Hardware interface

[Louis L]

Here is where the hardware is located - analog inputs channels, PWM, digital pins, CAN numbers, etc. Each time this is updated, please re-post the entire table so we can see the latest version easily.

[Louis L]

What for	Controller	Function/device	I/O identifier	Notes
-----	-----	-----	-----	-----
Drivetrain	Joystick	Left Wheels	USB 0
Drivetrain	Joystick	Right Wheels	USB 1
Drivetrain	Gyro	single axis gyro	AIN 0
Operator	Game Controller	Robot control	USB 2
-----	-----	-----	-----	-----
Autonomous	Rotary Switch	Autonomous Mode Selector	AIN 2
Autonomous	Rotary Switch	Autonomous Defense Crossing Selector	AIN 3
-----	-----	-----	-----	-----
Drivetrain	Victor SP	Left side CIM 1	PWM 1	Only need 1 PWM for each side
Drivetrain	Victor SP	Left side CIM 2	PWM 1
Drivetrain	Victor SP	Right side CIM 3	PWM 2	Only need 1 PWM for each side
Drivetrain	Victor SP	Right side CIM 4	PWM 2
Drivetrain	ADIS16448 IMU MXP Breakout Board	Inertial System	MPX
-----	-----	-----	-----	-----
Intake	Talon SRX	Lower Roller	CAN 6
Intake	Talon SRX	Upper Roller	CAN 5
Intake	Talon SRX	Intake Retract	CAN 3
Intake	Quadrature encoder A	retract intake	DIO 0
Intake	Quadrature encoder B	retract intake	DIO 0
Intake	Optical digital input	Hold Sensor	DIO 0
Intake	Optical digital input	Cradle Sensor	DIO 1
-----	-----	-----	-----	-----
-----	-----	*** Climber is gone. This is here purely for history ***	-----	-----
Climber	Talon SRX	Winch	CAN 9
Climber	Talon SRX	Scissor Lift	CAN 1
Climber	Limit switch	2 series wired switches to detect if we're hanging	DIO 2
Climber	Limit switch - winch	Stops the winch from pulling further, wired to Talon SRX	N/A
Climber	Limit switch - opening	Stops the lift's linear rail from opening further, wired to Talon SRX	N/A
Climber	Limit switch - closing	Stops the lift's linear rail from closing further, wired to Talon SRX	N/A
-----	-----	-----	-----	-----
Shooter	Talon SRX	Hardstop	CAN 2
Shooter	Talon SRX	Draw back and trigger	CAN 7
Shooter	Limit switch	Trips when the catapult cam has reached its bottom position	DIO 7
-----	-----	-----	-----	-----
Port./ C-d-F	Talon SRX	Bring Portcullis and Cheval-de-fris mechanism up and down	CAN 8

[Louis L]

Today the intake team changed the intake design. The arm no longer will double as the climber's aid. The net is that we remove a motor, a potentiometer and 2 limit switches previously used to move and detect the arm's position. The hardware interface table has been updated.

[Louis L]

Update the table. The shooter has been simplified; it no longer has movement capability nor adjustable strength. The climber no longer has an encoder on  the winch. Not sure about the lift motor so it's still there pending further clarification.

[Louis L]

Update table.
Assigned autonomous selector switch AIN channels
Changed shooter limit switch
Added TBD on climber

[Louis L]

moved shooter Talon SRX to CAN 7

[Louis L]

swapped upper and roller CAN targets to reflect how the hardware actually works.

[Louis L]

Forgot to mention that the voltage used to drive the lower roller needs to be inverted because the wires to the lower roller motor were wired backwards.

Also, to move the Boulder from Hold to Cradle, we need to drive both the upper and lower roller, not just the upper roller.

[Louis L]

I've added a Talon SRX to CAN4 in the "intake" section.
While we normally avoid feature creep this late in the game, this one is pretty important. The issue at hand is that our intake mechanism is susceptible to damage from severe impact; either head-on or from a side-blow. The only real way to prevent such damage is to get it out of harm's way and that means to lift the unit up and let the bumpers take any hits. The only real use for this is when the opponents are playing hard defense which is usually in the elimination rounds.

The way this works (as described to me last night) is that a window motor will directly drive the intake up and down. The initial position will be as it is today. Instead of jerking the robot forwards to drop the intake arm, the motor will deploy it. We still need to move the robot forwards to give the intake some room to drop. To retract the intake into the up position, we turn the motor in the opposite direction. Near the top of its travel, a limit switch will trip shutting off the motor automatically (no sw involved). If/when gravity backdrives the intake back down, the limit switch will disengage and cause the motor to re-start its upwards motion. This retraction motor will essentially oscillate on and off and keep the intake arm up in the process. To bring the intake arm back down, simply lower it.

Question - does the intake perform differently when attached to a gearbox given that it no longer has "bounce"?

So to make this work, we need another button or control mechanism. We have the unused #4 button (toggle up and down) or we can use one of the 2 joysticks on the gamepad up and down. We have options.