2025: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 | Drive | Motor | Kraken X60 | Brake | Drive Motor Front Left |
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2 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Front Left |
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3 |
Drive |
Cancoder |
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Cancoder Front Left |
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4 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Front Right |
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5 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Front Right |
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6 |
Drive |
Cancoder |
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Cancoder Front Right |
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7 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Back Right |
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8 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Back Right |
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9 |
Drive |
Cancoder |
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Cancoder Back Right |
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10 |
Drive |
Motor |
Kraken X60 | Brake |
Drive Motor Back Left |
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11 |
Drive |
Motor |
Kraken X60 | Brake |
Rotation Motor Back Left |
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12 |
Drive |
Cancoder |
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Cancoder Back Left |
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14 |
Drive |
Pigeon |
Pigeon |
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IMU |
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15 |
Elevator |
Motor |
Neo |
Brake |
Elevator Motor Right |
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16 |
Elevator |
Motor |
Neo |
Brake |
Elevator Motor Left |
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17 |
Cage |
Motor |
Neo |
? |
Hang winch |
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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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CAN Physical Chain Layout
Current Device | Next Device |
Robo Rio | Elevator Left |
Elevator Left | Rear Left Rotational |
Rear Left Rotational | Rear Left Drive |
Rear Left Drive | Rear Left Cancoder |
Rear Left Cancoder | Front Left Rotational |
Front Left Rotational | Front Left Drive |
Front Left Drive | Front Left Cancoder |
Front Left Cancoder | Front Right Cancoder |
Front Right Cancoder | Front Right Drive |
Front Right Drive | Front Right Rotational |
Front Right Rotational | Rear Right Rotational |
Rear Right Rotational | Rear Right Drive |
Rear Right Drive | Rear Right Cancoder |
Rear Right Cancoder | Pigeon |
Pigeon | Elevator Right |
Elevator Right | Hang |
Hang | PDH (Termination) |
NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1 |
PDB Assignments
Port # | Device (Subteam) | Breaker Value | Max Channel Current | Motor Type | Note |
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0 |
Front Right Drive (Drivebase) |
40A |
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Kraken 60 |
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1 |
Front Right Rotation (Drivebase) |
40A |
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Kraken 60 |
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2 |
Front Left Drive (Drivebase) |
40A |
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Kraken 60 |
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3 |
Front Left Rotation (Drivebase) |
40A |
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Kraken 60 |
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4 |
Rear Left Drive (Drivebase) |
40A |
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Kraken 60 |
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5 |
Rear Left Rotation (Drivebase) |
40A |
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Kraken 60 |
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6 |
Wrist |
30A? |
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Neo |
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7 |
Intake Left Motor |
30A? |
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Neo 550 |
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8 |
Intake Right Motor |
30A? |
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Neo 550 |
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9 |
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10 |
Rear Right Drive (Drivebase) |
40A |
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Kraken 60 |
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11 |
Rear Right Rotation (Drivebase) |
40A |
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Kraken 60 |
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12 |
Elevator Drive Left (Gamepiece) |
40A |
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Neo |
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13 |
Elevator Drive Right (Gamepiece) |
40A |
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Neo |
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14 |
Cage Solenoid |
20A |
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Spike Relay |
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15 |
Cage Winch |
40A |
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Neo |
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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 |
Radio (RCS) |
10A |
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Fused Port | |
21 |
RoboRio (RCS) |
10A |
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Fused Port | |
22 |
VRM |
10A |
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Fused Port | |
23 (Switchable) |
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VRM Assignments
Port # | Device (Subteam) |
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5V/2A |
