2025:Robot IO Map

From 1511Wookiee
Jump to navigationJump to search

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 Drive Motor Kraken X60  Brake Drive Motor Front Left



 


2

Drive

Motor

Kraken X60  Brake

Rotation Motor Front Left





3

Drive

Cancoder



Cancoder Front Left 





4

Drive

Motor

Kraken X60  Brake

Drive Motor Front Right





5

Drive

Motor

Kraken X60  Brake

Rotation Motor Front Right





6

Drive

Cancoder



Cancoder Front Right





7

Drive

Motor

Kraken X60 Brake

Drive Motor

Back Right





8

Drive

Motor

Kraken X60  Brake

Rotation Motor Back Right





9

Drive

Cancoder



Cancoder Back Right





10

Drive

Motor

Kraken X60  Brake

Drive Motor

Back Left





11

Drive

Motor

Kraken X60  Brake

Rotation Motor Back Left





12

Drive

Cancoder



Cancoder Back Left





14

Drive

Pigeon

Pigeon


IMU





15

Elevator

Motor

Neo

Brake

Elevator Motor Right





16

Elevator

Motor

Neo

Brake

Elevator Motor Left





17

Cage

Motor

Neo

?

Hang winch





18










19










20










21










22










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
0

Front Right Drive (Drivebase)

40A


Kraken 60


1

Front Right Rotation (Drivebase)

40A


Kraken 60


2

Front Left Drive (Drivebase)

40A


Kraken 60


3

Front Left Rotation (Drivebase)

40A


Kraken 60


4

Rear Left Drive (Drivebase)

40A


Kraken 60


5

Rear Left Rotation (Drivebase)

40A


Kraken 60


6

Wrist

30A?


Neo


7

Intake Left Motor

30A?


Neo 550


8

Intake Right Motor

30A?


Neo 550


9






10

Rear Right Drive (Drivebase)

40A


Kraken 60


11

Rear Right Rotation (Drivebase)

40A


Kraken 60


12

Elevator Drive Left (Gamepiece)

40A


Neo


13

Elevator Drive Right (Gamepiece)

40A


Neo


14

Cage Solenoid

20A


Spike Relay


15

Cage Winch

40A


Neo


16






17






18






19






20

Radio (RCS)

10A



Fused Port

21

RoboRio (RCS)

10A



Fused Port

22

VRM

10A



Fused Port

23 (Switchable)








VRM Assignments

Port # Device (Subteam)
5V/2A

Lights (RCS)

5V/2A


5V/500mA


5V/500mA


12V/2A

CANCoders (except right rear)

12V/2A

Pigeon (RCS)

12V/500mA

CANCoder - right rear

12V/500mA


PWM Outputs

ID Subsystem

Component

Type

Model # Description
(brief)

Operation

 

Brake/Coast

Notes

(8) max. 40A              PDB #   

0

Gamepiece

Motor

Neo 550

Calgae Motors (Left and Right)


Brake


 
1

N/A

LED strips


Addressable LED strips


42 total nodes

 VRM 5V  
2

Gamepiece

Motor

Neo

Calgae Wrist

   Brake    
3





       
4









5



 


       
6









7





 




8









9





 




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


Controls electric solenoid

Power on to disengage pawl from ratchet, power off to engage


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

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.


2 IN

Elevator

Sensor

 REV Robotics Magnetic Limit Switch
(REV 31-1462)

Elevator Top Limit



3 IN

Elevator

Sensor

REV Robotics Magnetic Limit Switch
(REV 31-1462)

Elevator Bottom Limit



4 IN

Gamepiece

Encoder

REV 11-1271

Used in absolute position mode to indicate wrist pivot angle.



5

IN

Hang

Sensor


Hang Solenoid Up



6

IN

Hang

Sensor


Hang Hung



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              
 


Junction Box For Gamepiece Communication (Base & Carriage)

#
(left to right)
Subsystem Component Model
Description (brief) Operation Notes
1 Gamepiece Spark Max


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


Shared PWM ground


Ground for PWM outputs
3

Gamepiece

Digital ground


Shared digital ground


Ground to sensors
4 Gamepiece Spark Max


Wrist Motor Controller

PWM Signal

Controls Wrist


5 Gamepiece +5V Digital power


Shared digital power


Power to sensors

6 Gamepiece

Encoder

REV 11-1271

Bore Encoder

Used in absolute position mode to indicate wrist pivot angle.


7 Gamepiece Sensor OMRON Coral Sensor Detects when Coral is present in the Calgae Intake. Then stops the intake motors. 


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


 






 
               
               
               
               
               
               

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

















IO Maps for Old Robots