Latest revision as of 10:48, 12 April 2025

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Brake or Coast?	Description (brief)	Operation	PD Board Info (8) max. 40A PDB #	General Notes
0	Electrical	PD Module			Power Distribution Module feedback	monitor PD	must be CAN 0
1	Drive	Motor	Kraken X60	Brake	Drive Motor Front Left
2	Drive	Motor	Kraken X60	Brake	Rotation Motor Front Left
3	Drive	Cancoder			Cancoder Front Left
4	Drive	Motor	Kraken X60	Brake	Drive Motor Front Right
5	Drive	Motor	Kraken X60	Brake	Rotation Motor Front Right
6	Drive	Cancoder			Cancoder Front Right
7	Drive	Motor	Kraken X60	Brake	Drive Motor Back Right
8	Drive	Motor	Kraken X60	Brake	Rotation Motor Back Right
9	Drive	Cancoder			Cancoder Back Right
10	Drive	Motor	Kraken X60	Brake	Drive Motor Back Left
11	Drive	Motor	Kraken X60	Brake	Rotation Motor Back Left
12	Drive	Cancoder			Cancoder Back Left
14	Drive	Pigeon	Pigeon		IMU
15	Elevator	Motor	Neo	Brake	Elevator Motor Right
16	Elevator	Motor	Neo	Brake	Elevator Motor Left
17	Cage	Motor	Neo	?	Hang winch
18
19
20
21
22

CAN Physical Chain Layout

<td colspan="2" "="" >NOTE: CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1

Current Device	Next Device
Robo Rio	Elevator Left
Elevator Left	Rear Left Rotational
Rear Left Rotational	Rear Left Drive
Rear Left Drive	Rear Left Cancoder
Rear Left Cancoder	Front Left Rotational
Front Left Rotational	Front Left Drive
Front Left Drive	Front Left Cancoder
Front Left Cancoder	Front Right Cancoder
Front Right Cancoder	Front Right Drive
Front Right Drive	Front Right Rotational
Front Right Rotational	Rear Right Rotational
Rear Right Rotational	Rear Right Drive
Rear Right Drive	Rear Right Cancoder
Rear Right Cancoder	Pigeon
Pigeon	Elevator Right
Elevator Right	Hang
Hang	PDH (Termination)

PDB Assignments

Port #	Device (Subteam)	Breaker Value	Motor Type	Note
0	Front Right Drive (Drivebase)	40A	Kraken 60
1	Front Right Rotation (Drivebase)	40A	Kraken 60
2	Front Left Drive (Drivebase)	40A	Kraken 60
3	Front Left Rotation (Drivebase)	40A	Kraken 60
4	Rear Left Drive (Drivebase)	40A	Kraken 60
5	Rear Left Rotation (Drivebase)	40A	Kraken 60
6	Wrist	30A?	Neo
7	Intake Left Motor	30A?	Neo 550
8	Intake Right Motor	30A?	Neo 550
9	Both Limelight Devices	5A		Y break in wire that transfers power to both Limelights
10	Rear Right Drive (Drivebase)	40A	Kraken 60
11	Rear Right Rotation (Drivebase)	40A	Kraken 60
12	Elevator Drive Left (Gamepiece)	40A	Neo
13	Elevator Drive Right (Gamepiece)	40A	Neo
14	Cage Solenoid	20A	Spike Relay
15	Cage Winch	40A	Neo
16
17
18
19
20	Radio (RCS)	10A		Fused Port
21	RoboRio (RCS)	10A		Fused Port
22	VRM	10A		Fused Port
23 (Switchable)

VRM Assignments

Port #	Device (Subteam)
5V/2A	Lights (RCS)
5V/2A
5V/500mA	Pigeon (RCS)
5V/500mA
12V/2A	CANCoders (except right rear)
12V/2A
12V/500mA	CANCoder - right rear
12V/500mA

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A PDB #
0	Gamepiece	Motor	Neo 550	Calgae Motors (Left and Right)		Brake
1	N/A	LED strips		Addressable LED strips		42 total nodes	VRM 5V
2	Gamepiece	Motor	Neo	Calgae Wrist		Brake
3
4
5
6
7
8
9
10
11

LED Strip Layout and Function

Node Numbers	Location	Function
0 - 18	Side of elevator on Robot-left. Node 0 at bottom, 18 at top	Strategy-requested features for gameplay, fun stuff
19	Base of elevator on robot front, robot-left	Cage raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
20	Base of elevator on robot front, 1 node in from robot-left	Elevator limit raw sensor status. Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
21	Base of elevator on robot front, 1 node in from robot-right	Coral raw sensor status. Green if coral is sensed, red if not
22	Base of elevator on robot front, robot-right	Algae raw sensor status. Green if algae is sensed, red if not
23 - 42	Side of elevator on Robot-right. Node 23 at bottom, 42 at top	Strategy-requested features for gameplay, fun stuff

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	Cage	SPIKE relay		Controls electric solenoid	Power on to disengage pawl from ratchet, power off to engage
1
2
3

Analog IO

RoboRIO Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

More Board Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Gamepiece	Sensor	OPB720B-06Z	Algae Sensor	Detects when Algae is present in the Calgae Intake.	Sensor should also detect slip and make sure the motors maintain grip on the Algae.
1	IN	Gamepiece	Sensor	OMRON	Coral Sensor	Detects when Coral is present in the Calgae Intake. Then stops the intake motors.
2	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Elevator Top Limit
3	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Elevator Bottom Limit
4	IN	Gamepiece	Encoder	REV 11-1271	Used in absolute position mode to indicate wrist pivot angle.
5	IN	Hang	Sensor		Hang Solenoid Up
6	IN	Hang	Sensor		Hang Hung
7	IN
8	IN
9	IN
10	IN

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN
1	IN
2	IN
3	IN
4	IN
5	IN
6	IN
7	IN
8	IN
9
10
11
12
13
14
15

Junction Box For Gamepiece Communication (Base & Carriage)

# (left to right)	Subsystem	Component	Model	Description (brief)	Operation	Notes
1	Gamepiece	Spark Max		Calgae Motor Controller PWM Signal	Controls Intake	After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers.
2	Gamepiece	PWM + DIO ground		Shared DIO ground for everything on calgae		Ground for PWM + DIO outputs Sourced from Rio DIO 0
3
4	Gamepiece	Spark Max		Wrist Motor Controller PWM Signal	Controls Wrist
5	Gamepiece	+5V Digital power		Shared digital power		Power to sensors Sourced from Rio DIO 0
6	Gamepiece	Encoder	REV 11-1271	Bore Encoder	Used in absolute position mode to indicate wrist pivot angle.
7	Gamepiece	Sensor	OMRON	Coral Sensor	Detects when Coral is present in the Calgae Intake. Then stops the intake motors.
8	Gamepiece	Sensor	OPB720B-06Z	Algae Sensor	Detects when Algae is present in the Calgae Intake.	Sensor should also detect slip and make sure the motors maintain grip on the Algae.

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1

Pneumatics Control Modules

PCM ID	#	Subsystem	Solenoid is Double or Single?	Solenoid Model #	Description (brief)	Operation	Circuit Pressure	PDB #
1	0
	1
	2
	3
	4
	5
	6
	7
2	0
	1
	2
	3
	4
	5

2025:Robot IO Map: Difference between revisions

Latest revision as of 10:48, 12 April 2025

Contents

CAN ID Assignments

CAN Physical Chain Layout

PDB Assignments

VRM Assignments

PWM Outputs

LED Strip Layout and Function

Relay Outputs

Analog IO

RoboRIO Analog Inputs

More Board Analog Inputs

Digital IO (GPIO)

RoboRio IO

Rev Robotics More Board IO

Junction Box For Gamepiece Communication (Base & Carriage)

