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