2018:Robot IO Map
Robot I/O
CAN ID Assignments
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes (8) max. 40A PDB # | |
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 | cube intake | RS 775 | Talon SRX | left | Intake cube to hand (+) eject cube (-) | 30 A | 6 |
3 | cube intake | RS 775 | Talon SRX | right | Intake cube to hand (+) eject cube (-) | 30 A | 7 |
4 | arm | RS 775 | Talon SRX | moves arm | moves from arm front (+) to back (-) | 30 A | 5 |
5 | hand | RS 775 | Talon SRX | hold and eject the cube | rollers intake (+) eject the cube (-) | 30 A | 4 |
6 | Left Ramp, Near Jack | RS 775 | Talon SRX | Raise/Lower jack | Raise jack (+) | 30 A | 8 |
7 | Left Ramp, Far Jack | RS 775 | Talon SRX | Raise/Lower jack |
Raise jack (+) Vex encoder feeds direct to talon |
40 A | 12 |
8 | Right Ramp, Near Jack | RS 775 | Talon SRX | Raise/Lower jack |
Raise jack (+) Vex encoder feeds direct to talon |
40 A | 3 |
9 | Right Ramp, Far Jack | RS 775 | Talon SRX | Raise/Lower jack |
Raise jack (+) Vex encoder feeds direct to talon |
30 A | 11 |
10 | |||||||
11 | |||||||
12 | |||||||
13 | |||||||
14 | |||||||
15 |
PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes (8) max. 40A PDB # | |
0 | DriveBase | CIM | SPARK | Left Motor 1; +Voltage = Forwards | 40A | 0 | |
0 | DriveBase | CIM | SPARK | Left Motor 2; +Voltage = Forwards | 40A | 1 | |
0 | DriveBase | CIM | SPARK | Left Motor 3; +Voltage = Forwards | 40A | 2 | |
1 | DriveBase | CIM | SPARK | Right Motor 1; +Voltage = Forwards | 40A | 15 | |
1 | DriveBase | CIM | SPARK | Right Motor 2; +Voltage = Forwards | 40A | 14 | |
1 | DriveBase | CIM | SPARK | Right Motor 3; +Voltage = Forwards | 40A | 13 | |
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 | Drive | gyro | TBD | gyro | telling angle and rate in auto |
|
||
2 | Arm | pot |
|
arm position | arm forward (+) arm back (-) | 0-4 v ? | ||
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 | Drive | encoder | 63r256 | left encoder phase A | measures distance traveled | 256 counts per rev |
1 | IN | Arm | ??? | ??? | Limit at end of travel for front of robot | Limit "switch" - digital low at limit | |
2 | IN | Drive | encoder | 63r256 | right encoder phase A | measures distance traveled | 256 counts per rev |
3 | IN | Arm | ??? | ??? | Limit at end of travel for back of robot | Limit "switch" - digital low at limit | |
4 | IN | Intake | magnetic reed switch | Intake is all the way out | when it is all the way out it is digital low | ||
5 | IN | Arm | encoder | srx magnetic encoder | arm encoder phase A | 1024 counts per rev | |
6 | IN | Arm | encoder | srx magnetic encoder | arm encoder phase B | 1024 counts per rev | |
7 | IN | ||||||
8 | IN | ||||||
9 | IN | Hand | banner diffuse sensor | sm312fvqd | cube present | when cube is present digital low | needs 10+ volt via PD board #3 |
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
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | Notes |
0 | Intake | Double | SY3240-6 | Raise intake | Extends cylinder to raise intake | 60 PSI | |
1 | Intake | Double | SY3240-6 | Lower intake | Retracts cylinder to lower intake | 60 PSI | |
2 | Arm | Double | SY3240-6 | Disengage brake on arm pivot. Does not actually pass air (block output) | Extends cylinder to disengage brake | 60 PSI | |
3 | Arm | Double | SY3240-6 | Engage brake on arm pivot | Retracts cylinder to engage brake | 60 PSI | |
4 | Arm | Double | SY3240-6 |
Release hand's grip on cube Does not actually pass air (block output) |
Removes air pressure from cylinder to "relax" grip on cube | ?? PSI | |
5 | Arm | Double | SY3240-6 | Tighten hand grip on cube | Retracts cylinder to "close" hand | ?? PSI | |
6 | Ramp | Double | SY3240-6 | Holds ramps in stored position | Extends cylinder to hold ramps in up position | 60 PSI | |
7 | Ramp | Double | SY3240-6 | Allows ramps to deploy to ground | Retracts cylinder to release ramps to ground | 60 PSI |
Operator Controls
Controller 1 - Primary Driver
Button # | Action/Button | Description | Details |
1 | Left Joystick Y | Drive Forward/Back |
Up drive the robot forward (Intake side) NOTE: will do the opposite if drive is toggled |
Left Joystick X | Nothing | ||
Right Joystick Y | Nothing | ||
4 | Right Joystick X | Turn Left/Right |
Right will turn the robot clockwise and vice NOTE: will do the opposite if drive is toggled |
5 | Left Bumper | Slow | decreases the range of power to the motors by a set amount |
6 | Right Bumper | Nothing | |
2 | Left Trigger | Turbo | Increases the range of power to the motors by a set amount. |
3 | Right Trigger | Swap Drive |
Switches the front and back of the robot. Press to toggle.w |
Controller 2 - Aux Driver
Button # | Action/Button | Description | Details |
5 | Right Joystick Y | Fine Arm Control |
Up - towards front Down - towards back Only moves arm and intake, when not in moving to a preset. Moves at a slower speed than the presets. |
5 | Left Bumper | Raise Right Ramp |
Press and Hold If button is let go, then the ramp will stop in place. If broken switch is flipped, the ramp will not auto-stop when at top. Driver is responsible for stopping. |
6 | Right Bumper | Raise Left Ramp |
Press and Hold If button is let go, then the ramp will stop in place. If broken switch is flipped, the ramp will not auto-stop when at top. Driver is responsible for stopping. |
3 | Right Trigger | Intake |
Press and Hold Will auto-stop when cube is all the way in. If broken switch is flipped, the intake will not auto-stop when cube is fully in. |
2 | Left Trigger | Outtake | Press and Hold |
0 | Dpad Up | Moves Intake Up |
When arm is broken. |
180 | Dpad Down | Moves Intake Down | When arm is broken. |
4 | Y button | Arm to Exchange Level Front (Preset position) |
Press, and release, to move arm and intake there automatically. Doesn't accept any other arm movement requests until the current movement is complete. When broken switch is flipped, the presets do not work. |
1 | A button | Arm to Exchange Level Back (Preset position) |
Press, and release, to move arm and intake there automatically. Doesn't accept any other arm movement requests until the current movement is complete. When broken switch is flipped, the presets do not work. |
2 | B button | Arm to Switch Back (Preset position) |
Press, and release, to move arm and intake there automatically. Doesn't accept any other arm movement requests until the current movement is complete. When broken switch is flipped, the presets do not work. |
3 | X button | Arm to Switch Front (Preset position) |
Press, and release, to move arm and intake there automatically. Doesn't accept any other arm movement requests until the current movement is complete. When broken switch is flipped, the presets do not work. |
7 + 8 | Start + Select | Deploy Ramps |
Press, and release, both at same time to lower ramps. Lowers all parts of the ramp. |
Broken Switches
Switch | Description | Details |
Broken Switch1 | Arm Movement | None of the presets work. |
Broken Switch2 | Cube Intake | |
Broken Switch3 | Ramp Lift | |
Broken Switch4 | Intake Movement | |
Broken Switch5 | ||
Broken Switch6 |