2/14/02

User Interface


Section		Port	Pin	Function	Type	Default Name	New Name		Bit

1 Joystick
		1	2	Fine Control \	Digital	p1_sw_trig	inp_drv_fc	   swA.bit0
		1	3	Y-Axis		Analog	p1_Y		inp_joy_1
		1	6	X-Axis		Analog	p1_X		inp_joy_2
		1	7	Turbo		Digital	p1_sw_top	inp_turbo	   swA.bit1

2 Joysticks
		1	2	Fine Control \	Digital	p1_sw_trig	inp_drv_fc	   swA.bit0
		1	7	Turbo		Digital	p1_sw_top	inp_turbo	   swA.bit1
		2	3	Y-Axis1 *	Analog	p2_Y		inp_joy_1
		2	6	Y-Axis2		Analog	p2_X		inp_joy_2

Interface
				
'				Joy On/Off 	Digital	inp_joy_button
		1	15	LED-Wait	Output	out8		out_led_8
		1	10	Reset button	Digital	p1_sw_aux1	inp_start	   swA.bit2
		1	14	Grabber		Digital	p1_sw_aux2	inp_gr_tog_switch  swA.bit3
		2	7	calibrate btn	Digital	p2_sw_top 	inp_calibrate	   swB.bit1
		2	10	Gear Shift 	Digital	p2_sw_aux1	inp_shift	   swB.bit2
		2	14	1 or 2 joy sw	Digital	p2_sw_aux2	inp_joy_switch	   swB.bit3
		3	2	Seat  SW F -	Digital	p3_sw_trig	inp_bc_sw_f_lower  swA.bit4
		3	7	Seat  SW R	Digital	p3_sw_top	inp_bc_sw_b_lower  swA.bit5
		3	10	Chipiua	SW F	Digital	P3_sw_aux1	inp_bc_sw_f_higher swA.bit6
		3	14	Chipiua	SW R	Digital	p3_sw_aux2	inp_bc_sw_b_higher swA.bit7
		

Robot Outputs
Output				Function				Variable
										
PWM 1				Drill Motor1(drive)			out_drive_right	
PWM 2				Drill Motor2				out_drive_left	
PWM 3				Servo1(drive) 				out_servo_right	
PWM 4				Servo2 					out_servo_left	
PWM 5				Window Motor(grabbers)			out_gr_motor
PWM 6				Seat motors (ball handling)		out_bc_motorlower
PWM 7				Globe (Castor)				out_motor_cast
PWM 8				Chipiua	(ball handling)			out_bc_motorhigher
Relay 1				Mars Light				out_mars_light

Sensors
Sensor		Input	Pin	Old Variable				New Variable

Limit Switch1	Digital	1	rc_sw1					inp_gr_sensor_up
Limit Switch2	Digital	4	rc_sw5					inp_gr_sensor_down
Potentiometer	Analog	2	sensor1					TBA


				

Note:	Much head scratching was made at finding the default names for the user 
interface stuff. The default program was invaluable.
		

Key:

'	not used (commented out of the whitepaper)

-	This switch controls two motors

*	The comp thinks it's the X-axis

\	Chariots of Fire