY3240-6LZ Lift front of robot Extends cylinders (2) to lift front end of robot 50  

Operator Controls

Controller 1 - Primary Driver

 Button/Axis # Action/Button Description Details
A-1 Left Joystick Y    
A-1 Left Joystick X    
A-4 Right Joystick Y    
A-4 Right Joystick X    
B-6 Right Bumper    
B-5 Right Bumper    
A-3 Right Trigger    
A-2 Left Trigger    

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-5 Right Joystick Y    
B-5 Left Bumper    
B-6 Right Bumper    
A-3 Right Trigger    
A-2 Left Trigger    
POV-0 Dpad Up    
POV-180 Dpad Down    
B-4 Y button    
B-1 A button    
B-2 B button    
B-3 X button    
B-7 + B-8 Start + Select    

Broken Switches

Switch Description Details
Broken Switch1    
Broken Switch2    
Broken Switch3    
Broken Switch4    
Broken Switch5    
Broken Switch6    

Dashboard

Feature Control Key Value
       
       
       
       
       

IO Maps for Old Robots

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