2024:Robot IO Map

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	Description (brief)	Operation	PD Board Info (8) max. 40A         PDB #		General Notes
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 please
2	Drive	SparkMax	Neo		Front Right Drive		40A	0	Using Integrated Encoder
3	Drive	SparkMax	Neo		Front Left Drive		40A	1	Using Integrated Encoder
4	Drive	SparkMax	Neo		Back Right Drive		40A	2	Using Integrated Encoder
5	Drive	SparkMax	Neo		Back Left Drive		40A	3	Using Integrated Encoder
6	Drive	SparkMax	Neo		Front Right Rotation		40A	4	Using Integrated Encoder
7	Drive	SparkMax	Neo		Front Left Rotation		40A	5	Using Integrated Encoder
8	Drive	SparkMax	Neo		Back Right Rotation		40A	6	Using Integrated Encoder
9	Drive	SparkMax	Neo		Back Left Rotation		40A	7	Using Integrated Encoder
10	Drive	Encoder	CANCoder		Front Right		N/A	N/A	Powered From Ganged 12V VRM
11	Drive	Encoder	CANCoder		Front Left		N/A	N/A	Powered From Ganged 12V VRM
12	Drive	Encoder	CANCoder		Back Right		N/A	N/A	Powered From Ganged 12V VRM
13	Drive	Encoder	CANCoder		Back Left		N/A	N/A	Powered From Ganged 12V VRM
14	Drive	IMU	Pigeon 2.0						Powered from dedicated 12V VRM
15	Game Piece	SparkMax	Neo 550		Intake	Pulls in or ejects a game piece	30A	8	Diffuse retro-reflective sensor Allen Bradley 42EF-D2MPAK-F4 When sensor is tripped, this means GP has entered intake and sensor just clears when GP is position for storage or shooting Connects to roborio DIO  12V powered
16	Game Piece	SparkMax	Neo		Shooter Left Wheels	Runs shooter wheels	40A	9
17	Game Piece	SparkMax	Neo		Shooter Right Wheels	Runs shooter wheels	40A	10
18	Game Piece	SparkMax	Neo		Arm	Pivots Arm	40A	11	Using Rev through-bore encoder Used in absolute position mode to indicate arm pivot angle 5V powered Signal to roborio DIO Input lower extreme limit switch
19	Game Piece	SparkMax	Neo 550		Arm	Actuates bicycle brake for arm pivot	30A	12
20	Hang	SparkMax	Neo		Hang Arm Right	causes hang hook to go up or down	40A	13
21	Hang	SparkMax	Neo		Hang Arm Left	causes hang hook to go up or down	40A	14
22

 CAN Chain Pathway

Current Device (ID):	Next Device (ID):	Notes:
RIO	PDH(0)	On DB Bellypan
PDH(0)	Front Right Encoder (10)	On DB Bellypan
Front Right Encoder (10)	Front Right Drive (2)	On DB Bellypan
Front Right Drive (2)	Front Right Rotation (6)	On DB Bellypan
Front Right Rotation (6)	Hang Right (20)	On DB Bellypan
Hang Right (20)	Back Right Rotation (8)	On DB Bellypan
Back Right Rotation (8)	Back Right Drive (4)	On DB Bellypan
Back Right Drive (4)	Back Right Encoder (12)	On DB Bellypan
Back Right Encoder (12)	Worm/Brake (19)	On Worm Gearbox
Worm/Brake (19)	Pidgeon 2.0 (14)	On DB Bellypan
Pidgeon 2.0 (14)	Arm Pivot (18)	On DB Bellypan
Arm Pivot (18)	Front Left Encoder (11)	On DB Bellypan
Front Left Encoder (11)	Front Left Drive (3)	On DB Bellypan
Front Left Drive (3)	Front Left Rotation (7)	On DB Bellypan
Front Left Rotation (7)	Hang Left (21)	On DB Bellypan
Hang Left (21)	Back Left Rotation (9)	On DB Bellypan
Back Left Rotation (9)	Back Left Drive (5)	On DB Bellypan
Back Left Drive (5)	Back Left Encoder (13)	On DB Bellypan
Back Left Encoder (13)	Left Shooter (16)
Left Shooter (16)	Right Shooter (17)
Right Shooter (17)	Intake (15)
Intake (15)	TERMINATION: 120 ohm resistor

