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		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

• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots