This is the code for our 2016 robot.
| port number | y-splitter? | Motor Controller type | description |
|---|---|---|---|
| 0 | Yes | Talon | Left Side Rhino Track |
| 1 | Yes | Talon | Right Side Rhino Track |
| 2 | No | Talon | Shooter |
| 3 | No | Spark | Winch |
| 4 | No | Talon | Hook |
| 5 | No | Servo | Camera X Rotation Servo |
| 6 | No | Servo | Camera Y Rotation Servo |
| 7 | No | Talon | Pick up motor |
| port number | description |
|---|---|
| 0 | Left Track Encoder A |
| 1 | Left Track Encoder B |
| 2 | Right Track Encoder A |
| 3 | Right Track Encoder B |
| 4 | Hooker Encoder A |
| 5 | Hooker Encoder B |
| 6 | Intake Limit Switch |
| 7 | Camera Light Relay (if used) |
| port | description |
|---|---|
| SPI | Gyro/Accelerometer |
| port number | description |
|---|---|
| 0 | Raise arm |
| 1 | Lower arm |