2010_FRC_Interface_Doc


1	Digital Sidecar (DSC) Interface
2		37-way Conn
3						DIGITAL I/O
4					DIO.14	Pneumatics Pressure Switch	SM-2B-115R/443
5	PWM OUT				DIO.13
6	Shift RH side supershifter	PWM.10			DIO.12
7					DIO.11
8	Shift LH side supershifter	PWM.9			DIO.10
9					DIO.9
10	Camera PAN	PWM.8			DIO.8	RH Front Wheel Encoder B	US Digital
11					DIO.7	RH Front Wheel Encoder A	US Digital
12	Camera Tilt	PWM.7			DIO.6	LH Front Wheel Encoder B	US Digital
13					DIO.5	LH Front Wheel Encoder A	US Digital
14	Winch Motor (fwd=wind web in)	PWM.6			DIO.4	RH Rear Wheel Encoder B	US Digital
15					DIO.3	RH Rear Wheel Encoder A	US Digital
16	Trike Motor	PWM.5			DIO.2	LH Rear Wheel Encoder B	US Digital
17					DIO.1	LH Rear Wheel Encoder A	US Digital
18	RH Front Drive Motor	PWM.4				(WHT/RED/BLK)
19
20	LH Front Drive Motor	PWM.3				RELAY OUT
21					RELAY.8	Air Compressor
22	RH Rear Drive Motor	PWM.2			RELAY.7	coast/brake
23					RELAY.6
24	LH Rear Drive Motor	PWM.1			RELAY.5
25	(BLK/RED/WHT) (GND/PWR/S)				RELAY.4	KICK cylinder
26					RELAY.3	Telescope cylinder
27					RELAY.2	Trike Cylinder
28					RELAY.1	Ball keep motor
29						(WHT/RED/BLK) (A/B/GND)
30
31		(+) ( -)	RSL		I2C	Compass
32		DSC POWER IN
33	WAGO 734-132 or 734-102			Molex# 22-23-2021 connector


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