RoboRIO

The RoboRIO is like the brain of an FRC robot. It is the main processing unit where the code is stored and run. The roboRIO has a basic architecture of a real-time processor and field-programmable gate array but is powerful, smaller, and lighter than the previous system FRC has developed.

The robotRIO includes built-in ports for inter-integrated circuits(I2C), serial peripheral interfaces(SPI), RS232, USB, Ethernet, pulse width modulation(PWM), and relays to quickly connect the common sensors and actuator used in robotics.

Wiring

Connectors

Weidmuller connectors are used to supply power to the RoboRIO, PCM (Pneumatic Control Module, and VRM (Voltage Regulator Module). Older revisions of the PDP also utilized a version of this connector. These connectors work by lodging an awl/screwdriver head into the designated indent, and pushing down, enabling the slot for the wire to open up. Releasing the pressure on the indent will tighten up against the wire.

Wiring Diagram

Below is a wiring diagram for the RoboRIO

  1. Digital Input/Output(DIO): used for certain digital sensors. Ex: limit switches or encoders.

  2. R2-232

  3. I2C port: Can be used with one of the NAVX gyros

  4. CAN Port (Controller Area Network): used to power/signal TalsonSRX’s, the pneumatics control module, and the power distribution panel

  5. Input Power: The robotRIO gets wired to the power distribution panel and is not connected directly to the robot battery.

  6. USB device port: provide a way for your device to interface with the robotRIO (for loading code or driving robot) It is more reliable than the ethernet connection.

  7. USB Host Retention Mount: used for securing USB devices plugged into the RIO (ex. camera)

  8. USB Host ports: used for interfacing the robotRIO with USB devices (ex. Camera, NAVX gyro)

  9. Ethernet port: used for communication with wireless mesh radio or interfacing with your device(through an ethernet cord)

  10. Serial peripheral interface(SPI) bus: used for interfacing with certain sensors like gyro.

  11. LEDs for status

  1. The robot signal light(RSL): is mandatory during competitions and acts as a signal to whether the robot is connected in teleop mode(Driver Controlled period), etc…