2019:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	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	Cargo	Talon-SRX	775 Pro	Brake	Intakes or expels cargo. Left half motor	(+) = intake cargo (-) = expel cargo	30	4
3	Cargo	Talon SRX	775 Pro	Brake	Intakes or expels cargo Right half motor	(+) = intake cargo (-) = expel cargo	30	5
4	Elevator	Talon SRX	775 Pro	Brake	Moves elevator up/down. Primary motor "A"/Left	(+) = elevator up (-) = elevator down Vex encoder feeds direct to talon	40	2
5	Elevator	Talon SRX	775 Pro	Brake	Moves elevator up/down Secondary motor "B"/Right	(+) = elevator up (-) = elevator down	40	3
6	Hab	Talon SRX	775 Pro	Brake	Drive "back legs" Primary motor; left"leg"	(+) = move foward (-) = move reverse	40	12
7	Hab	Victor SPX	775 Pro	Brake	Drive "back legs" Secondary motor; right"leg"	(+) = move foward (-) = move reverse	40	13
8	Pnuematics	PCM 1		N/A	Controls the solenoids	Solenoids
9	Pnuematics	PCM 2		N/A	Controls more of the solenoids	Solenoids	20	8
10
11
12
13
14
15

 

 

 

 

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	Drivetrain	SPARK	CIM	Left front drive motor	+ Moves left side of robot forward - Moves left side of robot reverts	Don't know	40	0
	Drivetrain	SPARK	CIM	Left rear drive motor		Don't know	40	1
1	Drivetrain	SPARK	CIM	Right front drive motor	+ Moves left side of robot forward - Moves left side of robot reverts	Don't know	40	14
	Drivetrain	SPARK	CIM	Right reardrive motor		Don't know	40	15
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	Pnuematics	Pressure guage	REV-11-1107	Senses amount of pressure we have	To know if we can actually do HAB
1	Gyro?
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	Hatch	Limit switch	Honeywell SZL-VL-S-B-N-M	Hatch against backplate	0 = have hatch  1 = no hatch
1	IN	Cargo	Beam Break	Banner Q106	Do we have a cargo	1 = have cargo 0 = no cargo
2	IN	Cargo Left	Magnetic Reed Switch	Bimba MRS-.087-PBL-09	Senses when the left cargo arm is fully open and out of the way	0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall
3	IN	Cargo Right	Magnetic Reed Switch	Bimba MRS-.087-PBL-09	Senses when the right cargo arm is fully open and out of the way	0 = arm open, cylinder retracted 1 = arm not open, pls dont hit wall
4	IN	Elevator	Upper Limit	EE-SPY415	senses when the elevator is at the top of its track	0 = no face sensed 1 = face sensed
5	IN	Elevator	Lower Limit	Optek OPB815WZ	senses when the elevator is at the bottom of the track	0 = elevator not at bottom 1 = elevator is at bottom
6	IN	Hab	Left Front Extended	Bimba MRS-.087-PBL-??	senses when the front left cylinder is extended	0 = cylinder extended 1 = cylinder not extended
7	IN	Hab	Right Front Extended	Bimba MRS-.087-PBL-??	senses when the front right cylinder is extended	0 = cylinder extended 1 = cylinder not extended
8	IN	Hab	Left Rear Extended	Bimba MRS-.087-PBL-??	senses when the rear left cylinder is extended	0 = cylinder extended 1 = cylinder not extended
9	IN	Hab	Right Rear Extended	Bimba MRS-.087-PBL-??	senses when the rear right cylinder is extended	0 = cylinder extended 1 = cylinder not extended

 

