2016-02-16 12:50:23 -05:00
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# Ford
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2016 Stronghold Robot
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2016-05-11 09:09:44 -04:00
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### Controls
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##### Driver Main Joystick (USB 0)
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- X-Axis - Drive forwards and backwards
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- Y-Axis - Turns left and right
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- Throttle - Manual shooter speed
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- Button 1 - Shoot
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- Button 2 - Drive full speed
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- Button 3 - Collect
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- Button 4 - Manual shooter backwards
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- Button 5 - Roll shooter
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- Button 6 - Manual shooter forwards
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- Button 12 - Joystick
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##### Driver Secondary Joystick (USB 1)
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- Y-Axis - Manual arm speed
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- Button 1 - Enables PID vision aiming
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- Button 2 - Enables manual arm movement
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- Button 3 - Preset shooting angle for low goal
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- Button 4 - Preset shooting angle for batter
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- Button 5 - Preset shooting angle for low goal
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- Button 6 - Preset shooting angle for defenses
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- Button 9 - Arm piston
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- Button 11 - Portcullis lifter up/down
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- Button 12 - Top shooter roller half speed
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### Electronics
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##### CANs
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- CAN 1 - Rear Right Drive Motor
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- CAN 2 - Front Right Drive Motor
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- CAN 3 - Rear Left Drive Motor
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- CAN 4 - Front Left Drive Motor
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- CAN 5 - Arm Lift Motor
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- CAN 6 - Arm Lift Motor
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- CAN 7 - Shooter Motor
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- CAN 8 - Shooter Motor
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- CAN 31 - Compressor Motor
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##### PWMs
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- PWM 1 - Rear Left Drive Motor
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- PWM 2 - Rear Right Drive Motor
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- PWM 3 - Front Left Drive Motor
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- PWM 4 - Front Right Drive Motor
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- PWM 5 - Shooter Motor
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- PWM 6 - Shooter Angle Motor
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##### Solenoids
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- Solenoid 0 - Shooter Piston
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- Solenoid 1 - Shooter Piston
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- Solenoid 2 - Portcullis Lifter
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- Solenoid 3 - Portcullis Lifter
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- Solenoid 4 - Arm Piston
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- Solenoid 5 - Arm Piston
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- Solenoid 6 - Climb Piston
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- Solenoid 7 - Climb Piston
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##### DIO
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- DIO 0 - Arm Encoder
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- DIO 1 - Arm Encoder
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- DIO 2 - Diagnostics
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- DIO MXP 0 - ARD
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- DIO MXP 1 - Drive Motor
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- DIO MXP 2 - Drive Moror
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- DIO MXP 3 - Batter
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- DIO MXP 4 - Batter
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##### AI
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- AI 0 - Arm Angle Potentiometer
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- AI 2 - Sonar
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