RobotCode 2019 Draft III

Using Command Based controlling system.

Subsystems

Chassis

• six CAN Victor motor controllers for the chassis
• two solenoids for lift-up

Collector

• [in progress]

Arm

• two PWM Spark motor controllers for the arm lift-up
• one PWM Spark motor controller for the claw lift-up

Pin Layouts

Chassis

chassis - motor_left_0 = VectorSPX(10) chassis - motor_left_1 = VectorSPX(11) chassis - motor_left_2 = VectorSPX(12) chassis - motor_right_0 = VectorSPX(13) chassis - motor_right_1 = VectorSPX(14) chassis - motor_right_2 = VectorSPX(15)

Arm

arm_0 = TalonSRX(20) arm_1 = TalonSRX(21) claw = TalonSRX(22)

pusher = Solenoid(1) claw = Solenoid(2, 3)

Hook

extender = Solenoid(4) hook = Solenoid(5)

Intake lift = Spark(1) collector = Spark(2)