I2C Registers

SPI Devices

USB Host Ports

Pneumatics Control Modules

Operator Controls

IO Maps for Old Robots

Navigation menu

Page actions

Page actions

Personal tools

Navigation

Search

Build Season Pages

Subteam Portals

Tools

@@ Line 1: / Line 1: @@
 == CAN ID Assignments ==
-{| style="width: 1100px; height: 1382px;" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 996px; height: 750px;" border="1" cellspacing="1" cellpadding="2"
 |- style="height: 80px;"
-| style="text-align: center; height: 80px; width: 22.05px;" | '''ID'''
+| style="text-align: center; height: 80px; width: 20.075px;" | '''ID'''
-| style="text-align: center; height: 80px; width: 105.213px;" | '''Subsystem'''
+| style="text-align: center; height: 80px; width: 99.325px;" | '''Subsystem'''
-| style="height: 80px; width: 106.213px;" | <p style="text-align: center">'''Component'''</p>
+| style="height: 80px; width: 100.338px;" | <p style="text-align: center">'''Component'''</p>
 <p style="text-align: center">'''Type'''</p>
-| style="text-align: center; width: 112.225px; height: 80px;" | '''Model #'''
+| style="text-align: center; width: 99.325px; height: 80px;" | '''Model #'''
-| style="width: 70.15px; text-align: center; height: 80px;" | '''Brake or Coast?'''
+| style="width: 66.225px; text-align: center; height: 80px;" | '''Brake or Coast?'''
-| style="width: 110.225px; text-align: center; height: 80px;" | '''Description'''<br>(brief)
+| style="width: 104.35px; text-align: center; height: 80px;" | '''Description'''<br>(brief)
-| style="width: 224.45px; text-align: center; height: 80px;" | '''Operation'''
+| style="width: 194.637px; text-align: center; height: 80px;" | '''Operation'''
-| style="width: 175.15px; text-align: center; height: 80px;" colspan="2" |
+| style="width: 151.288px; text-align: center; height: 80px;" colspan="2" |
 '''PD Board Info'''
 '''(8) max. 40A &nbsp; &nbsp; &nbsp; &nbsp; PDB #'''
-| style="height: 80px; width: 130.325px;" | '''General Notes'''
+| style="height: 80px; width: 116.438px;" | '''General Notes'''
-|- style="height: 74px;"
+|- style="height: 75px;"
-| style="text-align: center; height: 74px; width: 22.05px;" | 0
+| style="text-align: center; height: 75px; width: 20.075px;" | 0
-| style="text-align: center; height: 74px; width: 105.213px;" | Electrica'''l'''
+| style="text-align: center; height: 75px; width: 99.325px;" | Electrica'''l'''
-| style="height: 74px; width: 106.213px;" | <p style="text-align: center">PD Module</p>
+| style="height: 75px; width: 100.338px;" | <p style="text-align: center">PD Module</p>
-| style="text-align: center; width: 112.225px; height: 74px;" | &nbsp;
+| style="text-align: center; width: 99.325px; height: 75px;" | &nbsp;
-| style="width: 70.15px; text-align: center; height: 74px;" | &nbsp;
+| style="width: 66.225px; text-align: center; height: 75px;" | &nbsp;
-| style="width: 110.225px; text-align: center; height: 74px;" | Power Distribution Module feedback
+| style="width: 104.35px; text-align: center; height: 75px;" | Power Distribution Module feedback
-| style="width: 224.45px; text-align: center; height: 74px;" | monitor PD
+| style="width: 194.637px; text-align: center; height: 75px;" | monitor PD
-| style="width: 115.238px; height: 74px;" | <p style="text-align: center">must be CAN 0</p>
+| style="width: 99.325px; height: 75px;" | <p style="text-align: center">must be CAN 0</p>
-| style="width: 55.1125px; height: 74px;" | &nbsp;
+| style="width: 47.1625px; height: 75px;" | &nbsp;
-| style="height: 74px; width: 130.325px;" |
+| style="height: 75px; width: 116.438px;" |
 <br>
-|- style="height: 120px;"
+|- style="height: 12px;"
-| style="text-align: center; height: 120px; width: 22.05px;" | 1
+| style="text-align: center; height: 12px; width: 20.075px;" | 1
-| style="text-align: center; height: 120px; width: 105.213px;" | '''RESERVED'''
+| style="text-align: center; height: 12px; width: 99.325px;" | '''Drive'''
-| style="text-align: center; height: 120px; width: 106.213px;" | n/a
+| style="text-align: center; height: 12px; width: 100.338px;" | Motor
-| style="text-align: center; width: 112.225px; height: 120px;" | &nbsp;
+| style="text-align: center; width: 99.325px; height: 12px;" | Kraken X60&nbsp;
-| style="width: 70.15px; text-align: center; height: 120px;" | &nbsp;
+| style="width: 66.225px; text-align: center; height: 12px;" | Brake
-| style="width: 110.225px; text-align: center; height: 120px;" | Factory-default<br>allows for adding new device quickly and re-assign its ID
+| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left
-| style="width: 224.45px; text-align: center; height: 120px;" | &nbsp;
