2015:Robot IO Map

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

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4
5
6
7
8
9
10

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
1
2
3
4

Analog IO

RoboRIO Analog Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
1	drivetrain	gyro	?	drivetrain gyro		X & Y orientation used in Autonomous	?
2
3
4

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Voltage Range	Notes
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
DIO0	IN	drivetrain	Encoder	?	Left Encoder, Phase A		Drivetrain rotation - calculate Position measurement
DIO1	IN	drivetrain	Encoder	?	Right Encoder, Phase A		Drivetrain rotation - calculate Position measurement
DIO2	IN	gripper	Banner or flag sensor	?	Gripper Wide Tote Config.	N/A	Outward Wide Position	same flag as home position sensor uses ?
DIO3	IN	lifter	Encoder	?	Lifter Height	N/A	Lifter drive rotation -  calculate Height Zeroed with Lifter Flag Sensor
DIO4	IN	lifter	Flag Sensor	?	Home Position Height Level	N/A	Lower position
DIO5	IN	gripper	Encoder	?	Encoder Phase A	N/A	Gripper drive rotation - calculate Position
DIO6	IN	gripper	Encoder	?	Encoder Phase B	N/A	Gripper drive rotartion - calculate Position
DIO7	IN	gripper	Flag Sensor	?	Home Gripper Position	N/A	Inner position
DIO8	IN	gripper	Ultrasonic Sensor	?	Right Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor?
DIO9	IN	gripper	Ultrasonic Sensor	?	Left Gripper Proximity	N/A	Distance Between Gripper Arm and Tote	replace with optical banner sensor? If 2 per robot need to buy more!!!

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
DIO0	IN	Gripper	Flag Sensor	?	Electrical limit for end of travel of gripper arms.			There will actually be two sensors for either side electrically OR-ed back to the controller.
DIO1
DIO2
DIO3
DIO4
DIO5
DIO6
DIO7
DIO8
DIO9
DIO10
DIO11
DIO12
DIO13
DIO14
DIO15

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0
1
2
3
4
5
6

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes
0	Camera	Camera	HD-3000	USB camera	vision code	Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto
1	Logging	USB Stick	?	USB Stick to log info	robot general	record match and state information at high rate, for postmortem match analysis

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Controlled By	Operation	Notes	Pressure Circuit
1	Drivetrain	Single Solenoid	SY3140-6LZ	shifter LOW (default high)	driver1 joystick	shifts down	double action cylinder (vented no action)	A (4 total, 40-60 psi tbd)
2	Drivetrain	Single Solenoid	SY3140-6LZ	strafing wheel DOWN (default up)	driver1 joystick	lowers strafing wheel	single action, spring retract cylinder (vented up)	B (3 total, 20-60 psi tbd)
3	Stabilizer	Single Solenoid	SY3140-6LZ	Stabilizer Gripper IN (default out)	driver2 joystick	closes stabilizer	double action cylinder (vented no action)	A
4	Lifter	Single Solenoid	SY3140-6LZ	Lifter brake OPEN (default locked)	lifter code	pnuematic cylinder engages bicycle brake to lock lift elevator	double action cylinder (vented open, spring on brake)	A
5
6
7
8

Operator Controls

Joystick 1/Left

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	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
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

Joystick 2/Right

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	Shift	On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed.
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

Joystick 3

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
7
8
9
10
11
12
Z-axis

Joystick 4/LaunchPad

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

IO Maps for Old Robots

• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots