Hardware Summary
Variable Name Class Slot Channel
robotDrive DriveSystem 4 Many
PWM 4 1
PWM 4 2
ballRoller PWM 4 4
winchMotor PWM 4 3
solenoids[] Solenoid (List) 8 Many
Solenoid 8 1
Solenoid 8 2
Solenoid 8 3
Solenoid 8 4
Solenoid 8 5
Solenoid 8 6
Solenoid 8 7
Solenoid 8 8
compressor Compressor * **
(Outputs)
Function
Control the robot's drive system
Front left motor
Front right motor
Roll the balls towards the kicker.
Lift us up
Various tasks:
Retract
Retract
Repressurize
Repressurize
Release kicker latch
Winch Lock
Compress stuff
*: The compressor uses "pressure switch channel" 14
**: The compressor uses "compressor relay channel" 1
Hardware Summary (Joysticks)
Variable Name Class Slot Channel Function
rightJoystick Joystick Port: 1 Right hand joystick. Trigger kicks the ball.
leftJoystick Joystick Port: 2 Left hand joystick.
Note: On both joysticks, the trigger will fire the ball.
Also on both joysticks, button 4 will fire the winch
at a speed proportional to the X distance the joystick
is from its home position. This speed is REGARDLESS
of the current dial speed on the driver station.
l fire the ball.
re the winch
ce the joystick
s REGARDLESS
ver station.
Hardware Summary
Variable Name Class Slot Channel
aut…switches[] DigitalInput (Lst) 4 Many
DigitalInput 4 2
DigitalInput 4 3
DigitalInput 4 4
kickerLatchSwit DigitalInput 4 1
winchSwitch DigitalInput On DS
stoppedModeS DigitalInput ??? ???
DS DriverHub Joystick Port 3
DigitalInput D 2
DigitalInput D 3
DigitalInput D 5
DigitalInput D 6
DigitalInput D 7
AnalogInput A 1
(Other Inputs)
Function
Decide which autonomous program to run
Leftmost
Inner
Rightmost
Determine if the kicker has returned to its base state
Do we want to turn on the winch motor?
Switch "stopped mode" on and off.
3 Way Switch: Roller forwards or backwards?
Push to lock / unlock
Kick the ball
Hold to fire winch
Change winch speed