+| style="width: 194.637px; text-align: center; height: 12px;" |
-| style="width: 115.238px; text-align: center; height: 120px;" | don't use please
+<br>
-| style="width: 55.1125px; text-align: center; height: 120px;" | &nbsp;
+| style="width: 99.325px; text-align: center; height: 12px;" |
-| style="height: 120px; width: 130.325px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 12px;" | &nbsp;
+| style="height: 12px; width: 116.438px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 2
+| style="text-align: center; height: 28px; width: 20.075px;" | 2
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Motor
-Neo
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
-| style="width: 70.15px; text-align: center; height: 28px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Rotation Motor Front Left
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="width: 99.325px; text-align: center; height: 28px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 116.438px; text-align: center;" |
-Front Right Drive
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="height: 28px; width: 130.325px; text-align: center;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 3
+| style="text-align: center; height: 28px; width: 20.075px;" | 3
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Cancoder
-Neo
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="width: 70.15px; text-align: center; height: 28px;" |
+<br>
+| style="width: 66.225px; text-align: center; height: 28px;" |
+<br>
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Cancoder Front Left&nbsp;
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="width: 99.325px; text-align: center; height: 28px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 116.438px; text-align: center;" |
-Front Left Drive
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="height: 28px; width: 130.325px; text-align: center;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 4
+| style="text-align: center; height: 28px; width: 20.075px;" | 4
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; height: 28px; width: 112.225px;" |
+Motor
-Neo
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
-| style="text-align: center; height: 28px; width: 70.15px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+| style="text-align: center; height: 28px; width: 104.35px;" |
+Drive Motor Front Right
+| style="height: 28px; width: 194.637px;" |
+<br>
+| style="text-align: center; height: 28px; width: 99.325px;" |
+<br>
+| style="height: 28px; width: 47.1625px; text-align: center;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Back Right Drive
-| style="height: 28px; width: 224.45px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
-A
-| style="height: 28px; width: 55.1125px; text-align: center;" |
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 5
+| style="text-align: center; height: 28px; width: 20.075px;" | 5
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; height: 28px; width: 112.225px;" |
+Motor
-Neo
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
-| style="text-align: center; height: 28px; width: 70.15px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+| style="text-align: center; height: 28px; width: 104.35px;" |
+Rotation Motor Front Right
+| style="height: 28px; width: 194.637px;" |
+<br>
+| style="text-align: center; height: 28px; width: 99.325px;" |
+<br>
+| style="height: 28px; width: 47.1625px; text-align: center;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Back Left Drive
-| style="height: 28px; width: 224.45px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
-A
-| style="height: 28px; width: 55.1125px; text-align: center;" |
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 6
+| style="text-align: center; height: 28px; width: 20.075px;" | 6
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Cancoder
-Neo
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="width: 70.15px; text-align: center; height: 28px;" |
+<br>
+| style="width: 66.225px; text-align: center; height: 28px;" |
+<br>
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Cancoder Front Right
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="width: 99.325px; text-align: center; height: 28px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Front Right Rotation
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 7
+| style="text-align: center; height: 28px; width: 20.075px;" | 7
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Motor
-Neo
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60
-| style="width: 70.15px; text-align: center; height: 28px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Drive Motor
+Back Right
