2015:Robot IO Map
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Robot I/O
CAN ID Assignments
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Notes |
| 0 | RESERVED | n/a |
Factory-default allows for adding CTRE devices quickly and re-assign its ID |
don't use | ||
| 1 | RESERVED | n/a | Factory-default allows for adding Jaguar quickly and re-assign its ID |
don't use | ||
| 2 | drivetrain | motor | CIM | Left Front Drive | ||
| 3 | drivetrain | motor | CIM | Left Rear Drive | ||
| 4 | drivetrain | motor | CIM | Right Front Drive | ||
| 5 | drivetrain | motor | CIM | Right Rear Drive | ||
| 6 | drivetrain | motor | CIM | Strafe | unclear on how to activate this motor | |
| 7 | lifter | motor | RS775 | Left lifter | ||
| 8 | lifter | motor | RS775 | Right lifter | ||
| 9 | gripper | motor | RS550 | Gripper/Motor | ||
| 10 | ||||||
| 11 | ||||||
| 12 | ||||||
| 13 | ||||||
| 14 | ||||||
| 15 | pnuematics | PCM module |
N/A |
Stabilizer, Shifter, Strafing | address spaces for Jaguars, SRXs, PCM, and PDP are all separate. We are limited to one PDP, and will need only one PCM | |
| 0 | power dist. | PD module |
N/A |
Power Distribution Readback | Must be 0 (WPILib has no easy way to use another ID). We'll only ever have one |
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
|
Notes |
| 0 | ||||||
| 1 | ||||||
| 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 | drivetrain | gyro | ADW22307 | drivetrain gyro rot feedback |
X & Y orientation used in Autonomous. (no temp correction needed within our bounds) |
2.5 V center (σ, 0.007 V/deg/sec (0.0069 to 0.0074 within ± 1σ) | New Part Number: Datasheet |
| 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 | Encoder | 63R256 | Left Encoder, Phase A | Drivetrain rotation - calculate Position measurement | |
| 1 | IN |
- |
- | - | Left Encoder, Phase B |
B-channel | May not be present |
| 2 | IN | drivetrain | Encoder | 63R256 | Right Encoder, Phase A | Drivetrain rotation - calculate Position measurement |
|
| 3 | IN | - |
- | - | Right Encoder, Phase B |
B-channel |
May not be present |
| 4 | IN | lifter | Encoder | 63R256 | Lifter Encoder, Phase A | Lifter drive rotation - calculate Height Zeroed with Lifter Flag Sensor. Channel A | |
| 5 | IN |
- |
- | - | Lifter Encoder, Phase B |
B-channel |
|
| 6 | IN | lifter | Flag Sensor | OPB815 | Home Position At Bottom | Lower position | |
| 7 | IN | gripper | Encoder | 63R256 | Gripper Encoder, Phase A | Gripper drive rotation - calculate Position | |
| 8 | IN | - | - | - | Gripper Encoder, Phase B | B-channel | |
| 9 | IN | gripper | Flag Sensor | OPB815 | Home Gripper Position A | Inner position home flag (Primary) |
Rev Robotics More Board IO
| ID | Direction (IN/OUT) | Subsystem | Component Type | Model # | Description (brief) | Operation |
Notes |
| 0 | IN |
gripper |
Banner |
Q10AN6R | Gripper Tote Detection |
Beam break sensor to check for tote presence |
sensor open collector output. pullup in roborio |
| 1 | IN |
lifter |
Flag |
OPB815 | Lift encoder high flag |
Lifter upper flag, for safety and to help calibration |
|
| 2 | IN |
gripper |
Flag Sensor |
OPB815 | Home Gripper Position B |
Inner position Backup |
|
| 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 |
| kOnBoardCS0 | drivetrain | accelerometer | ADXL345 |
accelerometer, right by the gyro |
to improve autonomous drive code |
|
USB Host Ports
| Address |
Subsystem | Component Type |
Model # | Description (brief) | Operation |
Notes |
