2013:Robot IO Map
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Type / Function | Channel |
Connected Device |
CAN ID Assignments |
1-16 |
|
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 | Reserved for optional Left side drivetrain motor (rear) |
|
04 | Right side drivetrain motor (front) |
|
05 | Reserved for Right side drivetrain motor (rear) |
|
06 | |
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07 |
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08 |
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09 |
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10 |
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11 |
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12 |
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13 |
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14 |
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15 |
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|
16 |
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PWM Outputs |
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|
01 |
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02 |
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03 |
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04 |
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05 |
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06 |
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07 |
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08 |
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09 |
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|
10 |
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Relay Outputs | ||
|
01 |
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02 |
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03 |
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04 |
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05 |
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|
06 |
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07 |
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|
08 |
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Analog Inputs |
||
|
01 |
Gyro |
02 |
||
03 |
| |
|
04 |
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|
05 |
|
06 | ||
|
07 | |
|
08 |
Battery Voltage input (Do not use for any other device) |
Digital IO (GPIO) | ||
|
01 |
Left drivetrain rotary encoder A |
02 |
Left drivetrain rotary encoder B | |
|
03 |
Right drivetrain rotary encoder A |
04 |
Right drivetrain rotary encoder B | |
|
05 |
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06 |
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07 |
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08 |
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09 |
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10 |
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11 |
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12 |
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13 |
| |
14 |
||
Pneumatics Bumper | ||
01 | ||
02 | ||
03 |