2017:Robot IO Map
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 | Positive voltage moves robot forward | 40A Breaker |
3 | Drivetrain | motor |
CIM | Left drive motor |
Positive voltage moves robot forward |
40A Breaker |
4 | Drivetrain |
motor |
miniCIM | Left drive motor |
Positive voltage moves robot forward |
30A Breaker? |
5 | Drivetrain |
motor |
CIM | Right drive motor | Positive voltage moves robot forward |
40A Breaker |
6 | Drivetrain |
motor |
CIM | Right drive motor |
Positive voltage moves robot forward |
40A Breaker |
7 | Drivetrain |
motor |
miniCIM | Right drive motor |
Positive voltage moves robot forward |
30A Breaker? |
8 | Fuel Intake | motor | 775 Pro |
1st stage Intake roller |
Positive voltage intakes balls under bar |
30A breaker |
9 | Shooter | motor | 775 Pro |
Shooter rotation, "master" motor | Positive voltage spins in direction to shoot ballsDirect connect CTRE mag encoder in gearbox to this controller |
40A breaker? |
10 | Shooter | motor | 775 Pro |
Shooter rotation, "slave" motor | See master | 40A breaker? |
11 | Fuel Transition |
motor | 775 Pro |
2nd stage intake roller |
Positive voltage intakes balls over bar |
30A breaker |
12 | Fuel Transition | motor | 775 Pro |
Conveyor/Ball Indexer |
Positive voltage runs conveyor towards shooter | 30A breaker |
13 | ||||||
14 | Climber | Motor | 775 pro | Climber motor, "Master" | Positive voltage winds rope "under" bar in towards robot |
|
15 | Climber | motor | 775 pro | Climber motor, "Slave" | See Master |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes (8) max. 40A |
0 | ||||||
1 | ||||||
2 | Gear | servo | open/close left side | |||
3 | Gear | servo | open/close right side | |||
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 (phase A only) |
63R256 61KS256? |
speed encoder phase A | intake speed | |
5 | IN | ||||||
6 | IN | ||||||
7 | IN | Gear | optical beam | Banner | beam break sensor | indicates loading spear fully engaged | |
8 | IN | Fuel Transition | Encoder (phase A only) |
63R256 61KS256? |
speed encoder phase A | indicates conveyor and indexer 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 | Gear | Camera | Microsoft LifeCam HD-3000 | Camera giving front view | Focus on view of gear spike approach | |
1 | Climber | Camera | Microsoft LifeCam HD-3000 | Camera giving robot's left-side-view | Focus on view of rope alignment with climber bar |
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) 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 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 |
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 |
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Broken Switch6 |
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Broken Switch7 |