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 |
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| 1 | RESERVED | n/a | Factory-default allows for adding new device quickly and re-assign its ID |
don't use please |
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| 2 | Drive |
SparkMax |
Neo |
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Front Right Drive |
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40A |
1 |
Using Integrated Encoder |
| 3 | Drive |
SparkMax |
Neo |
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Front Left Drive |
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40A |
2 |
Using Integrated Encoder |
| 4 | Drive |
SparkMax |
Neo |
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Back Right Drive |
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40A |
3 |
Using Integrated Encoder |
| 5 | Drive |
SparkMax |
Neo |
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Back Left Drive |
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40A |
4 |
Using Integrated Encoder |
| 6 | Drive |
SparkMax |
Neo |
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Front Right Rotation |
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40A |
5 |
Using Integrated Encoder |
| 7 | Drive |
SparkMax |
Neo |
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Front Left Rotation |
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40A |
6 |
Using Integrated Encoder |
| 8 |
Drive |
SparkMax |
Neo |
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Back Right Rotation |
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40A |
7 |
Using Integrated Encoder |
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9 |
Drive |
SparkMax |
Neo |
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Back Left Rotation |
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40A |
8 |
Using Integrated Encoder |
| 10 | Drive |
Encoder |
CANCoder |
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| 11 | Drive |
Encoder |
CANCoder |
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| 12 | Drive |
Encoder |
CANCoder |
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| 13 | Drive |
Encoder |
CANCoder |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| Port # | Device (Subteam) | Breaker Value | Max Current | Note |
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| 0 |
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| 1 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 (Switchable) |
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| Port # | Device (Subteam) |
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| 5V/2A |
LED |
| 5V/2A |
LED |
| 5V/500mA |
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| 5V/500mA |
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| 12V/2A |
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| 12V/2A |
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| 12V/500mA |
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| 12V/500mA |
PWM Outputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
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Brake/Coast |
Notes (8) max. 40A PDB # | |
| 0 |
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| 1 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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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 |
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| 1 |
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| 2 | |||||||
| 3 |
More Board Analog Inputs
| ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation |
Voltage Range |
Notes |
| 0 | |||||||
| 1 | |||||||
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| 3 |
Digital IO (GPIO)
RoboRio IO
| ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
| 0 | IN |
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| 1 | IN |
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| 2 | IN |
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| 3 | IN |
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| 4 | IN |
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| 7 | IN |
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| 8 | IN |
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| 9 | IN |
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| 10 | IN |
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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 | ||||||
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| 15 |
I2C Registers
| Address (e.g. 0100111X) |
Pin (e.g. GP0) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
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SPI Devices
| # | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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USB Host Ports
| Address | Subsystem | Component Type |
Model # | Description (brief) | Operation | Notes |
| 0 |
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| 1 |
Pneumatics Control Modules
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PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
| 1 | 0 |
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| 1 |
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| 2 | 0 |
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Operator Controls
Controller 1 - Primary Driver
| Button/Axis # | Action/Button | Description | Details |
| A-1 | Left Joystick Y |
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| A-1 | Left Joystick X |
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Left Joystick Press |
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| A-4 | Right Joystick Y |
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| A-4 | Right Joystick X |
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| B-6 | Right Bumper |
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| B-5 | Left Bumper |
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| A-3 | Right Trigger |
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| A-2 | Left Trigger |
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| B-1 | Square / A Button |
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| B-3 | Cross / X Button |
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| B-4 | Triangle / Y Button |
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| 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 |
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| A-2 | Left Trigger |
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| A-3 | Right Trigger |
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| A-4 | Right Joystick X-Axis |
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| A-5 | Right Joystick Y-Axis |
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| B-1 | Square / A Button |
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| B-2 | Circle / B button |
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| B-3 | Cross / X Button |
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| B-4 | Triangle / Y button |
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| B-5 | Left bumper |
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| B-6 | Right bumper |
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| B-7 | Back Button |
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| B-8 | Start Button |
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| B-9 | Left Stick Pressed |
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| B-10 | Right Stick Pressed |
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| POV-0 | D-pad up |
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| POV-90 | D-pad right |
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| POV-180 | D-pad down |
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| POV-270 | D-pad left |
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Controller 3 - Switches on console
| Button/Axis # | Action/Button | Description | Details |
| B-1 |
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| B-2 |
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| B-3 |
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| B-4 |
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| B-5 |
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| B-6 |
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| B-7 |
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| B-8 |
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| B-9 |
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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 |
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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 |
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Robot current X position on the field (m) |
| thunderdashboard_drive_y_pos | number |
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Robot current Y position on the field (m) |
| thunderdashboard_drive_target_x_pos | number |
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Robot target X position on the field (m) |
| thunderdashboard_drive_target_y_pos | number |
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Robot target Y position on the field (m) |
| thunderdashboard_drive_x_vel | number |
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Robot current X velocity (m/s) |
| thunderdashboard_drive_y_vel | number |
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Robot current Y velocity (m/s) |
| thunderdashboard_drive_ang_vel | number |
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Robot current angular velocity (rad/s) |
| thunderdashboard_drive_ang | number |
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Robot current angle (radians) |
| thunderdashboard_drive_target_ang | number |
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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 |
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The time remaining in the current match period |
| thunderdashboard_airpressure_low | number |
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Low air pressure on gauge |
| thunderdashboard_airpressure_high | number |
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High air pressure on gauge |
| thunderdashboard_airpressure | number |
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Current air pressure |
| thunderdashboard_airpressure_iters | number |
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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) |
