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
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 N/A    
1   N/A    
2                
3                
4 N/A
5          
6
7  
8
9   Don't know
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
1 IN        

 

 

2 IN  
3 IN
4 IN  
5 IN
6 IN  
7 IN  
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    
               
               
               
               
               
               

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

TBD if lights on 2022 robot

  • When Disabled:
    • TBD
  • When Enabled:
    • TBD

Operator Controls

Disable Xbox Controller

DisableXbox.docx

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-0 Left Joystick X-Axis    
A-1 Left Joystick Y-Axis
A-2 Left Trigger
A-3 Right Trigger
A-4 Right Joystick X-Axis

 

 

A-5 Right Joystick Y-Axis    
B-1 A Button
B-2 B button
B-3 X Button
B-4 Y button
B-5 Left bumper
B-6 Right bumper
B-7 Back Button    
B-8 Start Button
B-9 Left Stick Pressed    
B-10 Right Stick Pressed    
POV-0 D-pad up

Controller 3 - Switches on console

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

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