Code for 2023 Robot
CAN IDs
Talon FX 1-8 - Swerve
CAN Spark Max 9 - Arm Left Side
CAN Spark Max 10 - Arm Right Side
CAN Spark Max 11 - Elevator
CAN Spark Max 12 - Wrist
CAN Spark Max 13 - Wrist Left Intake
CAN Spark Max 14 - Dropdown Intake - Left Dropdown Motor
CAN Spark Max 15 - Dropdown Intake - Right Dropdown Motor
CAN Spark Max 16 - Wrist Right Intake
CAN Spark Max 17 - Drop Down Intake - Intake Motor
PDH Ports
0 - Front Right Module Angle Motor
1 - Left Drop Down Intake Motor
2 - Left Arm Motor
3 - Front Right Module Drive Motor
4 - Back Left Module Drive Motor
5 - Back Left Module Angle Motor
6 - Front Left Module Drive Motor
7 - Back Right Module Angle Motor
8 - Back Right Module Drive Motor
9 - Front Left Module Angle Motor
10 - Right Arm Motor
11 - Right Dropdown Intake motor
12 - Left Grabber Intake Motor
13 - Elevator Motor
14 - Right Grabber Intake Motor
15 - Wrist Motor
16 - Dropdown Intake Wheel Motor
Controls:
Driver:
Left Joystick: Swerve Translation
Right Joystick: Swerve Rotation