2017:Robot IO Map

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Robot I/O

CAN ID Assignments

ID Subsystem

Component

Type

Model # Description
(brief)
Operation

Notes

(8) max. 40A         PDB #

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
2 Drivetrain motor CIM Left drive motor Positive voltage moves robot backwards 40A Breaker
3 Drivetrain motor
CIM Left drive motor
Positive voltage moves robot backwards
40A Breaker

4 Drivetrain
motor
miniCIM Left drive motor
Positive voltage moves robot backwards
30A Breaker

5 Drivetrain
motor
CIM Right drive motor Positive voltage moves robot forward
40A Breaker

6 Drivetrain
motor
CIM Right drive motor
Positive voltage moves robot forward
40A Breaker

7 Conveyor
motor
775 Pro Shooter feeder
Positive voltage intakes balls into shooter
30A Breaker
2
8 Fuel Intake motor 775 Pro
1st stage Intake roller
Positive voltage intakes balls under bar

30A breaker 13
9 Shooter motor 775 Pro
Shooter rotation, "master" motor Positive voltage spins in direction to shoot balls
Direct connect CTRE mag encoder in gearbox to this controller
40A breaker 9
10 Shooter motor 775 Pro
Shooter rotation, "slave" motor See master 40A breaker 10
11 Fuel Transition
motor 775 Pro
2nd stage intake roller
Positive voltage intakes balls over bar
30A breaker 14
12 Fuel Transition motor 775 Pro
Conveyor
Positive voltage runs conveyor towards shooter 30A breaker 15
13






14 Climber motor 775 pro Climber motor, "Master" Positive voltage winds rope "under" bar in towards robot
40A breaker 11
15 Climber motor 775 pro Climber motor, "Slave" See Master
40A breaker 12

PWM Outputs

ID Subsystem

Component

Type

Model # Description
(brief)

Operation


Notes

(8) max. 40A              PDB #   

0 Drivetrain SPARK CIM Drivetrain Left (L1) Positive Voltage Moves Robot Foward 40A 5
0 Drivetrain SPARK CIM Drivetrain Left (L2) Positive Voltage Moves Robot Foward
40A 6
1 Drivetrain SPARK miniCIM Drivetrain Left (L3) Positive Voltage Moves Robot Foward
30A 3
2 Drivetrain SPARK CIM Drivetrain Right (R1) Positive Voltage Moves Robot Backwards 40A 8
2 Drivetrain SPARK CIM Drivetrain Right (R2) Positive Voltage Moves Robot Backwards 40A 7
3 Drivetrain SPARK miniCIM Drivetrain Right (R3) Positive Voltage Moves Robot Backwards
30A 4
4 Gear Serov
Open/Close Left Side

5 Gear Serov
Open/Close Right Side

6 Climber Servo Deploy Climber

7



8






9
















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 Drive gyro ADXRS622 gyro telling angle and rate in auto

2.5v = null

7mV/degree/sec

2

3



Rev Robotics More Board Analog IO

ID Subsystem

Component

Type

Model # Description
(brief)
Operation

Voltage

Range

Notes
AIN0

 

 
AIN1




AIN2




AIN3






AOUT0






AOUT1




Digital IO (GPIO)

RoboRio IO

ID Direction
(IN/OUT)
Subsystem

Component

Type

Model # Description
(brief)
Operation
Notes
0 IN Drivetrain Shaft Encoder

61KS256

Left Encoder Phase A Drivetrain rotation Green
1 IN Drivetrain Shaft Encoder

61KS256

Left Encoder Phase B Drivetrain rotation
2 IN Drvietrain Shaft Encoder

61KS256

Right Encoder Phase A Drivetrain rotation Green
3 IN Drivetrain Shaft Encoder

61KS256

Right Encoder Phase B Drivetrain rotation
4 IN Fuel Intake Shaft Encoder (phase A only)

63R256

Speed Encoder phase A Indicates Intake Speed
5 OUT Lights
6 IN


 
7 IN Gear Optical Beam Banner Beam Break Sensor Indicates Spike Fully Engaged  
8 IN Fuel Transition Encoder (phase A only)

CTR Mag Encoder

Speed Encoder Phase A Indicates Conveyor Speed This is the assembly closest to the roboRIO board.
9 IN

Rev Robotics More Board IO

ID Direction (IN/OUT) Subsystem Component Type Model # Description (brief) Operation
Notes
0
1
2
3






4






5






6






7






8






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
0


1


2


3


4


5


6


SPI Devices

#
Subsystem

Component Type

Model # Description (brief) Operation
Notes




 

USB Host Ports

Address
Subsystem

Component Type

Model # Description (brief) Operation
Notes
0 Gear Camera Microsoft LifeCam HD-3000 Camera giving front view Focus on view of gear spike approach
1 Climber Camera Microsoft LifeCam HD-3000 Camera giving robot's left-side-view Focus on view of rope alignment with climber bar

Pneumatics Control Module

ID Subsystem

Component

Type

Model #

Description

(brief)

Operation
Notes Pressure Circuit
0
1
2
3
4

 



5






6

 



7



Operator Controls

Controller 1 - Primary Driver

Action/Button Description Details
Left Joystick Y Moves the robot forward/back

"Up drive the robot forward (Intake side)
Down drives the robot backward "

NOTE: will do the opposite if drive is toggled

Right Joystick X Turns the robot Left / Right

"Right will turn the robot clockwise and vice
versa. With no input from the left Joytick,
does point turn. With input from left, does
curve turn"

NOTE: will do the opposite if drive is toggled

Left Bumper Slow mode for left wheels
"decreases the range of power to the left
motors by a set amount. Amount tbd"
Right Bumper Slow mode for Right wheels
"decreases the range of power to the Righ
motors by a set amount. Amount tbd"
Left Trigger turbo mode for left wheels
"Increases the range of power to the left motors by a set amount. Amount tbd"
Right Trigger
turbo mode for right wheels "Increases the range of power to the right motors by a set amount. Amount tbd"
Y button n/a

CASEY SAID HE DOESNT NEED A CAMERA, ANDREW AGREED

Update: upon further review Andrew is now worried about climbing the rope on the other side

Update: Casey has now decided that he does think a camera would be useful

A button toggle drive

Controller 2 - Aux Driver

Action/Button Description Details



Right Bumper Intake hold to run intake, conveyor, and drum so balls are brought into the robot
Right Trigger Outtake hold to run intake, conveyor, and drum so balls are spit out of the robot
Left Trigger Release gear press button to open gear mechanism and release button to close gear mechanism
Left Bumper Close gear thing press and release button to close gear mechanism
Dpad Up
Climb up
hold to climb
Y button Calibrate Gyro press button to calibrate gyro
A button Shoot hold to shoot (checks shooter up to speed, run gate mechanism, also run intake/conveyor/drum
X button Pre-heat

hold to run shooter motor at speed (doesnt mess with gate)

Broken Switches

Broken Switch1 Shooter Speed encoder broken
Broken Switch2 Gear Spike present sensor broken
Broken Switch3 Bucket Conveyor Encoder Broken
Broken Switch4 Drive Left Left encoder broken
Broken Switch5
Drive Right Right encoder broken
Broken Switch6

Broken Switch7

IO Maps for Old Robots