2017:Robot IO Map

From 1511Wookiee
Revision as of 12:40, 22 January 2017 by ElectricalMain (talk | contribs)
Jump to navigationJump to search

Robot I/O

CAN ID Assignments

ID Subsystem

Component

Type

Model # Description
(brief)
Operation

Notes

(8) max. 40A

0 Electrical

PD Module


Power Distribution Module feedback monitor PD

must be CAN 0

1 RESERVED n/a
Factory-default
allows for adding Jaguar quickly and re-assign its ID

don't use
2 Drivetrain motor CIM Left drive motor or PWM? 40A Breaker
3 Drivetrain motor
CIM Left drive motor
or PWM?
40A Breaker
4 Drivetrain
motor
miniCIM Left drive motor
or PWM?
40A Breaker
5 Drivetrain
motor
CIM Right drive motor or PWM?
40A Breaker
6 Drivetrain
motor
CIM Right drive motor
or PWM?
40A Breaker
7 Drivetrain
motor
miniCIM Right drive motor
or PWM?
40A Breaker
8 Fuel Intake motor RS775 Pro Intake roller
9 Shooter motor  ? shooter rotation main shooter 40A breaker
10 Fuel Transition motor  ? intake conveyor
11 Fuel Transition motor  ? hopper outlet roller
12 Shooter motor  ? shooter feed roller shooter indexer & pre-acceleration
13


14


15


PWM Outputs

ID Subsystem

Component

Type

Model # Description
(brief)

Operation


Notes

(8) max. 40A

0 Drivetrain motor

2 CIM

1miniCIM

Left Drive Motors or CAN?

40A Breaker

PWM splits to speed controllers

1 Drivetrain motor

2 CIM

1miniCIM

Right Drive Motors or CAN?

40A Breaker

PWM splits to speed controllers

2 Gear servo
open/close left side xx degrees open, xx degrees closed
3 Gear servo
open/close right side xx degrees open, xx degrees closed

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 IN Drivetrain Shaft Encoder 63R256 Left Encoder Phase A Drivetrain rotation
1 IN Drivetrain Shaft Encoder 63R256 Left Encoder Phase B Drivetrain rotation
2 IN Drvietrain Shaft Encoder 63R256 Right Encoder Phase A Drivetrain rotation
3 IN Drivetrain Shaft Encoder 63R256 Right Encoder Phase B Drivetrain rotation
4 IN Fuel Intake Shaft Encoder speed incoder phase A intake speed
5 IN Shooter Encoder speed encoder phase A shooter wheel speed

Optical or magnetic?

To RoboRio or speed controller?

6 IN Gear opto or switch indicates gear loaded into mechanism
7 IN Gear switch pressure plate switch indicates loading spear fully engaged
8 IN
9 OUT

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

Controller 1 - Primary Driver

Action/Button Description Details
Left Joystick Y Moves the robot forward/back

"Up drive the robot forward (Breacher Side)
Down drives the robot backward (Scaler Side)"

NOTE: will do the opposite if drive is toggled

Right Joystick X Turns robot left/right

""Right will turn the robot clockwise and vice
versa. With no input from the left Joytick,
does point turn. With input from left, does
curve turn""

NOTE: will do the opposite if drive is toggled

Left Bumper slow for left
Right Bumper slow for right
Left Trigger turbo left
Right Trigger
turbo 
Y button CASEY SAID HE DOESNT NEED A CAMERA, ANDREW AGREED
A button toggle drive

Controller 2 - Aux Driver

Action/Button Description Details
Left Joystick Up
Left Joystick Down
Right Joystick Up
Right Joystick Down
Right Bumper
Right Trigger
Dpad Left
Dpad Right
"Left Trigger + Dpad
down"
"Left Bumper + Dpad
Up"
A button
Y button

Broken Switches

Broken Switch1
Broken Switch2
Broken Switch3
Broken Switch4
Broken Switch5

Broken Switch6

Broken Switch7

IO Maps for Old Robots