Lights (RCS) |
5V/2A |
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5V/500mA |
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5V/500mA |
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12V/2A |
CANCoders (except right rear) |
12V/2A |
Pigeon (RCS) |
12V/500mA |
CANCoder - right rear |
12V/500mA |
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PWM Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation
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Brake/Coast |
Notes (8) max. 40A PDB # | |
0 |
Gamepiece |
Motor |
Neo 550 |
Calgae Motors (Left and Right) |
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Brake |
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1 |
N/A |
LED strips |
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Addressable LED strips |
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42 total nodes |
VRM 5V | |
2 |
Gamepiece |
Motor |
Neo |
Calgae Wrist |
Brake | |||
3 |
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4 |
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5 |
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6 |
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7 |
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8 |
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9 |
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10 | ||||||||
11 |
LED Strip Layout and Function
Node Numbers | Location | Function |
0 - 18 | Side of elevator on Robot-left. Node 0 at bottom, 18 at top | Strategy-requested features for gameplay, fun stuff |
19 | Base of elevator on robot front, robot-left | Cage raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both |
20 | Base of elevator on robot front, 1 node in from robot-left | Elevator limit raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both |
21 | Base of elevator on robot front, 1 node in from robot-right | Coral raw sensor status. Green if coral is sensed, red if not |
22 | Base of elevator on robot front, robot-right | Algae raw sensor status. Green if algae is sensed, red if not |
23 - 42 | Side of elevator on Robot-right. Node 23 at bottom, 42 at top | Strategy-requested features for gameplay, fun stuff |
Relay Outputs
ID | Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
0 |
Cage |
SPIKE relay |
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Controls electric solenoid |
Power on to disengage pawl from ratchet, power off to engage |
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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 | |||||||
2 | |||||||
3 |
Digital IO (GPIO)
RoboRio IO
ID | Direction (IN/OUT) |
Subsystem | Component Type |
Model # | Description (brief) |
Operation | Notes |
0 | IN |
Gamepiece |
Sensor |
OPB720B-06Z |
Algae Sensor |
Detects when Algae is present in the Calgae Intake. |
Sensor should also detect slip and make sure the motors maintain grip on the Algae. |
1 | IN |
Gamepiece |
Sensor |
OMRON |
Coral Sensor |
Detects when Coral is present in the Calgae Intake. Then stops the intake motors. |
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2 | IN |
Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Elevator Top Limit |
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3 | IN |
Elevator |
Sensor |
REV Robotics Magnetic Limit Switch |
Elevator Bottom Limit |
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4 | IN |
Gamepiece |
Encoder |
Used in absolute position mode to indicate wrist pivot angle. |
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5 |
IN |
Hang |
Sensor |
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Hang Solenoid Up |
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6 |
IN |
Hang |
Sensor |
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Hang Hung |
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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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10 | |||||||
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15 |
Junction Box For Gamepiece Communication (Base & Carriage)
# (left to right) |
Subsystem | Component | Model |
Description (brief) | Operation | Notes |
1 | Gamepiece | Spark Max |
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Calgae Motor Controller
PWM Signal |
Controls Intake | After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers. |
2 | Gamepiece | PWM ground |
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Shared PWM ground |
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Ground for PWM outputs |
3 |
Gamepiece |
Digital ground |
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Shared digital ground |
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Ground to sensors |
4 | Gamepiece | Spark Max |
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Wrist Motor Controller
PWM Signal |
Controls Wrist |
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5 | Gamepiece | +5V Digital power |
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Shared digital power |
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Power to sensors |
6 | Gamepiece |
Encoder |
Bore Encoder |
Used in absolute position mode to indicate wrist pivot angle. |
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7 | Gamepiece | Sensor | OMRON | Coral Sensor | Detects when Coral is present in the Calgae Intake. Then stops the intake motors. |
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8 | Gamepiece | Sensor | OPB720B-06Z | Algae Sensor | Detects when Algae is present in the Calgae Intake. | Sensor should also detect slip and make sure the motors maintain grip on the Algae. |
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
PCM ID |
# | Subsystem | Solenoid is Double or Single? |
Solenoid Model # |
Description (brief) |
Operation | Circuit Pressure | PDB # |
1 | 0 |
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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 |
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