2012:Robot IO Map

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Type / Function  Channel

Connected Device

CAN ID Assignments

   0-127


RESERVED


    01 DO NOT USE.
ID 1 is the factory-default CAN id; us not using it makes it easier to swap one in quickly and re-assign an id.


    02 Left side drivetrain motor (front)


    03 Left side drivetrain motor (rear)


    04
Right side drivetrain motor (front)


    05
Right side drivetrain motor (rear)


    06 Shooter wheel motor (upper)


    07
Shooter wheel motor (lower)


    08
turret rotation motor


    09
Wing deployer motor


    10


    11


    12


    13


    14


    15


    16

PWM Outputs

   


    01
Camera Tilt servo


    02
RESERVED

Conveyor Stage 1 Sensor - LED power only


    03

RESERVED

Conveyor Stage 2 Sensor - LED power only


    04
RESERVED

Conveyor Stage 3 Sensor - LED power only


    05
RESERVED

Conveyor Entrance Sensor - LED power only


    06

RESERVED

Camera Light - LED power only


    07


    08


    09


    10

Relay Outputs


    01
RESERVED (Possible Wings output)


    02
Beater Bar motor


    03
Conveyor Stage 1 motor


    04
Conveyor Stage 2 motor


    05
Conveyor Stage 3 motor


    06
Camera Light


    07


    08

Analog Inputs




    01

 Gyro

B2

    02

Conveyor Stage 1 High for Ball in conveyor Low when no ball present

B3

    03

Conveyor Stage 2 High for Ball in conveyor Low when no ball present

B4

    04

Conveyor Stage 3 High for Ball in conveyor Low when no ball present

P1

    05

Wing deployer position - potentiometer Higher values means closer to robot Lower values means more extended/closer to floor

L3     06

Turret limit switch (optical OPB815WZ)  - max CW High when limit is hit Low when limit is NOT hit


L4

    07 Turret limit switch (optical OPB815WZ)  - max CCW

High when limit is hit Low when limit is NOT hit

RESERVED

    08
Battery Voltage Input (Don't use for other devices)
Digital IO (GPIO)

IN - E1

    01
Left drivetrain rotary encoder A
IN - E1     02
Left drivetrain rotary encoder B

IN - E2

    03
Right drivetrain rotary encoder A
IN - E2
    04
Right drivetrain rotary encoder B

IN - E3

    05
Shooter upper wheel rotary encoder (E4P)

IN - E4

    06
Shooter lower wheel rotary encoder (E4P)
IN - E5/E6     07
Turret motor shaft - rotary encoder (E4P) or turret sprocket position - opto-reflective rotary encoder

IN - B1

    08

conveyor stage 1 entrance - beam break sensor (homemade, 1" cube) High for Ball in conveyor Low when no ball present

OUT     09
LED - Red
OUT     10
LED - Green
OUT     11
LED - Blue
OUT     12
LED Strip 1 - Select
OUT     13

LED Strip 2 - Select

OUT     14
LED Strip 3 - Select
Pneumatics Bumper
01
02
03



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