ford/README.md

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