2012:Robot IO Map

Type / Function	Channel	Connected Device
CAN ID Assignments	0-127
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 (front)
	03	Left side drivetrain motor (rear)
	04	Right side drivetrain motor (front)
	05	Right side drivetrain motor (rear)
	06	Shooter wheel (upper)
	07	Shooter wheel (lower)
	08	turret rotation
	09	Wing Deployer
	10	RESERVED - possible Conveyor stage 1
	11	RESERVED - possible Conveyor stage 2
	12	RESERVED - possible Conveyor stage 3
	13
	14
	15
	16
PWM Outputs
	01	Camera Tilt servo
	02	RESERVED Conveyor Stage 1 Sensor - LED power only
	03	RESERVED Conveyor Stage 2 Sensor - LED power only
	04	RESERVED Conveyor Stage 3 Sensor - LED power only
	05	RESERVED Conveyor Entrance Sensor - LED power only
	06
	07
	08
	09
	10
Relay Outputs
	01	RESERVED (Possible Wings output)
	02	Beater Bar
	03	Conveyor Stage 1
	04	Conveyor Stage 2
	05	Conveyor Stage 3
	06
	07
	08
Analog Inputs
	01	Gyro
	02	Wing limit switch (optical OPB815WZ) - full deploy
	03	Wing limit switch (optical OPB815WZ) - full retract
	04	Potentiometer -Wings
	05	Turret limit switch (optical OPB815WZ)  - max CW
	06	Turret limit switch (optical OPB815WZ)  - max CCW
	07
RESERVED	08	Battery Voltage Input (Don't use for other devices)
Digital IO (GPIO)
IN	01	Left drivetrain rotary encoder A
IN	02	Left drivetrain rotary encoder B
IN	03	Right drivetrain rotary encoder A
IN	04	Right drivetrain rotary encoder B
IN	05	Shooter upper wheel rotary encoder
IN	06	Shooter lower wheel rotary encoder
IN	07	Turret motor shaft - rotary encoder
IN	08	turret sprocket position - rotary encoder
IN	09	conveyor stage 1 entrance - beam break sensor
IN	10	conveyor stage 1 exit - beam break sensor
IN	11	conveyor stage 2 exit - beam break sensor
IN	12	conveyor stage 3 exit - beam break sensor
IN	13
OUT	14	Camera Light(s)
Pneumatics Bumper
	01
	02
	03