2026: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 |
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| 1 |
Drive Base |
Motor |
Kraken X60 |
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Front Right Encoder |
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| 2 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Drive |
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| 3 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Right Steer |
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| 4 |
Drive Base |
Motor |
Kraken X60 |
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Back Right Encoder |
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| 5 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Drive |
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| 6 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Right Steer |
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| 7 |
Drive Base |
Motor |
Kraken X60 |
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Front Left Encoder |
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| 8 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Drive |
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9 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Front Left Steer |
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| 10 |
Drive Base |
Motor |
Kraken X60 |
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Back Left Encoder |
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| 11 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Drive |
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| 12 |
Drive Base |
Motor |
Kraken X60 |
Brake |
Back Left Steer |
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| 13 |
Drive Base |
Pigeon |
Pigeon |
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IMU |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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CAN Physical Chain Layout
<td colspan="2" "="" >NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1
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PDB Assignments
| Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
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| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 (Switchable) |
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VRM Assignments
| Port # | Device (Subteam) |
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| 5V/2A |
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| 5V/2A |
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| 5V/500mA |
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| 5V/500mA |
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| 12V/2A |
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| 12V/2A |
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| 12V/500mA |
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| 12V/500mA |
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PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
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Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 11 | ||||||||
Relay Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 |
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| 1 | ||||||
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| 3 |
Analog IO
RoboRIO Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 |
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| 1 |
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| 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 |
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
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| 2 |
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| 7 |
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| 8 |
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| 15 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
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SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
Pneumatics Control Modules
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PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
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| 1 |
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| 3 |
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| 7 |
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| 2 | 0 |
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