RoboBuilder421Ez.yaml

Version 2.0

---
Children:
- Children:
  - Children:
    - Children:
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: &id001 [Victor, Jaguar, Talon, VictorSP, TalonSRX, Spark, SD540]
            default: Talon
            name: Type
            validators: null
            value: VictorSP
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: &id002 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
              '11', '12', '13', '14', '15', '16', '17', '18', '19']
            default: '0'
            name: Output Channel (PWM)
            validators: &id003 [PWMOutput]
            value: '0'
        Base: Speed Controller
        Name: Front Left Motor
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: *id001
            default: Talon
            name: Type
            validators: null
            value: VictorSP
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: *id002
            default: '0'
            name: Output Channel (PWM)
            validators: *id003
            value: '1'
        Base: Speed Controller
        Name: Rear Left Motor
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: *id001
            default: Talon
            name: Type
            validators: null
            value: VictorSP
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: *id002
            default: '0'
            name: Output Channel (PWM)
            validators: *id003
            value: '2'
        Base: Speed Controller
        Name: Front Right Motor
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: *id001
            default: Talon
            name: Type
            validators: null
            value: VictorSP
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: *id002
            default: '0'
            name: Output Channel (PWM)
            validators: *id003
            value: '3'
        Base: Speed Controller
        Name: Rear Right Motor
      Properties:
        Sensitivity: !!robotbuilder.data.properties.DoubleProperty {default: 0.5,
          name: Sensitivity, validators: null, value: 0.5}
        Right Rear Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 3
          name: Right Rear Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive Train Rear Right Motor
        Right Front Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 2
          name: Right Front Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive Train Front Right Motor
        Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1,
          name: Maximum Output, validators: null, value: 1.0}
        Left Front Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Left Front Motor Inverted, validators: null, value: true}
        Right Front Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Right Front Motor Inverted, validators: null, value: true}
        Left Rear Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 1
          name: Left Rear Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive Train Rear Left Motor
        Right Rear Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Right Rear Motor Inverted, validators: null, value: true}
        Safety Expiration Time: !!robotbuilder.data.properties.DoubleProperty {default: 0.1,
          name: Safety Expiration Time, validators: null, value: 0.1}
        Left Rear Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Left Rear Motor Inverted, validators: null, value: true}
        Safety Enabled: !!robotbuilder.data.properties.BooleanProperty {default: true,
          name: Safety Enabled, validators: null, value: true}
        Left Front Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 0
          name: Left Front Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive Train Front Left Motor
      Base: Robot Drive 4
      Name: Robot Drive
    - Children: []
      Properties:
        Ping Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23',
            '24', '25']
          default: '0'
          name: Ping Channel (Digital)
          validators: [DigitalChannel]
          value: '2'
        Echo Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23',
            '24', '25']
          default: '0'
          name: Echo Channel (Digital)
          validators: [DigitalChannel]
          value: '3'
      Base: Ultrasonic
      Name: Ultrasonic
    Properties:
      Default command parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Default command parameters
        validators: null
        value: []
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: Arcade Drive}
      Constants: !!robotbuilder.data.properties.ConstantsProperty
        default: []
        name: Constants
        validators: null
        value: []
    Base: Subsystem
    Name: Drive Train
  - Children:
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: VictorSP
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '4'
      Base: Speed Controller
      Name: Catapult Motor
    - Children: []
      Properties:
        Channel A Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23',
            '24', '25']
          default: '0'
          name: Channel A Channel (Digital)
          validators: [DigitalChannel]
          value: '0'
        Distance Per Pulse: !!robotbuilder.data.properties.DoubleProperty {default: 1,
          name: Distance Per Pulse, validators: null, value: 1.0}
        PID Source: !!robotbuilder.data.properties.ChoicesProperty
          choices: [kDisplacement, kRate]
          default: kRate
          name: PID Source
          validators: null
          value: kRate
        Encoding Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: [k4X, k2X, k1X]
          default: k4X
          name: Encoding Type
          validators: null
          value: k4X
        Reverse Direction: !!robotbuilder.data.properties.BooleanProperty {default: false,
          name: Reverse Direction, validators: null, value: false}
        Channel B Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23',
            '24', '25']
          default: '0'
          name: Channel B Channel (Digital)
          validators: [DigitalChannel]
          value: '1'
      Base: Quadrature Encoder
      Name: Arm Encoder
    - Children: []
      Properties:
        Output Channel (Relay): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id004 ['0', '1', '2', '3']
          default: '0'
          name: Output Channel (Relay)
          validators: &id005 [RelayOutput]
          value: '0'
      Base: Spike
      Name: Clamp
    Properties:
      Limit Output: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Output, validators: null, value: false}
      D: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D, validators: null,
        value: 0.0}
      Default command parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Default command parameters
        validators: null
        value: []
      Continuous: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Continuous, validators: null, value: false}
      F: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: F, validators: null,
        value: 0.0}
      Tolerance: !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
        validators: null, value: 0.2}
      Constants: !!robotbuilder.data.properties.ConstantsProperty
        default: []
        name: Constants
        validators: null
        value: []
      I: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I, validators: null,
        value: 0.0}
      Minimum Input: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
        validators: null, value: 0.0}
      Limit Input: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Input, validators: null, value: false}
      Minimum Output: !!robotbuilder.data.properties.DoubleProperty {default: -1,
        name: Minimum Output, validators: null, value: -1.0}
      P: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P, validators: null,
        value: 1.0}
      Input: !!robotbuilder.data.properties.ChildSelectionProperty
        default: 0
        name: Input
        type: PIDSource
        validators: [ChildDropdownSelected]
        value: Catapult Arm Arm Encoder
      Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
        validators: null, value: 1.0}
      Output: !!robotbuilder.data.properties.ChildSelectionProperty
        default: 0
        name: Output
        type: PIDOutput
        validators: [ChildDropdownSelected]
        value: Catapult Arm Catapult Motor
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: None}
      Maximum Input: !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
        validators: null, value: 5.0}
    Base: PID Subsystem
    Name: Catapult Arm
  - Children:
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: VictorSP
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '7'
      Base: Speed Controller
      Name: Vertical Arm
    - Children: []
      Properties:
        Output Channel (Relay): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id004
          default: '0'
          name: Output Channel (Relay)
          validators: *id005
          value: '1'
      Base: Spike
      Name: LeftArm
    - Children: []
      Properties:
        Output Channel (Relay): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id004
          default: '0'
          name: Output Channel (Relay)
          validators: *id005
          value: '2'
      Base: Spike
      Name: RightArm
    Properties:
      Default command parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Default command parameters
        validators: null
        value: []
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: None}
      Constants: !!robotbuilder.data.properties.ConstantsProperty
        default: []
        name: Constants
        validators: null
        value: &id006 []
    Base: Subsystem
    Name: Pickup Arms
  - Children:
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: VictorSP
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '8'
      Base: Speed Controller
      Name: Scissor Motor
    Properties:
      Default command parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Default command parameters
        validators: null
        value: []
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: None}
      Constants: !!robotbuilder.data.properties.ConstantsProperty
        default: []
        name: Constants
        validators: null
        value: *id006
    Base: Subsystem
    Name: Scissor Lift
  Properties: {}
  Base: Subsystems
  Name: Subsystems
- Children:
  - Children:
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: PilotJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: &id007 ['1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23',
            '24', '25', '26', '27', '28', '29', '30', '31', '32']
          default: '1'
          name: Button
          validators: null
          value: '1'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: &id008 [TypeDropdownSelected]
          value: Extra Pilot Command 1
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: &id009 [whileHeld, whenPressed, whenReleased]
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Pilot Button 1
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: PilotJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '2'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Extra Pilot Command 2
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Pilot Button 2
    Properties:
      Number: !!robotbuilder.data.properties.ChoicesProperty
        choices: &id010 ['0', '1', '2', '3', '4', '5']
        default: 1
        name: Number
        validators: &id011 [Joystick]
        value: '0'
    Base: Joystick
    Name: PilotJoystick
  - Children:
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '1'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Raise Pickup Arms
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Raise Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '2'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Lower Pickup Arms
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Lower Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '3'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Spin Pickup Arms In
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Spin In Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '4'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Spin Pickup Arms Out
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Spin Out Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '5'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Shoot Ball PID
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Shoot Ball
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '6'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Reload
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Reload Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '7'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Scissors Up
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Scissors Up Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '8'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Scissors Down
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Scissors Down Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '9'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Camera Switch
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Switch Button
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: CoJoystick}
        Parameters: !!robotbuilder.data.properties.ParametersProperty
          default: []
          name: Parameters
          validators: null
          value: []
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: '1'
          name: Button
          validators: null
          value: '10'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id008
          value: Extra CoPilot Command
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id009
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: Extra Button
    Properties:
      Number: !!robotbuilder.data.properties.ChoicesProperty
        choices: *id010
        default: 1
        name: Number
        validators: *id011
        value: '1'
    Base: Joystick
    Name: CoJoystick
  Properties: {}
  Base: OI
  Name: Operator Interface
- Children:
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Autonomous Command
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive Train}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Arcade Drive
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Pickup Arms}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Raise Pickup Arms
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Pickup Arms}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Lower Pickup Arms
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Pickup Arms}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Spin Pickup Arms In
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Spin Pickup Arms Out
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Pickup Arms}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Reload
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Scissor Lift}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Scissors Up
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Scissor Lift}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Scissors Down
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Camera Switch
  - Children: []
    Properties: &id015
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Pickup Arms}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Pickup Ball
  - Children: []
    Properties: &id017
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive Train}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Drive To Defense
  - Children: []
    Properties: &id019
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive Train}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Drive Over Defense
  - Children: []
    Properties: &id021
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive Train}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Line Up Shot
  - Children: []
    Properties: &id028
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive Train}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Return to Neutral Zone
  - Children: []
    Properties: &id026
      Limit Output: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Output, validators: null, value: false}
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      D: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D, validators: null,
        value: 0.0}
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Catapult Arm}
      Continuous: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Continuous, validators: null, value: false}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Tolerance: !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
        validators: null, value: 0.2}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
      I: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I, validators: null,
        value: 0.0}
      Period: !!robotbuilder.data.properties.DoubleProperty {default: 0.02, name: Period,
        validators: null, value: 0.02}
      Minimum Input: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
        validators: null, value: 0.0}
      Limit Input: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Input, validators: null, value: false}
      Minimum Output: !!robotbuilder.data.properties.DoubleProperty {default: -1,
        name: Minimum Output, validators: null, value: -1.0}
      P: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P, validators: null,
        value: 1.0}
      Input: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Input
        type: PIDSource
        validators: &id024 [TypeDropdownSelected]
        value: Catapult Arm Arm Encoder
      Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
        validators: null, value: 1.0}
      Output: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Output
        type: PIDOutput
        validators: &id025 [TypeDropdownSelected]
        value: Catapult Arm Catapult Motor
      Maximum Input: !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
        validators: null, value: 5.0}
    Base: PID Command
    Name: Shoot Ball PID
  - Children: []
    Properties: &id013
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive Train}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: Drive To Ball
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Commands: !!robotbuilder.data.properties.ListProperty
        default: []
        name: Commands
        validators: [List]
        value:
        - &id016 !!robotbuilder.data.CommandGroupEntry
          command:
            base: &id014
              help: A command specifies an action that the robot can perform.
              name: Command
              properties:
              - !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
                name: Requires, type: Subsystem, validators: null, value: None}
              - !!robotbuilder.data.properties.BooleanProperty {default: true, name: Button on SmartDashboard,
                validators: null, value: true}
              - !!robotbuilder.data.properties.ParametersProperty
                default: []
                name: Parameters
                validators: null
                value: []
              - !!robotbuilder.data.properties.ParameterSetProperty
                default: &id012 []
                name: Parameter presets
                validators: null
                value: *id012
              supports: {}
              type: Command
            name: Drive To Ball
            properties: *id013
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: null
        - &id018 !!robotbuilder.data.CommandGroupEntry
          command:
            base: *id014
            name: Pickup Ball
            properties: *id015
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: *id016
        - &id020 !!robotbuilder.data.CommandGroupEntry
          command:
            base: *id014
            name: Drive To Defense
            properties: *id017
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: *id018
        - &id022 !!robotbuilder.data.CommandGroupEntry
          command:
            base: *id014
            name: Drive Over Defense
            properties: *id019
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: *id020
        - &id027 !!robotbuilder.data.CommandGroupEntry
          command:
            base: *id014
            name: Line Up Shot
            properties: *id021
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: *id022
        - &id029 !!robotbuilder.data.CommandGroupEntry
          command:
            base:
              help: A command that uses a PID controller to perform its desired action.
