2023:Robot IO Map

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	Description (brief)	Operation	PD Board Info (8) max. 40A         PDB #		General Notes
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 please
2	Grabber	Spark Max	Neo 550	Brake	Left intake motor		20A	11	Not set yet, depends on wire route
3	Grabber	Spark Max	Neo 550	Brake	Right intake motor		20A	10	Not set yet, depends on wire route
4	Lift	Spark Max	Neo	Brake	Telescoping arm extension		40A	14	Using Integrated Encoder
5	Lift	Spark Max	Neo 550	Brake	Left lift lead screw		40A	4	Using Integrated Encoder
6	Lift	Spark Max	Neo 550	Brake	Right lift lead screw		40A	15	Using Integrated Encoder
7	RCS	PCM			Pneumatics Control Module		5A	22
8
9	Drive	Spark Max	Neo	Brake	Front left drive motor		40A	0	Using Integrated Encoder
10	Drive	Spark Max	Neo	Brake	Back left drive motor		40A	2	Using Integrated Encoder
11	Drive	Spark Max	Neo	Brake	Back right drive motor		40A	18	Using Integrated Encoder
12	Drive	Spark Max	Neo	Brake	Front right drive motor		40A	16	Using Integrated Encoder
13	Drive	Spark Max	Neo 550	Brake	Front left rotation motor		20A	1	Using Integrated Encoder
14	Drive	Spark Max	Neo 550	Brake	Back left rotation motor		20A	3	Using Integrated Encoder
15	Drive	Spark Max	Neo 550	Brake	Back right rotation motor		20A	19	Using Integrated Encoder
16	Drive	Spark Max	Neo 550	Brake	Front right rotation motor		20A	17	Using Integrated Encoder
17	Drive	Encoder	CANCoder	N/A	Front left absolute encoder			N/A
18	Drive	Encoder	CANCoder	N/A	Back left absolute encoder			N/A
19	Drive	Encoder	CANCoder	N/A	Back right absolute encoder			N/A
20	Drive	Encoder	CANCoder	N/A	Front right absolute encoder			N/A

 

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Current	Note
0	Neo (Drive)	40A	40A
1	Neo 550 (Drive)	30A	30A
2	Neo (Drive)	40A	40A
3	Neo 550 (Drive)	30A	30A
4	Leadscrew Left (Lift)	40A
5
6
7
8
9
10	Grabber Right	30A
11	Grabber Left	30A
12
13
14	Telescoping (Lift)	40A
15	Leadscrew Right (Lift)	30A
16	Neo (Drive)	40A	40A
17	Neo 550 (Drive)	30A	30A
18	Neo (Drive)	40A	40A
19	Neo 550 (Drive)	30A	30A
20	RIO(?)	10A		Fused Port
21	VRM(?)	20A		Fused Port
22	PCM	10A		Fused Port
23 (Switchable)	Ethernet Switch	5A		Fused Port

VRM Assignments

Port #	Device (Subteam)
5V/2A	Blinky Blinky
5V/2A	Blinky Blinky
5V/500mA	Blinky Blinky
5V/500mA	Blinky Blinky
12V/2A	Banner Sensor - GamePiece
12V/2A
12V/500mA	4x CanCoders tied together - Drive
12V/500mA

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Blinky Blinky	LED Strip			Illumination & Communication w/ HP	Yes	5V 2A on VRM
1
2
3
4
5
6
7
8
9
10
11

 

 

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	Grabber	Beam Break		Grabber intake sensor	Detect acquired game pieces
1	IN	Lift			Lift home sensor	Detect when telescoping arm is fully retracted
2	IN	Lift			Lift extension sensor	Detect when telescoping arm is fully extended
3	IN	Lift				Lift home sensor (ish) & hard stop	Detect when lift needs to stop
4	IN
5
6
7	IN
8	IN
9	IN
10	IN

 

 

 

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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Drive	IMU	ADIS16470	3-Axis gyro and accelerometer	Sense rotation of robot

