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. |
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02 | Left side drivetrain motor (front) |
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03 | Reserved for optional Left side drivetrain motor (rear) |
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04 | Right side drivetrain motor (front) |
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05 | Reserved for Right side drivetrain motor (rear) |
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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 |
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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 | ||
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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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Analog Inputs |
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|
01 |
Gyro |
| 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 |
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 | |
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03 |
Right drivetrain rotary encoder A |
| 04 |
Right drivetrain rotary encoder B | |
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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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| 11 |
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| 12 |
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| 13 |
| |
| 14 |
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| Pneumatics Bumper | ||
| 01 | ||
| 02 | ||
| 03 | ||
| I2C Registers | ||
|
Address 0100111X |
GP0 |
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Address 0100111X |
GP1 |
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Address 0100111X |
GP2 |
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Address 0100111X |
GP3 |
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Address 0100111X |
GP4 |
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Address 0100111X |
GP5 |
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Address 0100111X |
GP6 |
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Address 0100111X |
GP7 |
