2018: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
3
4
5
6
7
8
9
10
11
12
13






14
15

PWM Outputs

ID Subsystem

Component

Type

Model # Description
(brief)

Operation


Notes

(8) max. 40A              PDB #   

0 DriveBase
CIM

SPARK
Left Motor 1;  +Voltage = Forwards


1 DriveBase
CIM

SPARK
Left Motor 2; +Voltage = Forwards


2 DriveBase
CIM

SPARK
Left Motor 3; +Voltage = Forwards


3 DriveBase
CIM

SPARK
Right Motor 1; +Voltage = Forwards


4 DriveBase
CIM

SPARK
Right Motor 2; +Voltage = Forwards


5 DriveBase
CIM

SPARK
Right Motor 3; +Voltage = Forwards


6






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
1 IN
2 IN
3 IN
4 IN
5 OUT
6 IN


 
7 IN  
8 IN
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
1

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

 Button #
Action/Button
Description Details

Left Joystick Y



Left Joystick X



Right Joystick Y


Right Joystick X

5
Left Bumper

6
Right Bumper

7
Left Trigger

8
Right Trigger


4
Y button

1
A button


Controller 2 - Aux Driver

Button #
Action/Button
Description Details
5
Left Bumper


6
Right Bumper


8
Right Trigger

7
Left Trigger

0
Dpad Up


4
Y button

1
A button


3
X button

Broken Switches

Switch Description Details
Broken Switch1

Broken Switch2

Broken Switch3

Broken Switch4

Broken Switch5


Broken Switch6


Broken Switch7


IO Maps for Old Robots