2012: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 |
Left side drivetrain motor |
|
|
03 |
Left side drivetrain motor |
|
|
04 |
Right side drivetrain motor |
|
|
05 |
Right side drivetrain motor |
|
|
06 |
Shooter wheel (upper) |
|
|
07 |
Shooter wheel (lower) |
|
|
08 |
turret rotation |
|
|
09 |
Beater Bar (?maybe relay?) |
|
|
10 |
Conveyor stage 1 |
|
|
11 |
Conveyor stage 2 |
|
|
12 |
Conveyor stage 3 |
|
|
13 |
|
|
|
14 |
|
|
|
15 |
|
|
|
16 |
|
|
PWM Outputs |
|
|
|
|
01 |
Camera Tilt servo |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
|
09 |
|
|
|
10 |
|
| Relay Outputs | ||
|
|
01 |
Wing Deployer |
|
|
02 |
Beater Bar ? |
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
|
08 |
|
|
Analog Inputs |
||
|
|
01 |
Gyro |
|
|
02 |
|
|
|
03 |
|
|
|
04 |
|
|
|
05 |
|
|
|
06 |
|
|
|
07 |
|
|
RESERVED |
08 |
Battery Voltage Input (Don't use for other devices) |
| Digital IO (GPIO) | ||
|
IN/OUT/? |
01 |
|
| IN/OUT/? | 02 |
|
|
IN/OUT/? |
03 |
|
| IN/OUT/? |
04 |
|
|
IN/OUT/? |
05 |
|
|
IN/OUT/? |
06 |
|
| IN/OUT/? | 07 |
|
| IN/OUT/? | 08 |
|
| IN/OUT/? | 09 |
|
| IN/OUT/? | 10 |
|
| IN/OUT/? | 11 |
|
| IN/OUT/? | 12 |
|
| IN/OUT/? | 13 |
|
| IN/OUT/? | 14 |
|
| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 |