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	Grabber	Double		Extend	Difference between cone intake and cube intake
	1				Retract
	2	Grabber	Double		Extend	Difference between cone intake and cone transport
	3				Retract
	4	Grabber	Double		Extend	Grabber Position for intaking tipped cone
	5				Retract	Grabber Position for intaking upright cone
	6	Drive Base	Double		Retract	Parking Break
	7				Extend	Parking Break
2	0
	1
	2
	3
	4
	5

Operator Controls

Disable Xbox Controller

DisableXbox.docx

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y	Drive translation Y
A-1	Left Joystick X	Drive translation X
	Left Joystick Press	Drive lock X translation toggle
A-4	Right Joystick Y
A-4	Right Joystick X	Drive rotation
B-6	Right Bumper	Slow drive rotation (hold)
B-5	Left Bumper	Slow drive translation (hold)
A-3	Right Trigger
A-2	Left Trigger
B-1	Square / A Button
B-3	Cross / X Button	Brick drive
B-4	Triangle / Y Button	Toggle Absolute Rotation
B-2	Circle / B Button

 

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-0	Left Joystick X-Axis
A-1	Left Joystick Y-Axis
A-2	Left Trigger	Score GamePiece
A-3	Right Trigger	Intake
A-4	Right Joystick X-Axis
A-5	Right Joystick Y-Axis
B-1	Square / A Button	Prepare intake for cube aquisition
B-2	Circle / B button	Prepare intake / wrist for tipped cone acquisition
B-3	Cross / X Button
B-4	Triangle / Y button	Prepare intake for upright cone acquisition
B-5	Left bumper
B-6	Right bumper	Outake
B-7	Back Button	Reset GamePiece
B-8	Start Button
B-9	Left Stick Pressed
B-10	Right Stick Pressed
POV-0	D-pad up	If has GamePiece, then lift goes to high scoring location If doesn't have GamePiece, then lift goes to balcony acquisition position
POV-90	D-pad right	Lift goes to Mid scoring location
POV-180	D-pad down	If has GamePiece, then goes to hybrid scoring location If doesn't have GamePiece, then goes to ground intake acquisition position
POV-270	D-pad left

Controller 3 - Switches on console

Button/Axis #	Action/Button	Description	Details
B-1	Blinky Blinky Off	Turns off Blinky Blinky
B-2	Robot-Centric	Switches from field-centric to Robot-Centric
B-3
B-4
B-5
B-6
B-7
B-8	GamePiece Manual	GamePiece Manual - MAY BREAK THINGS!!!!
B-9	Crater mode	Pit (crater) mode

