IO Pin Maps for Pre-2009 Robots
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2007: A-Rack-Na-Phobia
| Type / Function | Channel |
Connected Device |
| PWM Outputs | ||
| 01 | Left Drive | |
| 02 | Right Drive | |
| 03 | Turret (removed) | |
| 04 | Arm | |
| 05 | Wrist | |
| 06 | Manipulator | |
| 07 | (Unused) | |
| 08 | (Unused) | |
| 09 | (Unused) | |
| 10 | (Unused) | |
| 11 | Camera Pan | |
| 12 | Camera Tilt | |
| Analog Inputs | ||
| 01 | Turrent position (removed) | |
| 02 | Arm position | |
| 03 | Wrist position | |
| 04 | Pressure sensor (removed) | |
| 05 | Pressure sensor (removed) | |
| 06 | Pressure sensor (removed) | |
| 07 | Pressure sensor (removed) | |
| 08 | (Unused) | |
| Digital Input/Output | ||
| 01 | (Unused) | |
| 02 | (Unused) | |
| 03 - Input | Left Wheel Encoder | |
| 04 - Input | Right Wheel Encoder | |
| 05 | (Unused) | |
| 06 | (Unused) | |
| 07 | (Unused) | |
| 08 | (Unused) | |
| 09 - Input | Manipulator "Closed" Limit Switch | |
| 10 - Input | Manipulator "Open" Limit Switch | |
| 11 | (Unused) | |
| 12 | (Unused) | |
| 13 - Input | Autonomous select - bit 5 | |
| 14 - Input | Autonomous select - bit 4 | |
| 15 - Input | Autonomous select - bit 3 | |
| 16 - Input | Autonomous select - bit 2 | |
| 17 - Input | Autonomous select - bit 1 | |
| 18 - Input | Autonomous select - bit 0 |
