2013:Robot IO Map
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Type / Function | Channel |
Connected Device |
CAN ID Assignments |
1-16 |
|
RESERVED
|
01 |
DO NOT USE. |
|
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 | Left side Climber motor |
|
07 |
Right side Climber motor |
|
08 |
Shooter wheel motor |
|
09 |
Shooter Tilt motor |
|
10 |
Shooter Carousel motor |
|
11 |
|
|
12 |
|
|
13 |
|
|
14 |
|
|
15 |
|
|
16 |
|
PWM Outputs |
|
|
|
01 |
Camera Tilt servo |
|
02 |
Climber deploy LH servo |
|
03 |
|
|
04 |
Shooter load blocker servo |
|
05 |
Shooter load pusher servo |
|
06 |
|
|
07 |
|
|
08 |
|
|
09 |
|
|
10 |
|
Relay Outputs | ||
|
01 |
|
|
02 |
|
|
03 |
|
|
04 |
|
|
05 |
|
|
06 |
|
|
07 |
|
|
08 |
|
Analog Inputs |
||
IN |
01 |
Gyro |
IN | 02 |
Robot Vee alignment sensor |
IN | 03 |
Disc 2 present |
IN |
04 |
Disc 3 present |
IN |
05 |
Climber motors rotation sensor - 10 turn potentiometer |
IN
|
06 | Left side Shooter tilt sensor (potentiometer) |
IN |
07 | Right side Shooter tilt sensor (potentiometer) |
|
08 |
Battery Voltage input (Do not use for any other device) |
Digital IO (GPIO) | ||
IN |
01 |
Left drivetrain rotary encoder A |
IN | 02 |
Moving climber hook Left side engaged |
IN |
03 |
Right drivetrain rotary encoder A |
IN |
04 |
Moving climber hook Right side engaged |
IN |
05 |
Shooter motor rotary encoder A |
|
06 |
|
IN | 07 |
Stationary climber hooks engaged (AND of LH and RH) |
IN | 08 |
Climber shuttle deploy position |
IN | 09 |
Climber shuttle max extension |
IN | 10 |
Climber shuttle max retraction |
IN | 11 |
Shooter Disc 1 present |
IN | 12 |
Shooter position sensor - preload |
IN | 13 |
Shooter position sensor - load shooter |
IN | 14 |
Ready to shoot sensor (disc-dropped-into-shooter) |
Pneumatics Bumper | ||
01 | ||
02 | ||
03 | ||
I2C Registers | ||
Address 0100111X |
GP0 |
OK to feed disc. off=red, on=green |
Address 0100111X |
GP1 |
disc 1 present |
Address 0100111X |
GP2 |
disc 2 present |
Address 0100111X |
GP3 |
disc 3 present |
Address 0100111X |
GP4 |
disc 4 present |
Address 0100111X |
GP5 |
disc RED |
Address 0100111X |
GP6 |
disc GRN |
Address 0100111X |
GP7 |
disc BLU |
Address 0100000X |
GP0 |
robot forward indicator |
Address 0100000X |
GP1 |
robot rearward indicator |
Address 0100000X |
GP2 |
climber shuttle in deploy position |
Address 0100000X |
GP3 |
|
Address 0100000X |
GP4 |
|
Address 0100000X |
GP5 |
|
Address 0100000X |
GP6 |
|
Address 0100000X |
GP7 |