2014:Robot Sensors/Motors/Lights/Controls Map

Sensors

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Analog Inputs or Digital/GPIO) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (Analog/Digital)	IO Map Updated?	Operation Details (including when broken)	Output Level	Notes
Shooter	Disc in Feeder Slot	Banner Pair	Q10RN6R and Q106E		Yes	Detects when the disc is in the feeder slot (slot #1). When in feed mode, if not the 4th disc, the blades will automatically index the disc to the next slot (slot #2).	Logic LOW = blocked	THIS IS JUST AN EXAMPLE

Motors

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. CAN or PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (CAN/PWM/Relay)	IO Map Updated?	Operation Details (including when broken)	Notes
Drivetrain	Left Front Drive	CIM	TBD	CAN	Yes	TBD
Drivetrain	Left Rear Drive	CIM	TBD	CAN	Yes	TBD
Drivetrain	Right Front Drive	CIM	TBD	CAN	Yes	TBD
Drivetrain	Right Rear Drive	CIM	TBD	CAN	Yes	TBD
Shooter	Drive Kicker arm	CIM	TBD	CAN	No	TBD
Shooter	Drive Kicker arm	CIM	TBD	CAN	No	TBD
Shooter	Drive Kicker arm	Mini CIM	TBD	CAN	No	TBD
Shooter	Drive Kicker arm	Mini CIM	TBD	CAN	No	TBD
Shooter	Drive Kicker arm	Mini CIM	TBD	CAN	No	TBD
Shooter	Drive Kicker arm	Mini CIM	TBD	CAN	No	TBD

Servors/Actuators

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. PWM or Relay) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (PWM/Relay)	IO Map Updated?	Operation Details (including when broken)	Notes

Lights (on robot)

NOTE: each of these should also have a line in the appropriate IO Map table (e.g. Relay or GPIO or I2C) (the "IO Map Updated?" column in the following table indicates if this was done)

Subsystem	Description (brief)	Type	Model#	Controlled By (Relay/GPIO/I2C)	IO Map Updated?	Location	Used By (driver/human/alliance)	Operation	Notes
Storage	OK to feed			GPIO	Yes	Near feed slot on the storage mech	Human player	Will be 'green' when in Feed mode and it is ok for the human player to feed a disc. Will be 'red' when in Feed mode and it is NOT ok to feed a disc. Will be off when not in Feed mode. It is OK to feed when the entire mech is at the proper angle AND there are less than 4 discs in the robot AND the fan blades are in the feed position.	THIS IS JUST AN EXAMPLE

Operator Controls

Subsystem	Description (brief)	Type/Control	Button/Control Assigned?	Operation	Notes
Aux Driver	Feed Mode	Button	Yes	When pressed, the lift will put the entire mech at the angle needed for feeding and storage will automatically advance discs as they are feed into the robot.	The aux driver must continue to press the button to stay in feed mode.THIS IS JUST AN EXAMPLE

Joystick 1 (Driver Left)

Button/Axis	Description (brief)	Operation	Notes
1	Turbo
2	Slow
3
4
5
6	Debug TBD
7	Debug TBD
8
9
10	Debug TBD
11	Debug Drive
12	n/a
X-axis
Y-axis	Left Wheels	Controls both left side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards.	Shooter is the 'front'
Z-axis

Joystick 2 (Driver Right)

Button/Axis	Description (brief)	Operation	Notes
1	Turbo
2	Slow
3
4
5
6
7
8
9
10
11
12	n/a
X-axis
Y-axis	Right Wheels	Controls both right side motors. Pushing the joystick forward (away from driver) will move the robot forward. Pulling the joystick backwards (towards driver) will move the robot backwards.	Shooter is the 'front'
Z-axis

Joystick 3 (Aux Driver)

Button/Axis	Description (brief)	Operation	Notes
1	Acquire Ball	Intake wheels spin such the ball is moved onto the robot.
2	Pass Ball Fast	Intake wheels spin such the ball is moved out of the robot. This will be the fastest it can be, allowing for a long pass.
3	Pass Ball Slow	Intake wheels spin such the ball is moved out of the robot. This will be a 'slow' rate to allow for a short pass to a close by robot.
4
5
6
7
8
9
10
11
12
X-axis
Y-axis	Intake	Moves intake in/out	When joystick is pushed forward (away from driver) the intake will got out (extend away from robot).
Z-axis

Joystick 4 (Aux Controls/Extended IO)

Button/Axis	Description (brief)	Operation	Notes
1
2
3
4
5
6
7
8
9
10
11
12
X-axis	Manual Power	The amount of power for a manual shoot.	This is used when the Manual Shot button is pressed.
Y-axis	Future use	This is not used for anything at this time. But is available if needed.
Z-axis