IO Assignments

Digital IO

• DIO 0: Practice Bot Jumper

Analog IO

PWM

Motor Controllers

CANCoders

PDB assignments

Vision

Joehan limelight locations

limelight-front:

limelight-back:

Driver Controller

Slow Drive Mode

• Robot Oriented limited to 30% power
  • Xbox Controller: Hold Left Bumper
  • FlySky Controller: Toggle SWF

General Controls

• NavX Reset (Square Up Robot)
  • Xbox Controller: Press A Button
  • FlySky Controller: Toggle SWA

Button Box Mappings

ESEF Positioning Commands

• A1, C1
  • Moves to L1 position
  • Returns to Home on release
• A2, C2
  • Moves to L2 position
  • Returns to Home on release
• A3, C3
  • Moves to L3 position
  • Returns to Home on release
• A4, C4
  • Moves to L4 position
  • Returns to Home on release

End Effector Commands

• A1, A2, A3, A4, C1, C2, C3, C4 (Right Trigger)
  • Runs End Effector until Coral is gone (0.9 speed)
  • Stops End Effector on release

Station Pickup Commands

• D2
  • Moves to Station Pickup Position
  • Runs End Effector until Coral is detected (0.4 speed)
• D3
  • Moves to Station Pickup Position
  • Runs End Effector at 0.2 speed

Algae Claw Controls

• B4
  • Moves to Barge Position
  • Runs End Effector at -0.95 speed
  • Stops on release
• B2
  • Moves to Algae L2 Position, runs End Effector (0.45 speed)
  • After timeout, moves to Algae L2 Remove Position
  • Returns Home on release
• B3
  • Moves to Algae L3 Position, runs End Effector (0.45 speed)
  • After timeout, moves to Algae L3 Remove Position
  • Returns Home on release

AFI Subsystem Controls

• B1
  • Moves Pivot to 15 degrees, runs Roller (0.5 speed)
  • Moves Pivot to 80 degrees, runs Roller at 0.02 speed
  • Right Trigger: Runs Roller at -0.5 speed, stops on release

Climber Commands

• D1 (Right Trigger)
  • Moves to Climb Position, sets Climber Power to 0.7
  • Stops Climber on release
• D1 (Left Trigger)
  • Moves to Climb Position, sets Climber Power to -1
  • Stops Climber on release