2024:Robot IO Map

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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 Grabber









3 Grabber









4 Lift









5 Lift









6 Lift









7 RCS









8










9 Drive









10 Drive









11 Drive









12 Drive









13 Drive









14 Drive









15 Drive









16 Drive









17 Drive









18 Drive









19 Drive









20 Drive










 
PDB Assignments
Port # Device (Subteam) Breaker Value Max Current Note
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23 (Switchable)
VRM Assignments
Port # Device (Subteam)
5V/2A


5V/2A


5V/500mA


5V/500mA


12V/2A


12V/2A


12V/500mA


12V/500mA

PWM Outputs

ID Subsystem

Component

Type

 Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0








 
1





 


   
2





       
3





       
4









5



 


       
6









7





 




8









9





 




10                
11                
 
 

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








6








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

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