2013:Robot IO Map

Type / Function	Channel	Connected Device
CAN ID Assignments	1-16
RESERVED	01	DO NOT USE. ID 1 is the factory-default CAN ID; 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 2nd Left side drivetrain motor (rear)
	04	Right side drivetrain motor (front)
	05	Reserved for optional 2nd Right side drivetrain motor (rear)
	06
	07
	08
	09
	10
	11
	12
	13
	14
	15
	16
PWM Outputs
	01
	02
	03
	04
	05
	06
	07
	08
	09
	10
Relay Outputs
	01
	02
	03
	04
	05
	06
	07
	08
Analog Inputs
	01	Gyro
	02
	03
	04
	05
	06
	07
RESERVED	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
	06
	07
	08
	09
	10
	11
	12
	13
	14
Pneumatics Bumper
	01
	02
	03
I2C Registers
Address 0100111X	GP0
Address 0100111X	GP1
Address 0100111X	GP2
Address 0100111X	GP3
Address 0100111X	GP4
Address 0100111X	GP5
Address 0100111X	GP6
Address 0100111X	GP7