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Hab	Magnetic Reed Switch	Bimba MRS-.087-PBL-??	Left front cylinder retracted	0 = cylinder retracted 1 = cylinder not retracted
1	IN	Hab	Magnetic Reed Switch	Bimba MRS-.087-PBL-??	Right front cylinder retracted	0 = cylinder retracted 1 = cylinder not retracted
2	IN	Drive	Encoder	63R256 Grayhill	Left drive train encoder	Left encoder phase A
3	IN	Drive	Encoder	63R256 Grayhill	Right drive train encoder	Right encoder phase A
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
0x29		Habitat	laser range finder	VL53L0X	detects when we are ready to retract the first set of cylinders	If climbing to level 3, when distance changes from 21.162 to 2.162 the cylinders will retract .  If climbing to level 2, when distance changes from 21.162 to 15.162 the cylinders will retract.
0x2A		Habitat	laser range finder	VL53L0X	detects when we are ready to retract the second set of cylinders	If climbing to level 3, when distance changes from 21.162 to 2.162 the cylinders will retract .  If climbing to level 2, when distance changes from 21.162 to 15.162 the cylinders will retract.
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 Modules

ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	Notes
1	0	Hatch	Double	SY3240-6LZ	Hold hatch	Extends cylinder to raise hook	50
	1				Allow hatch to release	Retract cylinder to lower hook
	2	Cargo	Double	SY3240-6LZ	Enables cargo mechanism	Extends cargo cylinders (2) to extend cargo mechism to usable position	50
	3				Store cargo, enable hatch	Retracts cargo cylinders (2) to store cargo mechanism out of way of hatch mechanism
	4	Elevator	Double	SY3240-6LZ	Lowers elevator to inside robot frame	Extends cylinder to lower entire elevator	50
	5				Raises elevator to usable position	Retracts cylinder to raise elevator to usable position for game piece
	6	Elevator	Double	SY3240-6LZ	Engage brake	Extends cylinder to engage elevator brake	50
	7				Release brake	Retracts cylinder to release elevator brake
2	0	Habitat	Double	SY3240-6LZ	Lift front of robot	Extends cylinders (2) to lift front end of robot	50
	1				Lower front of robot	Retracts cylinders (2) to lower front end of robot
	2	Habitat	Double	SY3240-6LZ	Lift rear of robot	Extends cylinders (2) to lift back end of robot	50
	3				Lower rear of robot	Retracts cylinders (2) to lower back end of robot

Operator Controls

Controller 1 - Primary Driver

Button/Axis #	Action/Button	Description	Details
A-1	Left Joystick Y	Forward/backward drive
A-1	Left Joystick X
A-4	Right Joystick Y
A-4	Right Joystick X	Left/right steering/pivot
B-6	Right Bumper	Slow on right side
B-5	Left Bumper	Slow on left side
A-3	Right Trigger	Fast on right side (binary)
A-2	Left Trigger	Fast on left (binary)
B-1	A Button	Swap Drive
B-3	X Button	Switch camera view
B-4	Y Button	Calibrate Gyro
B-2	B Button	Slow Mode Toggle

Controller 2 - Aux Driver

Button/Axis #	Action/Button	Description	Details
A-1	Elevator Manual Override		Joystick; only up and down
B-1	Cargo @ Rocket High		Press only
B-2	Cargo @ Rocket Middle		Press only
B-3	Cargo @ Rocket Low		Press only
B-4	Hatch @ Rocket High		Press only
B-5	Hatch @ Rocket Middle		Press only
B-6	Hatch @ Rocket Low, Cargo Ship, Driver Station		Press only
B-7	Cargo @ Cargo Ship		Press only
B-8	Cargo @ Driver Station		Press only
B-9	Hatch Acquire		Press and Hold
B-10	Hatch Release		Press and Hold
B-11	Cargo In		Press and Hold
B-12	Cargo Out		Press and Hold

Controller 2 - Aux Driver (Continued) 

Button/Axis #	Action/Button	Description	Details
B-1	HAB Front		Press only
B-2	HAB Rear		Press only
B-3	Broken Switch 1		Press only
B-4	Broken Switch 2		Press only
B-5	Broken Switch 3		Press only
B-6	Broken Switch 4		Press only
B-7	Broken Switch 5		Press only
B-8	Broken Switch 6		Press only
B-9
B-10
B-11
B-12

Dashboard

Feature	Control	Key	Value

IO Maps for Old Robots

• 2018 IO Map
• 2017 IO Map
• 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