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="width: 99.325px; text-align: center; height: 28px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 116.438px; text-align: center;" |
-Front Left Rotation
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="height: 28px; width: 130.325px; text-align: center;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 8
+| style="text-align: center; height: 28px; width: 20.075px;" | 8
-| style="text-align: center; height: 28px; width: 105.213px;" |
+| style="text-align: center; height: 28px; width: 99.325px;" |
 Drive
-| style="text-align: center; height: 28px; width: 106.213px;" |
+| style="text-align: center; height: 28px; width: 100.338px;" |
-SparkMax
+Motor
-| style="text-align: center; height: 28px; width: 112.225px;" |
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
-Neo
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
-| style="text-align: center; height: 28px; width: 70.15px;" |
+| style="text-align: center; height: 28px; width: 104.35px;" |
+Rotation Motor Back Right
+| style="text-align: center; height: 28px; width: 194.637px;" |
+<br>
+| style="text-align: center; height: 28px; width: 99.325px;" |
+<br>
+| style="text-align: center; height: 28px; width: 47.1625px;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
+| style="height: 28px; width: 116.438px; text-align: center;" |
-Back Right Rotation
-| style="text-align: center; height: 28px; width: 224.45px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
-A
-| style="text-align: center; height: 28px; width: 55.1125px;" |
-| style="height: 28px; width: 130.325px; text-align: center;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" |
+| style="text-align: center; height: 28px; width: 20.075px;" |
-| style="text-align: center; height: 28px; width: 105.213px;" |
+| style="text-align: center; height: 28px; width: 99.325px;" |
 Drive
-| style="text-align: center; height: 28px; width: 106.213px;" |
+| style="text-align: center; height: 28px; width: 100.338px;" |
-SparkMax
+Cancoder
-| style="text-align: center; width: 112.225px; height: 28px;" |
+| style="text-align: center; width: 99.325px; height: 28px;" |
-Neo
+<br>
-| style="width: 70.15px; text-align: center; height: 28px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" |
+<br>
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Cancoder Back Right
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="width: 99.325px; text-align: center; height: 28px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Back Left Rotation
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Using Integrated Encoder
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 10
+| style="text-align: center; height: 28px; width: 20.075px;" | 10
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-Encoder
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Motor
-CANCoder
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
-| style="width: 70.15px; text-align: center; height: 28px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Drive Motor
+Back Left
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="text-align: center; height: 28px; width: 99.325px;" |
+<br>
+| style="text-align: center; height: 28px; width: 47.1625px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Front Right
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 55.1125px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Powered From Ganged 12V VRM
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 11
+| style="text-align: center; height: 28px; width: 20.075px;" | 11
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-Encoder
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Motor
-CANCoder
+| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
-| style="width: 70.15px; text-align: center; height: 28px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Rotation Motor Back Left
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="text-align: center; height: 28px; width: 99.325px;" |
+<br>
+| style="text-align: center; height: 28px; width: 47.1625px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Front Left
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 55.1125px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Powered From Ganged 12V VRM
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 12
+| style="text-align: center; height: 28px; width: 20.075px;" | 12
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
-Encoder
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; width: 112.225px; height: 28px;" |
+Cancoder
-CANCoder
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="width: 70.15px; text-align: center; height: 28px;" |
