Interface Control

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RoboRIO CAN Bus Assignments

Bus Assignment	Actuation	Signal Definition
1	Right Bottom Drive (Falcon500)
2	Right Top Drive (Falcon500)	Slave Mode to Right Bottom Drive
3	Left Top Drive (Falcon500)	Slave Mode to Left Bottom Drive
4	Left Bottom Drive (Falcon500)
5	Arm (CIM)
6
7

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RoboRIO Pulse Width Modulation (PWM)

Pin Assignment	Actuation	Signal Definition
1
2
3
4
5
6
7

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RoboRIO Digital Input Output (DIO)

Pin Assignment	Actuation	Signal Definition
1
2
3
4
5
6
7