| Subsystem | Device Type | Device | CAN ID | Notes |
|---|---|---|---|---|
| Drive Train | CANSparkMax | LeftLeader | 3 | |
| Drive Train | CANSparkMax | LeftFollow | 15 | |
| Drive Train | CANSparkMax | RightLeader | 5 | |
| Drive Train | CANSparkMax | RightFollower | 6 | |
| Imu | Pigeon | pidgey | 4 | Child of talonIntake, Created in RobotContainer |
| Intake | TalonSRX | talonIntake | 4 | Created in RobotContainer |
| Intake | CANSparkMax | Conveyer | 8 | |
| Launcher | CANSparkMax | launcherLeader | 9 | |
| Launcher | CANSparkMax | launcherFollower | 10 | |
| Climb Hook | CANSparkMax | climb left | 13 | |
| Climb Hook | CANSparkMax | climb right | 14 | |
| Ball Ejector | CANSparkMax | BallEject | 11 | |
| PDP | 2 | |||
| BallTower | CANSparkMax | towerRoller | 7 | |
| BallTower | CANSparkMax | towerBelts | 12 | |
| CompressorSubsystem | Compressor | compressor | 26 | All pneumatics objects must use this can ID, default REVPH id of 2 conflicted with PDP |
| Subsystem | Single/Double | Channel(s) | Device | Notes |
|---|---|---|---|---|
| Intake | Double | 3,4 | intakeSolenoid | |
| Launcher | Single | 0 | ||
| Climb Pivot | Double | 1,2 |
| Subsystem | Device | Channel | Notes |
|---|---|---|---|
| BallTower | beamBreak | 0 | |
| BallEjector | redInput | 8 | |
| BallEjector | blueInput | 9 |
Controller0
Button A: High fender shot
Button B: Low fender shot
Button X: Mid tarmac shot
Button Y: Long tarmac shot
Button RB: Limelight Aim
Button LB: Launches Ball
Select: Stops flywheel
Left stick Y axis: Drivetrain Forward/Reverse
Right stick X axis: Drivetrain Turn Left/Right
Controller1