CAN Devices
This page documents all CAN devices used in the robot, their IDs, and their associated bus.
Device Table
Control and Power Devices
| ID | Device Name | Abbreviation | CAN Bus |
|---|---|---|---|
| 1 | Rev PDH | RPDH | CAN 2.0 (2) |
| 3 | Pigeon Gyro | GYRO | CANivore (1) |
| 4 | Rev Servo Hub | RSVH | CAN 2.0 (2) |
Drivetrain (Swerve)
| ID | Device Name | Abbreviation | CAN Bus |
|---|---|---|---|
| 10 | Front Left Drive Motor | FLDR | CANivore (1) |
| 11 | Front Left Steer Motor | FLST | CANivore (1) |
| 12 | Front Left Encoder | FLEC | CANivore (1) |
| 13 | Front Right Drive Motor | FRDR | CANivore (1) |
| 14 | Front Right Steer Motor | FRST | CANivore (1) |
| 15 | Front Right Encoder | FREC | CANivore (1) |
| 16 | Back Left Drive Motor | BLDR | CANivore (1) |
| 17 | Back Left Steer Motor | BLST | CANivore (1) |
| 18 | Back Left Encoder | BLEC | CANivore (1) |
| 19 | Back Right Drive Motor | BRDR | CANivore (1) |
| 20 | Back Right Steer Motor | BRST | CANivore (1) |
| 21 | Back Right Encoder | BREC | CANivore (1) |
Elevator
| ID | Device Name | Abbreviation | CAN Bus |
|---|---|---|---|
| 30 | Left Elevator Motor | LELV | CAN 2.0 (2) |
| 31 | Right Elevator Motor | RELV | CAN 2.0 (2) |
| 32 | Elevator CANrange | ELCR | CAN 2.0 (2) |
Wrist and Intake
| ID | Device Name | Abbreviation | CAN Bus |
|---|---|---|---|
| 33 | Wrist Angle Motor | WRAG | CAN 2.0 (2) |
| 34 | Wrist Angle Encoder | WREC | CAN 2.0 (2) |
| 35 | Intake Motor | INTK | CAN 2.0 (2) |
| 36 | Intake CANrange | INCR | CAN 2.0 (2) |
LED Control
| ID | Device Name | Abbreviation | CAN Bus |
|---|---|---|---|
| 40 | CANdle | CNDL | CAN 2.0 (2) |
CAN Bus Summary
The robot uses two CAN buses: 1. CANivore (1) - Primary bus for drivetrain components (motors, encoders, and gyro) 2. CAN 2.0 (2) - Secondary bus for mechanism components and power distribution
Subsystem Distribution
Drivetrain (Swerve)
All swerve drive components are on the CANivore bus, including: - All drive motors (IDs 10, 13, 16, 19) - All steer motors (IDs 11, 14, 17, 20) - All encoders (IDs 12, 15, 18, 21) - Pigeon Gyro (ID 3)
Mechanisms
All mechanism components are on the CAN 2.0 bus, including: - Elevator motors and sensors (IDs 30, 31, 32) - Wrist components (IDs 33, 34) - Intake components (IDs 35, 36) - CANdle for LED control (ID 40)
Power and Control
- Rev PDH (ID 1) - Power Distribution Hub on CAN 2.0
- Rev Servo Hub (ID 4) - For controlling servos on CAN 2.0
Configuration and Setup
When configuring devices in code, ensure: 1. The correct CAN bus is specified for each device 2. IDs match this documentation 3. Firmware is up-to-date on all devices