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Max Channel Current	Note
0	Front Right Drive (Drive)	40A	40A
1	Front Right Rotation (Drive)	40A	40A
2	Solenoid Relay	20A	40A
3			40A
4	Left Hang Arm	40A	40A
5	Intake	30A	40A
6	Right Shooter	40A	40A
7	Left Shooter	40A	40A
8	Front Left Drive (Drive)	40A	40A
9	Front Left Rotation	40A	40A
10		40	40A
11	Back Left Rotation (Drive)	40A	40A
12	Back Left Drive (Drive)	40A	40A
13			40A
14	Game Piece Arm Pivot	40A	40A
15	Back Right Drive (Drive)	40A	40A
16	Back Right Rotation (Drive)	40A	40A
17	Hang Right	40A	40A
18	Brake/Worm Gear	30A	40A
19			40A
20	RoboRIO (RCS)	10A	10A Fused
21	VRM (RCS)	10A	10A Fused
22	3X Allen Bradley Sensors (Ganged)	10A	10A Fused
23 (Switchable)			5A Fused

VRM Assignments

Port #	Device (Subteam)
5V/2A	LED
5V/2A	LED
5V/500mA
5V/500mA
12V/2A	Radio (RCS)
12V/2A	Do Not Use
12V/500mA	CanCoders 4x Ganged - Drive
12V/500mA	Pigeon2

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A              PDB #
0	LEDs
1
2
3
4
5
6
7
8
9
10
11

 

 

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Hang	SPIKE relay		Actuates braking pawl against ratchet wheel. Energizing lifts the pawl off the ratchet wheel. Integrated spring pushes pawl into ratchet wheel.		Two solenoids controlled via one SPIKE relay (one on M+ and one on M- with common ground) Left Solenoid is Reverse, Right is Forward. See Spike Users Guide
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	Game Piece - Intake	Diffuse retro-reflective sensor	Allen Bradley 42EF-D2MPAK-F4	Senses GP Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.		Wire for Dark operating Signal connects to roborio DIO 12V powered Voltage divider added to cable pigtail See circuit diagram
1	IN	Game Piece - Arm	Encoder	https://www.revrobotics.com/rev-11-1271/	Used in absolute position mode to indicate arm pivot angle.		Wire White/Red/Black To roborio DIO
2	IN	Hang Brake	Leaf Lever Limit Switch Right	V7-2B17D8-048	Triggers when pawl on brake is fully lifted and clear of ratchet wheel		roborio DIO Wire for normally open
3	IN	Hang Brake	Leaf Lever Limit Switch Left	V7-2B17D8-048	Triggers when pawl on brake is fully lifted and clear of ratchet wheel		roborio DIO Wire for normally open
4	IN	Hang	Diffuse retro-reflective sensor	Allen Bradley 42EF-D2MPAK-F4	Detects when left hook is present (down)		Wire for Dark operating Signal connects to roborio DIO 12V powered Voltage divider added to cable pigtail See circuit diagram
5	IN	Hang	Diffuse retro-reflective sensor	Allen Bradley 42EF-D2MPAK-F4	Detects when right hook is present (down)		Wire for Dark operating Signal connects to roborio DIO 12V powered Voltage divider added to cable pigtail See circuit diagram
6	IN
7	IN
8	IN
9	IN
10	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

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0

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
	Left Joystick Press
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	Square / A Button
B-3	Cross / X Button
B-4	Triangle / Y Button
B-2	Circle / 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	Square / A Button
B-2	Circle / B button
B-3	Cross / X Button
B-4	Triangle / 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
POV-90	D-pad right
POV-180	D-pad down
POV-270	D-pad left

