# 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