2020:Robot IO Map

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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 Intake Spark Max Neo 550 Brake

Pivots intake in/out of robot

 

30A

Using integrated encoder

4
3 Intake Spark max Neo 550 Brake

Spins "beater bars"

  20A 5
4 Storage Spark max Neo 550 Brake Agitates balls up the corkscrew     6
5 Storage Spark max Neo 550 Brake Feeds balls into shooter     7
6 Shooter Spark max Neo Coast Spins left shooting motor  

40A

12
7 Shooter Spark max Neo Coast Spins right shooting motor  

40A

Using integrated encoder.

1 might run in follower mode

13
8 Turret Spark max Neo 550 Brake Rotates turret

 

  8
9 WoF Spark max Neo 550 Brake Rotates Wheel of Fortune   20A 9
10 Hang Spark max Neo  Brake Winches robot up  

30A

Using integrated encoder

10
11                
12                
13                
14                
15                
 
 

PWM Outputs

ID Subsystem

Component

Type

Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0 Hang Servo

 

Hs-322HD

Engages/disingages ratchet

 

N/A    
1 Shooter Servo

Hs-785HB

Moves turret hood to increase/decrease shot angle   N/A    
2                
3                
4                
5 Wheel of Fortune Servo   Swing color sensor outside the frame perimeter        

6

 

Drive base

 

Spark Max Neo Left front drive motor Moves left side of robot forwards/backwards Don't know 40A 0

7

 

Drive Base Spark Max Neo  Left rear drive motor   Don't know 40A 1
8 Drive Base Spark Max Neo Right front drive motor Moves right side of robot forwards/backwards Don't know 40A 2

9

 

Drive Base Spark Max Neo Right Rear drive Motor   Don't know 40A 3
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              
2              
3              

More Board Analog Inputs

ID Subsystem

Component

Type

Model # Description
(brief)
Operation

Voltage

Range

Notes
0              
1              
2              
3              

 

Digital IO (GPIO)

RoboRio IO

ID Direction
(IN/OUT)
Subsystem

Component

Type

Model # Description
(brief)
Operation Notes
0 IN Intake Banner Opto Q10RN6R Senses Incoming Power Cells

1 = Ball not present 

0 = Ball Present

w/Q106E emitter,

sensor open-collector out

1 IN Storage Banner Opto Q10RN6R Senses balls when ready to shoot

1 = Ball not present 

0 = Ball Present

w/Q106E emitter,

sensor open-collector out

2 IN            
3 IN Storage/Shooter Banner Opto Q10RN6R Senses presence of ready-to-shoot power cels

1 = Ball not present 

0 = Ball Present

w/Q106E emitter,

sensor open-collector out

4 IN Drive base  Phase A Left Encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
5 IN Drive base Phase B Left Encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
6 IN Drive base Phase A Right Encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
7 IN Drive base Phase B right encoder REV-11-1271 measures rotation of drive wheels 2048 cycles per revolution  
8 IN            
9 IN            
 
 
 

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation Notes
0 IN            
1 IN            
2 IN            
3 IN            
4 IN            
5 IN            
6 IN            
7 IN            
8 IN            
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
0x52   Wheel of Fortune Color Sensor REV-31-1557 Reads colors of wheel Provides these channels: Red, Green, Blue, Alpha, and Proximity  
               
               
               
               
               
               

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

PCM

ID

# Subsystem

Solenoid is Double or Single?

Solenoid

Model #

Description

(brief)

Operation Circuit Pressure PDB #
1 0              
1    
2            
3    
4            
5    
6            
7    
2 0              
1    
2            
3    
4            
5    
 
 

Operator Controls

Controller 1 - Primary Driver

 Button/Axis # Action/Button Description Details
A-1 Left Joystick Y    
A-1 Left Joystick X    
A-4 Right Joystick Y    
A-4 Right Joystick X    
B-6 Right Bumper    
B-5 Left Bumper    
A-3 Right Trigger    
A-2 Left Trigger    
B-1 A Button    
B-3 X Button    
B-4 Y Button    
B-2 B Button    

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-1      
B-1      
B-2      
B-3      
B-4      
B-5      
B-6      
B-7      
B-8      
B-9      
B-10      
B-11      
B-12      

Controller 2 - Aux Driver (Continued) 

 Button/Axis #  Action/Button  Description Details
B-1      
B-2      
B-3      
B-4      
B-5      
B-6      
B-7      
B-8      
B-9      
B-10      
B-11      
B-12      
 
 
 

Dashboard

Key Data Type Value Description
       
       
       
       
       
thunderdashboard_green number

0 - do NOT have a game piece

1 - have a game piece

Background of dashboard goes green.
       
       
       
       
       
thunderdashboard_max number

0 = show normal

1 = fill screen

fills screen or not
       

IO Maps for Old Robots