2018 Control System

As decided per issue #10:

Drivetrain:

• Andymark Chassis
• {ToughBox | EvoShifter(SingleSolenoid, defaulting low)} Gearboxes
• E4T Optical Encoders for Each Side of the Chassis
  • Wired via TalonSRX Breakout Board
• TalonSRX wired via CAN
• {4 | 6} CIMs for Motors
• PigeonIMU wired via SRX for Gyro
• More Board for Port Expansion

Velocity-based Motor Control:

• TalonSRX wired via CAN
• VP Gearbox w/ VP Encoder

Voltage-based Motor Motor Control:

• REVSpark Motor Controllers wired via PWM

Non-continuous Rotational Motor Control:

• REVSpark Motor Controllers wired via PWM
• Limit switches on both ends wired directly to motor controller in an NO circuit
• Potentiometer wired to Rio

Pneumatic Actuators

• {Single | Double} Solenoid wired to PCM