IO Pin Maps for Pre-2009 Robots

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2007: A-Rack-Na-Phobia

Type / Function  Channel
Connected Device
PWM Outputs
01 Left Drive
02 Right Drive
03 Turret (removed)
04 Arm
05 Wrist
06 Manipulator
07 (Unused)
08 (Unused)
09 (Unused)
10 (Unused)
11 Camera Pan
12 Camera Tilt
Analog Inputs
01 Turrent position (removed)
02 Arm position
03 Wrist position
04 Pressure sensor (removed)
05 Pressure sensor (removed)
06 Pressure sensor (removed)
07 Pressure sensor (removed)
08 (Unused)
Digital Input/Output
01 (Unused)
02 (Unused)
03 - Input Left Wheel Encoder
04 - Input Right Wheel Encoder
05 (Unused)
06 (Unused)
07 (Unused)
08 (Unused)
09 - Input Manipulator "Closed" Limit Switch
10 - Input Manipulator "Open" Limit Switch
11 (Unused)
12 (Unused)
13 - Input Autonomous select - bit 5
14 - Input Autonomous select - bit 4
15 - Input Autonomous select - bit 3
16 - Input Autonomous select - bit 2
17 - Input Autonomous select - bit 1
18 - Input Autonomous select - bit 0