| 0 | Camera | Camera | HD-3000 | USB camera | Facing down from top of lifter. Helps with tote + alignment in auto, driver, maybe for semiauto | |
| 1 | Logging | USB Stick | ? | USB Stick to log info | record match and state information at high rate, for postmortem match analysis |
Pneumatics Control Module
| ID | Subsystem | Component Type |
Model # |
Description (brief) |
Operation |
Notes | Pressure Circuit |
| 0 | Drivetrain | Single Solenoid | SY3140-6LZ | shifter LOW (default high) | shifts down | double action cylinder (vented no action) | A (4 total, 40-60 psi tbd) |
| 1 | Drivetrain |
Single Solenoid |
SY3140-6LZ |
strafing wheel DOWN (default up) |
lowers strafing wheel |
single action, spring retract cylinder (vented up) | B (3 total, 20-60 psi tbd) |
| 2 | Stabilizer |
Single Solenoid |
SY3140-6LZ | Stabilizer Gripper IN (default out) |
closes stabilizer |
double action cylinder (vented no action) |
A |
| 3 | Lifter |
Single Solenoid |
SY3140-6LZ |
Lifter brake OPEN (default locked) |
pnuematic cylinder engages bicycle brake to lock lift elevator |
double action cylinder (vented open, spring on brake) |
A |
| 4 | |||||||
| 5 | |||||||
| 6 | |||||||
| 7 |
Operator Controls
There are two drive modes:
- Porcupine
- Arcade
Joystick 1/Left
| Button/Axis | Description (brief) |
Operation (Porcupine) |
Operation (Arcade) |
Notes |
| Y-Axis | 6Move Forward/Backward |
Corresponds to forward motion of left side (unless #3 is pressed) |
Moves whole robot forward |
|
| X-Axis | Corresponds to 1/2 of lateral robot motion |
Moves whole robot sideways (right is right) |
||
| 1/trigger | Shift | On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed. |
||
| 2 | Raise center wheel |
On state transitions from no #2 buttons pressed to one or more #2 buttons pressed, the center wheel toggles from up to down and vica versa. |
||
| 3 | Straight |
Drive straight forward and back with only Y axis of left joystick |
||
| 4 | ||||
| 5 | ||||
| 6 | ||||
| 7 | ||||
| 8 | ||||
| 9 | ||||
| 10 | ||||
| 11 | ||||
| 12 | ||||
| Z-axis | ||||
Joystick 2/Right
| Button/Axis | Description (brief) |
Operation (Porcupine) |
Operation (Arcade) |
Notes |
| Y-axis | Move Forward/Backward |
Corresponds to forward motion of right side (unless #3 is on left Joystick is pressed) |
||
| X-axis | Move Left/Right | Corresponds to 1/2 of lateral robot motion |
X axis determines rotation (around robot center, unless #4,#5 are pressed) |
|
| 1 | Shift | On button press shifts to high gear. On release, shifts to low gear. Only one trigger needs to be pressed. |
||
| 2 | Raise center wheel | On state transitions from no #2 buttons pressed to one or more #2 buttons pressed, the center wheel toggles from up to down and vica versa. |
||
| 3 | Signal |
When pressed, make the lights blink to signal to the human player |
||
| 4 | Pivot over left |
While pressed, center of rotation is halfway on left side |
||
| 5 | Pivot over right |
While pressed, center of rotation is halfway on right side |
||
| 6 | ||||
| 7 | ||||
| 8 | ||||
| 9 | ||||
| 10 | ||||
| 11 | ||||
| 12 | ||||
| Z-axis | ||||
Joystick 3
| Button/Axis | Description (brief) |
Operation |
Notes |
| X-axis | |||
| Y-axis | Move up/down | Raise/lower grips, if Level 3 Preset not being pressed. This controls speed of movement. |
Forward is down, back pulls up |
| 1/trigger | Close lower grips |
Closes the grips while this button is being pressed. Grips stop moving when this button and button #2 are both released. |
|
| 2 | Open lower grips | Opens the grips while this button is being pressed (and button #1 is released). Grips stop moving when this button and button #1 are both released. | |