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_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_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_auto_doing_auto	boolean	true - should do autonomous false - should not do autonomous	Dashboard checkbox in auto selector page. When false, the robot should not do anything in autonomous
thunderdashboard_auto_starting_location	number	0 - barrier side 1 - center 2 - edge side	Dashboard selection of which community zone the robot should start in
thunderdashboard_auto_starting_gamepiece	number	0 - cube 1 - cone	Dashboard selection of which GamePiece the robot is starting with. Also determines the exact starting position of the robotin combination with the general zone as provided by 'thunderdashboard_auto_starting_location'
thunderdashboard_auto_starting_action	number	Depending on the starting location, this value means different things.If starting in the center, 0 - Score preloaded GamePiece and balance on Charge Station 1 - Score preloaded GamePiece, traverse Charge Station, and collect GamePiece 3 from field If starting on either side, Anything - Score preloaded GamePiece and collect field GamePiece 1 or 4	Dashboard selection of what action the robot should do first in autonomous
thunderdashboard_auto_field_gamepiece	number	0 - cube 1 - cone	Dashboard selection of which GamePiece to collect on the field (if the starting action puts the robot in the position to acquire a GamePiece)
thunderdashboard_auto_final_action	number	Depending on the starting location, this value means different things,If starting in the center, 0 - Do nothing 1 - Balance on Charge Station If starting on either side, 0 - Do nothing 1 - Score acquired field GamePiece 2 - Balance on Charge Station	Dashboard selection of what action the robot should do at the end of Autonomous (if the starting action puts the robot in the position for a final action).
thunderdashboard_drive_x_pos	number		Robot current X position on the field (m)
thunderdashboard_drive_y_pos	number		Robot current Y position on the field (m)
thunderdashboard_drive_target_x_pos	number		Robot target X position on the field (m)
thunderdashboard_drive_target_y_pos	number		Robot target Y position on the field (m)
thunderdashboard_drive_x_vel	number		Robot current X velocity (m/s)
thunderdashboard_drive_y_vel	number		Robot current Y velocity (m/s)
thunderdashboard_drive_ang_vel	number		Robot current angular velocity (rad/s)
thunderdashboard_drive_ang	number		Robot current angle (radians)
thunderdashboard_drive_target_ang	number		Robot target angle (radians)
thunderdashboard_lift_pivot_percent	number	0 to 1	Percent of lift pivot
thunderdashboard_lift_extension_percent	number	0 to 1	Percent of lift extension
thunderdashboard_lift_pivot_target_percent	number	0 to 1, -1 if no target	Target percent of lift pivot
thunderdashboard_lift_extension_target_percent	number	0 to 1, -1 if no target	Target percent of lift extension
thunderdashboard_grabber_position	number	0 - open 1 - agape 2 - ajar	State of grabber mechanism
thunderdashboard_gamepiece	number	-1 - no gamepiece 0 - cube 1 - cone	Which GamePiece the robot is currently in possession of
thunderdashboard_match_remaining	number		The time remaining in the current match period
thunderdashboard_airpressure_low	number		Low air pressure on gauge
thunderdashboard_airpressure_high	number		High air pressure on gauge
thunderdashboard_airpressure	number		Current air pressure
thunderdashboard_airpressure_iters	number		Number of ticks on air pressure gauge
thunderdashboard_led_mode	number	0 - Robot State 1 - Alliance Color 2 - Custom Color 3 - Off	The mode of the robot LEDs
thunderdashboard_led_custom_r	number	0-1	Custom LED red value
thunderdashboard_led_custom_g	number	0-1	Custom LED green value
thunderdashboard_led_custom_b	number	0-1	Custom LED blue value
thunderdashboard_score_grid	number	-1 - No grid aligned 0 - Left grid 1 - Center grid 2 - Right grid	Which grid the robot is currently in front of (relative to driver, NOT field or robot)
thunderdashboard_score_grid_column	number	-1 - No Column selected 0 - Left column 1 - Center column 2 - Right column	Which column of the grid the robot is trying to align to (relative to driver, NOT field or robot)

IO Maps for Old Robots

• 2023 IO Map
• 2022 IO Map
• 2020 IO Map (applies to 2021 as well!)
• 2019 IO Map
• 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