2022: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  
3  
4
5  
6  
7 2
8
9
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 Driver LEDs LED LED Gives connection to Driver Interface LEDs Allows drivers to see power cell count from the front/back of robot N/A 20A (via voltage regulator) 10
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 14

7

 

Drive Base Spark Max Neo  Left rear drive motor   Don't know 40A 15
8 Drive Base Spark Max Neo Right front drive motor Moves right side of robot forwards/backwards Don't know 40A 0

9

 

Drive Base Spark Max Neo Right Rear drive Motor   Don't know 40A 1
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 Drive Base Gyro ADW22307 Located on center axis underneath the helix Tells where the drive base is looking by degrees (for autonomous) 7mV/degree  
1 Shooter Potentiometer Bournes 3547S-1AA-103A Located on the output of the hood servo Tells the angle of the hood    
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        

 

 

2 IN Storage Allen-Bradley RightSight Prox Sensor 42EF-D2MPAK-F4 Senses balls when ready to shoot

1 = Ball present

0 = Ball not present

 
3 IN Shooter Banner Opto Q10RN6R Senses when a ball is exiting the shooter

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 Intake Omron Reflective EE-SPY415 Senses the presence of the intake mechanism to zero the rotation motor encoder

1 = not present

0 = present
(Need to double check this)

 
9 IN Hang Optical Sensor Through-Beam OPB815WZ Sense when hanger is all the way retracted 1 = hanger sensed (all the way down), 0 = hanger not sensed  
 
 
 

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    
 
 

Robot Lights Reference

  • When Disabled:
    • Front Lights - Shows status of DIGITAL sensors, one sensor per row. Each row is GREEN for sensor not tripped, RED for when it is tripped.
      • Row 4 (top row): Shooter game piece exit sensor
      • Row 3: Helix-shooter game piece transition sensor
      • Row 2: Intake game piece count sensor
      • Row 1: Intake pivot zeroing sensor
      • Row 0: Hanger zeroing sensor
  • When Enabled:
    • Red X: Ball count indeterminate
    • Otherwise, one row is lit from bottom to top for each game piece in robot

Operator Controls

Disable Xbox Controller

DisableXbox.docx

Controller 1 - Primary Driver

 Button/Axis # Action/Button Description Details
A-1 Left Joystick Y

Tank mode: left side drive motors forward/reverse

Arcaded mode: robot moves foward/reverse

 
A-1 Left Joystick X    
A-4 Right Joystick Y Tank mode: right side drive motors foward/reverse  
A-4 Right Joystick X Arcade mode: robot moves left/right  
B-6 Right Bumper Right side drive motors: Slow  
B-5 Left Bumper Left side drive motors: Slow  
A-3 Right Trigger Right side drive motors: Turbo  
A-2 Left Trigger Left side drive motors: Turbo  
B-1 A Button Toggles between tank and arcade mode  
B-3 X Button    
B-4 Y Button Calibrates Gyro  
B-2 B Button    
 

Controller 2 - Aux Driver

Button/Axis # Action/Button Description Details
A-0 Left Joystick X-Axis    
A-1 Left Joystick Y-Axis Shooter manual speed Not position-sensative -- accumulates change to speed slowly in whichever direction is held (up slowly increases speed setting, down slowly decreases it)
A-2 Left Trigger Lower and run intake Press and hold, release to stop.
A-3 Right Trigger Shoot Press and hold, release to stop.  Shoots when shooter has reached desired speed as long as balls remain in robot.
A-4 Right Joystick X-Axis  

 

 

