From ce59ca726fb8cad9db2eb2d38ba83dc85235b584 Mon Sep 17 00:00:00 2001 From: Christian Colglazier Date: Wed, 11 May 2016 09:09:44 -0400 Subject: [PATCH] Added wiring and control documentation --- README.md | 69 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 69 insertions(+) diff --git a/README.md b/README.md index 62e7a3c..34b33e0 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,71 @@ # 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 \ No newline at end of file