              name: PID Command
              properties:
              - !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
                name: Requires, type: Subsystem, validators: null, value: None}
              - !!robotbuilder.data.properties.BooleanProperty {default: true, name: Button on SmartDashboard,
                validators: null, value: true}
              - !!robotbuilder.data.properties.ParametersProperty
                default: !!set {}
                name: Parameters
                validators: null
                value: []
              - !!robotbuilder.data.properties.ParameterSetProperty
                default: &id023 []
                name: Parameter presets
                validators: null
                value: *id023
              - !!robotbuilder.data.properties.TypeSelectionProperty
                default: None
                name: Input
                type: PIDSource
                validators: *id024
                value: None
              - !!robotbuilder.data.properties.TypeSelectionProperty
                default: None
                name: Output
                type: PIDOutput
                validators: *id025
                value: None
              - !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P,
                validators: null, value: 1.0}
              - !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I,
                validators: null, value: 0.0}
              - !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D,
                validators: null, value: 0.0}
              - !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
                validators: null, value: 0.2}
              - !!robotbuilder.data.properties.DoubleProperty {default: 0.02, name: Period,
                validators: null, value: 0.02}
              - !!robotbuilder.data.properties.BooleanProperty {default: false, name: Continuous,
                validators: null, value: false}
              - !!robotbuilder.data.properties.BooleanProperty {default: false, name: Limit Input,
                validators: null, value: false}
              - !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
                validators: null, value: 0.0}
              - !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
                validators: null, value: 5.0}
              - !!robotbuilder.data.properties.BooleanProperty {default: false, name: Limit Output,
                validators: null, value: false}
              - !!robotbuilder.data.properties.DoubleProperty {default: -1, name: Minimum Output,
                validators: null, value: -1.0}
              - !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
                validators: null, value: 1.0}
              supports: {}
              type: Command
            name: Shoot Ball PID
            properties: *id026
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: *id027
        - !!robotbuilder.data.CommandGroupEntry
          command:
            base: *id014
            name: Return to Neutral Zone
            properties: *id028
          hasMatch: true
          order: Sequential
          parameters:
            default: []
            name: ParametersProperty
            validators: null
            value: []
          previous: *id029
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command Group
    Name: Autonomous Command Group
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Extra CoPilot Command
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Extra Pilot Command 1
  - Children: []
    Properties:
      Parameters: !!robotbuilder.data.properties.ParametersProperty
        default: []
        name: Parameters
        validators: null
        value: []
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Parameter presets: !!robotbuilder.data.properties.ParameterSetProperty
        default: []
        name: Parameter presets
        validators: null
        value: []
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: Extra Pilot Command 2
  Properties: {}
  Base: Commands
  Name: Commands
Properties:
  Eclipse Workspace: !!robotbuilder.data.properties.FileProperty {default: 'C:\Users\Robotics.ROBOTICS-09\workspace',
    extension: null, folder: true, name: Eclipse Workspace, validators: null, value: 'C:\Users\Robotics.ROBOTICS-09\workspace'}
  Export Commands: !!robotbuilder.data.properties.BooleanProperty {default: true,
    name: Export Commands, validators: null, value: true}
  Autonomous command parameters: !!robotbuilder.data.properties.ParametersProperty
    default: []
    name: Autonomous command parameters
    validators: null
    value: []
  Java Package: !!robotbuilder.data.properties.StringProperty {default: org.usfirst.frc0000,
    name: Java Package, validators: null, value: org.usfirst.frc.team5176}
  Use Default Java Package: !!robotbuilder.data.properties.BooleanProperty {default: true,
    name: Use Default Java Package, validators: null, value: true}
  Team Number: !!robotbuilder.data.properties.IntegerProperty {default: 0, name: Team Number,
    validators: null, value: 5176}
  Export Subsystems: !!robotbuilder.data.properties.BooleanProperty {default: true,
    name: Export Subsystems, validators: null, value: true}
  Simulation World File: !!robotbuilder.data.properties.StringProperty {default: /usr/share/frcsim/worlds/GearsBotDemo.world,
    name: Simulation World File, validators: null, value: /usr/share/frcsim/worlds/GearsBotDemo.world}
  Wiring file location: !!robotbuilder.data.properties.FileProperty {default: 'C:\Users\Robotics.ROBOTICS-09\',
    extension: null, folder: true, name: Wiring file location, validators: null, value: 'C:\Users\Robotics.ROBOTICS-09\'}
  Autonomous Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
    name: Autonomous Command, type: Command, validators: null, value: Autonomous Command}
Base: Robot
Name: RoboCode421Ez