Dashboard

Key	Data Type	Value	Description
thunderdashboard_gyro	number	0 - dashboard background not based on this 1 - dashboard background goes red	used when: gyro is calibrating
thunderdashboard_yellow	number	0 - dashboard background not based on this 1 - dashboard background goes yellow	used when: TBD NOTE: thunderdashboard_gyro takes precedence
thunderdashboard_green	number	0 - dashboard background not based on this 1 - dashboard background goes green	used when: TBD NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_inpitmode	number	0 - dashboard background not based on this 1 - dashboard background is power blue	used when: robot is operating in 'pit mode' (for safer operatin in the pits) NOTE: thunderdashboard_gyro takes precendence
thunderdashboard_auto_list	string	a comma seperated list	the list of auto modes (e.g. "0,1,2,3,4,5")
thunderdashboard_auto_#	string	any text	one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
Auto_Mode	number	a number from thunderdashboard_auto_list	the auto mode selected on the UI
thunderdashboard_auto_start_delay	number		user selected number of seconds, 0 to 15, to delay start of auto mode
thunderdashboard_auto_doing_auto	boolean	true - should do autonomous false - should not do autonomous	Dashboard checkbox in auto selector page. When false, the robot should not do anything in autonomous
thunderdashboard_auto_starting_location	number	0 - barrier side 1 - center 2 - edge side	Dashboard selection of which community zone the robot should start in
thunderdashboard_auto_starting_gamepiece	number	0 - cube 1 - cone	Dashboard selection of which GamePiece the robot is starting with. Also determines the exact starting position of the robotin combination with the general zone as provided by 'thunderdashboard_auto_starting_location'
thunderdashboard_auto_starting_action	number	Depending on the starting location, this value means different things. If starting in the center, 0 - Score preloaded GamePiece and balance on Charge Station 1 - Score preloaded GamePiece, traverse Charge Station, and collect GamePiece 3 from field If starting on either side, Anything - Score preloaded GamePiece and collect field GamePiece 1 or 4	Dashboard selection of what action the robot should do first in autonomous
thunderdashboard_auto_field_gamepiece	number	0 - cube 1 - cone	Dashboard selection of which GamePiece to collect on the field (if the starting action puts the robot in the position to acquire a GamePiece)
thunderdashboard_auto_final_action	number	Depending on the starting location, this value means different things, If starting in the center, 0 - Do nothing 1 - Balance on Charge Station If starting on either side, 0 - Do nothing 1 - Score acquired field GamePiece 2 - Balance on Charge Station	Dashboard selection of what action the robot should do at the end of Autonomous (if the starting action puts the robot in the position for a final action).
thunderdashboard_drive_x_pos	number		Robot current X position on the field (m)
thunderdashboard_drive_y_pos	number		Robot current Y position on the field (m)
thunderdashboard_drive_target_x_pos	number		Robot target X position on the field (m)
thunderdashboard_drive_target_y_pos	number		Robot target Y position on the field (m)
thunderdashboard_drive_x_vel	number		Robot current X velocity (m/s)
thunderdashboard_drive_y_vel	number		Robot current Y velocity (m/s)
thunderdashboard_drive_ang_vel	number		Robot current angular velocity (rad/s)
thunderdashboard_drive_ang	number		Robot current angle (radians)
thunderdashboard_drive_target_ang	number		Robot target angle (radians)
thunderdashboard_lift_pivot_percent	number	0 to 1	Percent of lift pivot
thunderdashboard_lift_extension_percent	number	0 to 1	Percent of lift extension
thunderdashboard_lift_pivot_target_percent	number	0 to 1, -1 if no target	Target percent of lift pivot
thunderdashboard_lift_extension_target_percent	number	0 to 1, -1 if no target	Target percent of lift extension
thunderdashboard_grabber_position	number	0 - open 1 - agape 2 - ajar	State of grabber mechanism
thunderdashboard_gamepiece	number	-1 - no gamepiece 0 - cube 1 - cone	Which GamePiece the robot is currently in possession of
thunderdashboard_match_remaining	number		The time remaining in the current match period
thunderdashboard_airpressure_low	number		Low air pressure on gauge
thunderdashboard_airpressure_high	number		High air pressure on gauge
thunderdashboard_airpressure	number		Current air pressure
thunderdashboard_airpressure_iters	number		Number of ticks on air pressure gauge
thunderdashboard_led_mode	number	0 - Robot State 1 - Alliance Color 2 - Custom Color 3 - Off	The mode of the robot LEDs
thunderdashboard_led_custom_r	number	0-1	Custom LED red value
thunderdashboard_led_custom_g	number	0-1	Custom LED green value
thunderdashboard_led_custom_b	number	0-1	Custom LED blue value
thunderdashboard_score_grid	number	-1 - No grid aligned 0 - Left grid 1 - Center grid 2 - Right grid	Which grid the robot is currently in front of (relative to driver, NOT field or robot)
thunderdashboard_score_grid_column	number	-1 - No Column selected 0 - Left column 1 - Center column 2 - Right column	Which column of the grid the robot is trying to align to (relative to driver, NOT field or robot)

Network Ports

Server	Port	Client	Protocol	Description
roboRIO	5809	Dashboard	TCP	PS5 Controller Input/Output
roboRIO	5802	Raspberry Pis	TCP	Vision Processing communication
Raspberry Pi 1	1181	Dashboard	UDP	Left Front Camera
Raspberry Pi 2	1182	Dashboard	UDP	Right Front Camera
Raspberry Pi 1	1182	Dashboard	UDP	Back Camera

IO Maps for Old Robots

• 2022 IO Map
• 2020 IO Map (applies to 2021 as well!)
• 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