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Remote and Hardware Mappings
This page is dedicated to documenting the hardware/software interface present for each of the robots. This includes which motor IDs are associated with which motors in software as well as which remote switches activate which commands.
Note: Default commands are commands that define robot behavior when other commands are not otherwise specified.
For all robots that have a chassis and/or turrret, the following user input is the same:
| User Input | Behavior |
|---|---|
| left joystick | translational movement |
| right joystick | turret movement |
| WASD | translational movement |
| mouse movement | turret movement |
| Command Mapping | Command |
|---|---|
| right switch down | stop friction wheels |
| right switch up | shoot command ref system limited |
| left switch down | beyblade |
| left switch up | chassis normal drive, cv |
| r toggled | open hopper |
| f toggled | beyblade |
| left mouse pressed, shift not pressed | shoot command ref system limited |
| left mouse pressed, shift pressed | shoot command not limited |
| right mouse pressed | cv |
| z pressed | turret uturn |
- chassis autorotate
- turret world relative
- spin friction wheels
- close hopper
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Left friction wheel motor |
| 2 | 0x202 | Right friction wheel motor |
| 5 | 0x205 | Yaw gimbal |
| 6 | 0x206 | Pitch gimbal |
| 7 | 0x207 | Agitator motor |
| 8 | 0x208 | Hopper cover motor |
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Right front chassis drive motor |
| 2 | 0x202 | Left front chassis drive motor |
| 3 | 0x203 | Left back chassis drive motor |
| 4 | 0x204 | Right back chassis drive motor |
| Command Mapping | Command |
|---|---|
| right switch down | stop friction wheels |
| right switch up | shoot command ref system limited |
| left switch down | beyblade |
| f toggled | beyblade |
| r toggled | normal drive |
| left mouse pressed | shoot command ref system limited |
| right mouse pressed | shoot command not limited |
- chassis autorotate
- turret world relative
- spin friction wheels
- load waterwheel
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Left friction wheel motor |
| 2 | 0x202 | Right friction wheel motor |
| 5 | 0x205 | Yaw gimbal |
| 6 | 0x206 | Pitch gimbal |
| 7 | 0x207 | Waterwheel motor |
| 8 | 0x208 | Agitator pusher motor |
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Right front chassis drive motor |
| 2 | 0x202 | Left front chassis drive motor |
| 3 | 0x203 | Left back chassis drive motor |
| 4 | 0x204 | Right back chassis drive motor |
| Command Mapping | Command |
|---|---|
| right switch down | stop friction wheels |
| right switch up | rotate agitator manually |
| left switch down | manual drive, manual turret |
| left switch mid | manual drive |
- sentinel auto drive
- spin friction wheels
- turret cv
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Left lower friction wheel motor |
| 2 | 0x202 | Right lower friction wheel motor |
| 3 | 0x203 | Left upper friction wheel motor |
| 4 | 0x204 | Right upper friction wheel motor |
| 5 | 0x205 | Right pitch motor |
| 6 | 0x206 | Yaw motor |
| 7 | 0x207 | Agitator motor |
| 8 | 0x208 | Left pitch motor |
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Right chassis motor |
| 2 | 0x202 | Left chassis motor |
Looking for something else or would like to contribute to the wiki?
This wiki is a readonly mirror of our GitLab wiki. We use mermaid diagrams in this wiki, which are not supported in GitHub. We recommend referring to the GitLab wiki for the best experience or if you would like to contribute.
Robot Interface Notes
Architecture Design
Miscellaneous and Brainstorming