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
1	Drive Base	Motor	Cancoder		Front Right Encoder
2	Drive Base	Motor	Kraken X60	Brake	Front Right Drive			18
3	Drive Base	Motor	Kraken X60	Brake	Front Right Steer			19
4	Drive Base	Motor	Cancoder		Back Right Encoder
5	Drive Base	Motor	Kraken X60	Brake	Back Right Drive			10
6	Drive Base	Motor	Kraken X60	Brake	Back Right Steer			11
7	Drive Base	Motor	Cancoder		Front Left Encoder
8	Drive Base	Motor	Kraken X60	Brake	Front Left Drive			16
9	Drive Base	Motor	Kraken X60	Brake	Front Left Steer			17
10	Drive Base	Motor	Cancoder		Back Left Encoder
11	Drive Base	Motor	Kraken X60	Brake	Back Left Drive			12
12	Drive Base	Motor	Kraken X60	Brake	Back Left Steer			13
13	Drive Base	Pigeon	Pigeon		IMU			1*
14	Climber	Motor	Neo 2.0	?	Climb			2
15	Intake	Encoder	Throughbore Encoder		Intake Pos Shaft Encoder			1*
16	Intake	Motor	Neo 2.0		Intake Pos Drive			3
17	Intake	Motor	Kraken X60		Intake Speed Drive			0
18	Spindexer	Motor	Kraken X60		Spindexer Drive			14
19	Kicker	Motor	Kraken X60		Kicker Drive			5
20	Shooter	Motor	Kraken X60		Shooter Drive Left			8
21	Shooter	Motor	Kraken X60		Shooter Drive Right			7
22	Shooter Hood	Encoder	Throughbore Encoder		Hood Shaft Encoder
23	Shooter Hood	Motor	Kraken X44		Hood Drive			6
24
25
26
27
28
29
30

CAN Physical Chain Layout

NOTE: CAN connection convention is YELLOW CAN wire on pin 1 (to match Kraken cap convention)

Devices in Order	Notes
RIO
Back-right swerve motor on Battery side
Back-right swerve CANCoder
Back-right swerve motor on Lasagna side
Shooter motor closest to back side of robot
Shooter hood thru-bore encoder
Shooter hood
Shooter motor furthest from back side of robot
Kicker motor
PDH
Pigeon
Intake roller motor
Front-right swerve motor on Lasagna side
Front-right swerve CANCoder
Front-right swerve motor on front side
Front-left swerve motor on front side
Front-left swerve CANCoder
Front-left swerve motor on climber side
Intake pivot thru-bore encoder	Wiring inside rats nest! Hard to know order of these 3!
Intake pivot SparkMax	Wiring inside rats nest! Hard to know order of these 3!
Climber SparkMax	Wiring inside rats nest! Hard to know order of these 3!
Spindexer motor
Back-left swerve motor on climber side
Back-left swerve CANCoder
Back-left serve motor on back side	CAN terminator installed here

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Channel Current	Motor Type	Note
0	Intake speed / rollers	40		Kraken X60
1	Intake Encoder, pigeon, limelight(on hang)	20		N/A
2	Climber	40		Neo 2.0
3	Intake Position	40		Neo 2.0
4
5	Kicker	40		Kraken X60
6	Shooter Hood	40		Kraken X44
7	Shooter Right	40		Kraken X60
8	Shooter Left	40		Kraken X60
9	LEDs	5		N/A
10	Back Right Drive	40		Kraken X60
11	Back Right Steer	40		Kraken X60
12	Back Left Drive	40		Kraken X60
13	Back Left Steer	40		Kraken X60
14	Spindexer	40		Kraken X60
15	LimeLight(on swerve)	5 amp fuse presently		LimeLight
16	Front Left Drive	40		Kraken X60
17	Front Left Steer	40		Kraken X60
18	Front Right Drive	40		Kraken X60
19	Front Right Steer	40		Kraken X60
20	RoboRIO	10		N/A
21	Radio	10		N/A
22
23 (Switchable)

VRM Assignments

Port #	Device (Subteam)
5V/2A
5V/2A
5V/500mA
5V/500mA
12V/2A
12V/2A
12V/500mA
12V/500mA

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0
1
2
3
4
5
6
7
8
9	Lights
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	Hang	Distance Sensor	Sharp/Socle GP2Y0A41SK0F Analog Distance Sensor 4-30cm
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	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Climb Top Limit
1	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Climb Bottom Limit
2	IN	shooter - hood	beam break	OPB815	hood "0" beam break sensor
3
4
5
6
7
8
9
10

 

 

 

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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0

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

IO Maps for Old Robots

• 2025 IO Map
• 2024 IO Map
• 2023 IO Map
• 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