2020:Robot IO Map

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	Intake	Spark Max	Neo 550	Brake	Pivots intake in/out of robot		30A Using integrated encoder	4
3	Intake	Spark max	Neo 550	Brake	Spins "beater bars"		20A	5
4	Storage	Spark max	Neo 550	Brake	Agitates balls up the corkscrew			6
5	Storage	Spark max	Neo 550	Brake	Feeds balls into shooter			7
6	Shooter	Spark max	Neo	Coast	Spins left shooting motor		40A	12
7	Shooter	Spark max	Neo	Coast	Spins right shooting motor		40A Using integrated encoder. 1 might run in follower mode	13
8	Turret	Spark max	Neo 550	Brake	Rotates turret			8
9	WoF	Spark max	Neo 550	Brake	Rotates Wheel of Fortune		20A	9
10	Hang	Spark max	Neo	Brake	Winches robot up		30A Using integrated encoder	10
11	Shooter	Spark Max	Neo	?	Primer wheel
12
13
14
15

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Hang	Servo	Hs-322HD	Engages/disingages ratchet		N/A
1	Shooter	Servo	Hs-785HB	Moves turret hood to increase/decrease shot angle		N/A
2
3
4
5	Wheel of Fortune	Servo		Swing color sensor outside the frame perimeter
6	Drive base	Spark Max	Neo	Left front drive motor	Moves left side of robot forwards/backwards	Don't know	40A	0
7	Drive Base	Spark Max	Neo	Left rear drive motor		Don't know	40A	1
8	Drive Base	Spark Max	Neo	Right front drive motor	Moves right side of robot forwards/backwards	Don't know	40A	2
9	Drive Base	Spark Max	Neo	Right Rear drive Motor		Don't know	40A	3
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
3

More Board Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

 

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Intake	Banner Opto	Q10RN6R	Senses Incoming Power Cells	1 = Ball not present  0 = Ball Present	w/Q106E emitter, sensor open-collector out
1	IN	Storage	Banner Opto	Q10RN6R	Senses balls when ready to shoot	1 = Ball not present  0 = Ball Present	w/Q106E emitter, sensor open-collector out
2	IN
3	IN	Shooter	???	???	Senses when a ball is exiting the shooter
4	IN	Drive base	Phase A Left Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
5	IN	Drive base	Phase B Left Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
6	IN	Drive base	Phase A Right Encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
7	IN	Drive base	Phase B right encoder	REV-11-1271	measures rotation of drive wheels	2048 cycles per revolution
8	IN	Intake	Omron Reflective	EE-SPY415	Senses the presence of the intake mechanism to zero the rotation motor encoder	1 = not present 0 = present (Need to double check this)
9	IN	Hang	U-Shaped Sensor	??	Sense when hanger is all the way retracted	1 = hanger sensed (all the way down), 0 = hanger not sensed

 

 

 

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN
1	IN
2	IN
3	IN
4	IN
5	IN
6	IN
7	IN
8	IN
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
0x52		Wheel of Fortune	Color Sensor	REV-31-1557	Reads colors of wheel	Provides these channels: Red, Green, Blue, Alpha, and Proximity

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

PCM ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	PDB #
1	0
	1
	2
	3
	4
	5
	6
	7
2	0
	1
	2
	3
	4
	5

 

 

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	Left Bumper
A-3	Right Trigger
A-2	Left Trigger
B-1	A Button
B-3	X Button
B-4	Y Button
B-2	B Button

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Trigger	Outtake-Just intake mechanism (not helix)	Press hold, release to stop
A-2	Right Trigger	Runs shooter/helix (warm up)	binary action, press hold
A-3?	Left Dial	Rotates turret	Positional rotation
A-4?	Right Dial	Controls shooter speed	Positional rotation
B-1	A Button	Moves hang in retract direction	press hold, release to stop
B-2	B button	Adjusts hood to wall	Press only
B-3	X Button	Adjusts hood to initiation line	Press only
B-4	Y button	Moves hang in extend direction	press hold, release to stop
B-5	Left bumper	Run control panel	press
B-6	Right bumper	Run intake/drive helix up	press hold, release to stop
B-7	Back Button	Shoots the ball	press only
B-8	Start Button	Adjusts hood control panel	press only
B-9
POV-90	D-pad up
POV-270	D-pad down

Controller 3 - Switches on console

Button/Axis #	Action/Button	Description	Details
B-1	Control Panel Mode	Determines which control panel operation to run On = rotation Off = position
B-2	Control Panel Sensor Broken	On = broken, run CP manually Off = Working, do whatever is in button 1
B-3	Intake Pivot Sensor Broken	On = broken, zero pivot based solely on startup position
B-4	Intake ball counter Broken	On = broken, don't use this sensor
B-5	Storage-shooter transition counter broken	On = broken, don't use this sensor
B-6	Shooter ball counter broken	On = broken, don't use this sensor
B-7	Hanger zero sensor broken	On = broken, don't use the sensor to zero encoder, just use startup position
B-8
B-9

 

 

 

Dashboard

Key	Data Type	Value	Description
thunderdashboard_green	number	0 - do NOT have a game piece 1 - have a game piece	Background of dashboard goes green.
thunderdashboard_max	number	0 = show normal 1 = fill screen	fills screen or not

IO Maps for Old Robots

• 2019 IO Map
• 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