2016:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	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	miniCIM	Left #1		40A breaker
3	Drivetrain	motor	miniCIM	Left #2		40A breaker
4	Drivetrain	motor	miniCIM	Left #3		40A breaker
5	Drivetrain	motor	miniCIM	Right #1		40A breaker
6	Drivetrain	motor	miniCIM	Right #2		40A breaker
7	Drivetrain	motor	miniCIM	Right #3		40A breaker
8	Breacher	motor	miniCIM	Manipulator Arm		30A breaker
9	Breacher	motor	RS775	Ball Intake		30A breaker
10	Scaler	motor	CIM	Winch #1		40A breaker
11	Scaler	motor	CIM	Winch #2		40A breaker
12	Scaler	motor	Bag	Arm Pivot		30A breaker
13
14
15			N/A

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6
7
8
9

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3

Analog IO

RoboRIO Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	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)	Operation	Notes
0
1
2
3
4
5
6
7
8
9

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

I2C Registers

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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes	Pressure Circuit
0
1
2
3
4
5
6
7

Operator Controls

.... tbd ....

IO Maps for Old Robots

• 2015 IO Map
• 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