2017:Robot IO Map

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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 new device quickly and re-assign its ID

don't use
2 Drivetrain motor CIM Left drive motor 40A Breaker
3 Drivetrain motor
CIM Left drive motor

40A Breaker
4 Drivetrain
motor
miniCIM Left drive motor

30A Breaker?
5 Drivetrain
motor
CIM Right drive motor
40A Breaker
6 Drivetrain
motor
CIM Right drive motor

40A Breaker
7 Drivetrain
motor
miniCIM Right drive motor

30A Breaker?
8 Fuel Intake motor 775 Pro
1st stage Intake roller

30A breaker
9 Shooter motor  775 Pro
shooter rotation main shooter 40A breaker?
10 Shooter motor  775 Pro
shooter rotation main shooter 40A breaker?
11 Fuel Transition
motor  775 Pro
2nd stage intake roller

30A breaker
12 Fuel Transition motor  775 Pro
Conveyor/Ball Indexer

30A breaker
13





14 Climber motor 775 pro climber motor
15 Climber motor 775 pro climber motor

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 Climber servo deploy climber
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 Drive gyro ADXRS622 gyro telling angle and rate in auto

2.5v = null

7mV/degree/sec

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

61KS256?

Left Encoder Phase A Drivetrain rotation
1 IN Drivetrain Shaft Encoder

63R256

61KS256?

Left Encoder Phase B Drivetrain rotation
2 IN Drvietrain Shaft Encoder

63R256

61KS256?

Right Encoder Phase A Drivetrain rotation
3 IN Drivetrain Shaft Encoder

63R256

61KS256?

Right Encoder Phase B Drivetrain rotation
4 IN Fuel Intake Shaft Encoder

63R256

61KS256?

speed encoder phase A intake speed
5 IN Shooter Encoder CTR magnetic speed encoder phase A shooter wheel speed

Optical or magnetic?

To speed controller

6 IN


 
7 IN Gear optical beam Banner beam break sensor indicates loading spear fully engaged  
8 IN Fuel Transition Encoder

63R256

61KS256?

speed encoder phase A indicates conveyor speed
9 IN

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 (Intake side)
Down drives the robot backward "

NOTE: will do the opposite if drive is toggled

Right Joystick X Turns the 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 mode for left wheels
"decreases the range of power to the left
motors by a set amount. Amount tbd"
Right Bumper Slow mode for Right wheels
"decreases the range of power to the Righ
motors by a set amount. Amount tbd"
Left Trigger turbo mode for left wheels
"Increases the range of power to the left motors by a set amount. Amount tbd"
Right Trigger
turbo mode for right wheels "Increases the range of power to the right motors by a set amount. Amount tbd"
Y button n/a

CASEY SAID HE DOESNT NEED A CAMERA, ANDREW AGREED

Update: upon further review Andrew is now worried about climbing the rope on the other side

Update: Casey has now decided that he does think a camera would be useful

A button toggle drive

Controller 2 - Aux Driver

Action/Button Description Details



Right Bumper Intake hold to run intake, conveyor, and drum so balls are brought into the robot
Right Trigger Outtake hold to run intake, conveyor, and drum so balls are spit out of the robot
Left Trigger Release gear press button to open gear mechanism and release button to close gear mechanism
Left Bumper Close gear thing press and release button to close gear mechanism
Dpad Up
Climb up
hold to climb


A button Shoot hold to shoot (checks shooter up to speed, run gate mechanism, also run intake/conveyor/drum
X button Pre-heat

hold to run shooter motor at speed (doesnt mess with gate)

Broken Switches

Broken Switch1
Broken Switch2
Broken Switch3
Broken Switch4
Broken Switch5

Broken Switch6

Broken Switch7

IO Maps for Old Robots