Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	RESERVED	n/a		Factory-default allows for adding CTRE devices quickly and re-assign its ID			don't use
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID			don't use
2	drivetrain	motor	CIM	Left Front Drive	driver1 joystick	y axis
3	drivetrain	motor	CIM	Left Rear Drive	driver1 joystick	y axis
4	drivetrain	motor	CIM	Right Front Drive	driver1 joystick	y axis
5	drivetrain	motor	CIM	Right Rear Drive	driver1 joystick	y axis
6	drivetrain	motor	CIM	Strafe	driver1 joystick	x axis	unclear on how to activate this motor
7	lifter	motor	RS775	Left lifter	driver2 joystick	y axis
8	lifter	motor	RS775	Right lifter	driver2 joystick	y axis
9	gripper	motor	RS550	Gripper/Motor	driver2 joystick	trigger button (depressed trigger = gripper closed)
10	pnuematics	PCM module	N/A	Stabilizer, Shifter, Strafing	roborio
11	power dist.	PD module	N/A	Power Distribution Readback	roborio
12
13
14
15
16

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	IN	drivetrain	Encoder	?	Left Encoder, Phase A		Position measurement
2	IN	drivetrain	Encoder	?	Right Encoder, Phase A		Position measurement
3	IN	gripper	Banner Sensor	?	Gripper Wide Tote Config.	N/A	Outward Wide Position
4	IN	lifter	Encoder	?	Lifter Height	N/A	Lifter Height Synced with Lifter Flag Sensor
5	IN	lifter	Flag Sensor	?	Home Position Height Level	N/A	Lower position
6	IN	gripper	Encoder	?	Encoder Phase A	N/A	Gripper Position
7	IN	gripper	Encoder	?	Encoder Phase B	N/A	Gripper Position
8	IN	gripper	Flag Sensor	?	Home Gripper Position	N/A	Inner position
9	IN	gripper	Ultrasonic Sensor	?	Right Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor?
10	IN	gripper	Ultrasonic Sensor	?	Left Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor?

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1	drivetrain	Valve	?	shifter UP	driver1 joystick	shifts up
2	drivetrain	Valve	?	shifter DOWN	driver1 joystick	shifts down
3	drivetrain	Valve	?	strafing wheel DOWN	driver1 joystick	lowers strafing wheel
4	drivetrain	Valve	?	strafing wheel UP	driver1 joystick	raises strafing wheel	Optional (the UP position is supposed to be spring returned)
5	stabilizer	Valve	?	Stabilizer Gripper IN	driver2 joystick	closes stabilizer
6	stabilizer	Valve	?	Stabilizer Gripper OUT	driver2 joystick	opens stabilizer	Optional (the OUT position is supposed to be spring return)
7
8

Button/Axis	Description (brief)	Operation	Notes
Y-Axis	Move Forward/Backward	In Left/Right mode, this moves boths sides of the drivetrain; otherwise this moves just the left side of the drivetrain.
X-Axis
1/trigger
2	Raise center wheel	.Wheel remains rasied while button is being pressed (or button 2 on right joystick is being pressed). Wheel lowers when both button 2s are released.
3	Left/Right mode	In Left/Right mode while this button is being pressed (or button 3 on right joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Button/Axis	Description (brief)	Operation	Notes
X-axis	Move Forward/Backward	In Left/Right mode, this moves nothing; otherwise this moves just the right side of the drivetrain.
Y-axis	Move Left/Right	In Left/Right mode, this moves the center wheel left/right; otherwise this move nothing.
1
2	Raise center wheel	Wheel remains rasied while button is being pressed (or button 2 on left joystick is being pressed). Wheel lowers when both button 2s are released.
3	Left/Right mode	In Left/Right mode while this button is being pressed (or button 3 on left joystick is being pressed).
4
5
6
7
8
9
10
11
12
Z-axis

Button/Axis	Description (brief)	Operation	Notes
X-axis
Y-axis	Move up/down	Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement.
1/trigger	Close lower grips	Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released.
2	Open lower grips	Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released.
3	Level 3 Preset	Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height.
4	TBD - RC gripper
5	TBD - RC gripper
6	Close/open uper grips	Closes the grips while this button is being pressed. Open the grips when button is released.
7		Release RC grabber to get can
8
9
10
11
12
Z-axis

Button/Axis	Description (brief)	Operation	Notes
1	Auto 'main'	Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode.
2	Auto 'dashboard'	Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used.
3	Broken #1	future	left-most switch on top row
4	Broken #2	future	located to the right of Broken #1
5	Broken #3	future	located to the left of Broken #4
6	Broken #4	future	right-most switch on top row
7	Broken #5	future	left-most switch on bottom row
8	Broken #6	future	lcated to the right of Broken #5
9	Broken #7	future	located to the left of Broken #8
10	Broken #8	future	Right-most switch on bottom row