2011:Robot IO Map
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| Type / Function | Channel |
Connected Device |
|
CAN ID Assignments |
|
|
| RESERVED
|
01 |
DO NOT USE. ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id. |
|
|
02 |
|
|
|
03 |
Left side drive train |
|
|
04 |
Right side drive train |
|
|
05 |
Arm Drive |
|
|
06 |
Manipulator- top rollers |
|
|
07 |
Manipulator- bottom rollers |
|
|
08 |
|
|
PWM Outputs |
|
|
|
|
01 |
Minibot Deployer release (servo) - deployment |
|
|
02 |
Camera pan servo |
|
|
03 |
Camera tilt servo |
|
|
04 |
Robot front guide release (servo) - cowcatcher |
|
|
05 |
|
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|
06 |
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|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
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|
02 |
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|
03 |
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|
04 |
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|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
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|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
Floor Line Sensor- Right |
|
|
03 |
Floor Line Sensor- Middle |
|
|
04 |
Floor Line Sensor- Left |
|
|
05 |
Banner photoelectric sensor for "Got It" (Logic High = +3.6Vdc min., Logic Low = 0Vdc) |
|
|
06 |
Photoelectric sensor for arm "Home/Park" |
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use) |
| Digital IO (GPIO) | ||
|
|
01 |
Left drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND) |
|
|
02 |
Left drivetrain encoder, channel B (YEL=SIGB) |
|
|
03 |
Right drivetrain encoder, channel A (ORN=5V, BLU=SIGA, BRN=GND) |
|
|
04 |
Right drivetrain encoder, channel B (YEL=SIGB) |
|
|
05 |
Left arm encoder, channel A |
|
|
06 |
Left arm encoder, channel B |
|
|
07 |
Right arm encoder, channel A |
|
|
08 |
Right arm encoder, channel B |
|
|
09 |
Output for Signal Light RED |
|
|
10 |
Output for Signal Light WHITE |
|
|
11 |
Output for Signal Light BLUE |
|
|
12 |
Photoelectric sensor for arm "Playing Position" |
|
|
13 |
Photoelectric sensor for arm "Reverse Position" |
|
|
14 |
Output for signal light GREEN "Got-It" |
| Pneumatics Bumper | ||
| 01 | Power for Floor Line Sensor Right | |
| 02 | Power for Floor Line Sensor Middle | |
| 03 | Power for Floor Line Sensor Left |