| 3 | Level 3 Preset | Raise grips high enough to be above 2 totes (i.e. 2 tote stack created by human player at human player station). Grips raise and stay raised while the button is being pressed. While being pressed, the Y-axis is ignored. When button is released, Y-axis controls grip height. | |
| 4 | TBD - RC gripper |
||
| 5 | TBD - RC gripper | ||
| 6 | Opens Stabilizer Arms | compress pistons to open arms when pressed |
|
| 7 | Closes Stabilizer Arms | extend pistons to close arms when pressed | |
| 8 | |||
| 9 | |||
| 10 | |||
| 11 | |||
| 12 | |||
| Z-axis |
Joystick 4/LaunchPad
| Button/Axis |
Description (brief) |
Operation | Notes |
| 1 | Auto 'main' |
Active when 3-way Auto switch is 'up'. This will pick the hard coded/defined auto mode. | |
| 2 | Auto 'dashboard' | Active when 3-way Auto switch is 'down'. This will indicate that the auto mode selected in the Dashboard is to be used. | |
| 3 | Broken #1 |
Lift position sensors broken |
left-most switch on top row |
| 4 | Broken #2 | Gripper position sensors broken |
located to the right of Broken #1 |
| 5 | Broken #3 | enable arcade drive (has priority over #4) |
located to the left of Broken #4 |
| 6 | Broken #4 | future |
right-most switch on top row |
| 7 | Broken #5 | future |
left-most switch on bottom row |
| 8 | Broken #6 | set alternate camera |
located to the right of Broken #5 |
| 9 | Broken #7 | future | located to the left of Broken #8 |
| 10 | Broken #8 | future |
Right-most switch on bottom row |
| Output Byte | Is 1 If and Only If... | Notes |
| 1 | Autonomous Mode is active (either disabled or running) | |
| 2 | TeleOperated Mode is active (either disabled or running) | |
| 3 | The alliance color is Red | |
| 4 | The drive is in pure tank/pure strafe mode | |
| 5 | The drive is in arcade mode | |
| 6 | The drive is in porcupine mode | |
| 7 | The FMS is attached | |
| 8 | The Roborio has declared brownout | |
| 9 | The alliance color is in an indeterminate state | |
| 10 | The Driver Station is Enabled (Either Auto, Tele, Test is running) | |
| 11 | We are in station 1 or 3 (false=station 2 or invalid) | |
| 12 | We are in station 2 or 3 (false=station 1 or invalid) | |
| 13 | ||
| 14 | ||
| 15 | ||
| 16 | ||
| 17 | ||
| 18 | ||
| 19 | ||
| 20 | ||
| 21 | ||
| 22 | ||
| 23 | ||
| 24 | ||
| 25 | ||
| 26 | ||
| 27 | ||
| 28 | ||
| 29 | ||
| 30 | ||
| 31 | ||
| 32 |
SmartDashboard
| Screen |
Description (brief) | Operation | Notes | Variable Name | Data Type |
| Main | Camera Feed | Direct feed from the camera | -- | -- | -- |
| Main | Auto Choice | Will be used to control which autononomous mode is used. | The auto mode should only be able to be changed if the three way switch is in the down position. | auto_choice | double |
| Main | Auto Switch Position | Will be used to determine if autononomous mode from dashboard is used. | The auto mode should only be able to be changed in the dashboard if the three way switch is in the down position. | auto_switch | double |
| Main | Gripper Position | A meter used to show the position of the grippers. | Will show a percent as a label, 0% means closed and 100% means fully opened. | gripper_position |
double |
| Main | Lifter Position | A meter used to show the position of the lifter. | Will show a percent as a label, 0% means home position and 100% means the lifter is at full height. |
lifter_position |
double |
| Main | Auto Mode Description | Describes the currently selected auto mode. | -- | auto_description | string |