A-5 Right Joystick Y-Axis    
B-1 A Button Retract the hanger Press and hold, release to stop
B-2 B button Auto-shoot setting: Wall Single press
B-3 X Button Auto-shoot setting: Initiation Line Single press
B-4 Y button Extend the hanger Press and hold, release to stop
B-5 Left bumper Outtake game pieces Press and hold, release to stop
B-6 Right bumper Pre-heat shooter Press and hold, release to stop
B-7 Back Button    
B-8 Start Button Auto-shoot setting: Panel Single press
B-9 Left Stick Pressed    
B-10 Right Stick Pressed    
POV-0 D-pad up Run Control Panel Press and hold, release to cancel. Rotatation control, position control, or manual advance based on console switches

Controller 3 - Switches on console

 Button/Axis #  Action/Button  Description Details
B-1 Control Panel Sensor Broken

On = broken, run CP manually

Off = Working, do whatever is in button 1

 
B-2 Intake Pivot Sensor Broken

On = broken, zero pivot based solely on startup position

 
B-3 Intake ball counter Broken On = broken, don't use this sensor  
B-4 Storage-shooter transition counter broken On = broken, don't use this sensor  
B-5 Shooter ball counter broken On = broken, don't use this sensor  
B-6 Control Panel Mode

Determines which control panel operation to run

On = rotation

Off = position

 
B-7 Shoot Manual Speed On = Manual speed control, off = use presets  
B-8 Disable drive "backdrive" On = Disable backdrive code, off = enable backdrive code  
B-9 Hanger Speed On = Lift speed, Off = slow speed (test if hooked)  

Dashboard

Key Data Type Value Description
thunderdashboard_wheel number

0 - do NOT know

1 - Red

2 - Green

3 - Blue

4 - Yellow

The color the robot's sensor is seeing
thunderdashboard_wheel_end number see thunderdashboard_wheel The color FMS is asking for in the final stage
thunderdashboard_shooter_speed number 0 - 100 the speed the shooter is running at: 0 is min and 100 is max
thunderdashboard_shooter_pos number 0 - 360 the position of the turret, in degrees from home position: 0 is home 
thunderdashboard_shooter_hood number 0 - 100 the position of the hood: 0 is down, 100 is completely up
thunderdashboard_hang_pos number

0 - 100

the position of the arm, for hang: 0 is full retracted, 100 is full extended
thunderdashboard_hang_lock number

0 - hang ratched is not locked

1 - hang ratched is locked

indicates whether the ratchet, for hang, is engaged or not
thunderdashboard_intake_pos number

0 - intake is down (deployed)

1 - intake is up (retracted)

indicates whether the intake is up or not
thunderdashboard_ballcount number -1 - do not know

0 - 5

Number of balls (game pieces) the robot thinks it has
thunderdashboard_gyro number

0 - dashboard background not based on this

1 - dashboard background goes red

used when: gyro is calibrating
thunderdashboard_yellow number

0 - dashboard background not based on this

1 - dashboard background goes yellow

used when: TBD

NOTE: thunderdashboard_gyro takes precedence

thunderdashboard_green number

0 - dashboard background not based on this

1 - dashboard background goes green

used when: TBD

NOTE: thunderdashboard_gyro takes precendence

thunderdashboard_inpitmode number

0 = dashboard background not based on this

1 = dashboard background is power blue

used when: robot is operating in 'pit mode' (for safer operatin in the pits)

NOTE: thunderdashboard_gyro takes precendence

thunderdashboard_max number

0 = show normal

1 = fills screen

whether to fill the laptop screen with the dashboard or not
thunderdashboard_starting_count number 0-3 editable, set initial count of power cells in robot before auto
thunderdashboard_auto_list string a comma seperated list the list of auto modes (e.g. "0,1,2,3,4,5")
thunderdashboard_auto_# string any text one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
Auto_Mode number a number from thunderdashboard_auto_list the auto mode selected on the UI
thunderdashboard_auto_start_delay number   user selected number of seconds, 0 to 15, to delay start of auto mode
thunderdashboard_drivearcade number

0 = tank drive

1 = arcade drive

what mode drive is using. dashboard will show 'Tank Drive' when in that mode, otherwise nothing is shown 

IO Maps for Old Robots