+<br>
+| style="width: 66.225px; text-align: center; height: 28px;" |
+<br>
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Cancoder Back Left
+| style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 99.325px;" |
-Back Right
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
+| style="text-align: center; height: 28px; width: 47.1625px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 55.1125px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Powered From Ganged 12V VRM
-|- style="height: 28px;"
-| style="height: 28px; width: 22.05px;" | 13
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
-| style="text-align: center; height: 28px; width: 106.213px;" |
-Encoder
-| style="text-align: center; width: 112.225px; height: 28px;" |
-CANCoder
-| style="width: 70.15px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Back Left
-| style="width: 224.45px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 115.238px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 55.1125px;" |
-<p>N/A</p>
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Powered From Ganged 12V VRM
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 14
+| style="text-align: center; height: 28px; width: 20.075px;" | 14
-| style="text-align: center; height: 28px; width: 105.213px;" | Drive
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Drive
+| style="text-align: center; height: 28px; width: 100.338px;" |
+Pigeon
+| style="width: 99.325px; text-align: center; height: 28px;" |
+Pigeon
+| style="width: 66.225px; text-align: center; height: 28px;" |
+<br>
+| style="width: 104.35px; text-align: center; height: 28px;" |
 IMU
-| style="width: 112.225px; text-align: center; height: 28px;" |
+| style="width: 194.637px; text-align: center; height: 28px;" |
-Pigeon 2.0
-| style="width: 70.15px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="width: 99.325px; text-align: center; height: 28px;" |
 <br>
-| style="width: 224.45px; text-align: center; height: 28px;" |
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 115.238px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
 <br>
-| style="width: 55.1125px; text-align: center; height: 28px;" |
+|- style="height: 28px;"
+| style="text-align: center; height: 28px; width: 20.075px;" | 15
+| style="text-align: center; height: 28px; width: 99.325px;" |
+Elevator
+| style="text-align: center; height: 28px; width: 100.338px;" |
+Motor
+| style="width: 99.325px; text-align: center; height: 28px;" |
+Neo
+| style="width: 66.225px; text-align: center; height: 28px;" |
+Brake
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Elevator Motor Right
+| style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 130.325px;" |
+| style="width: 99.325px; text-align: center; height: 28px;" |
-Powered from dedicated 12V VRM
+<br>
-|- style="height: 28px;"
+| style="width: 47.1625px; text-align: center; height: 28px;" |
-| style="text-align: center; height: 28px; width: 22.05px;" | 15
+<br>
-| style="text-align: center; height: 28px; width: 105.213px;" | Game Piece
+| style="text-align: center; height: 28px; width: 116.438px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
-SparkMax
-| style="width: 112.225px; text-align: center; height: 28px;" |
-Neo 550
-| style="width: 70.15px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
-Intake
-| style="width: 224.45px; text-align: center; height: 28px;" |
-Pulls in or ejects a game piece
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="text-align: center; height: 28px; width: 130.325px;" |
-Diffuse retro-reflective sensor Allen Bradley 42EF-D2MPAK-F4
-When sensor is tripped, this means GP has entered intake and sensor just clears when GP is position for storage or shooting
-Connects to roborio DIO&nbsp;
-V powered&nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 16
+| style="text-align: center; height: 28px; width: 20.075px;" | 16
-| style="text-align: center; height: 28px; width: 105.213px;" | Game Piece
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Elevator
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="width: 112.225px; text-align: center; height: 28px;" |
+Motor
+| style="width: 99.325px; text-align: center; height: 28px;" |
 Neo
-| style="width: 70.15px; text-align: center; height: 28px;" |
+| style="width: 66.225px; text-align: center; height: 28px;" |
+Brake
+| style="width: 104.35px; text-align: center; height: 28px;" |
+Elevator Motor Left
+| style="width: 194.637px; text-align: center; height: 28px;" |
+<br>
+| style="width: 99.325px; text-align: center; height: 28px;" |
+<br>
+| style="width: 47.1625px; text-align: center; height: 28px;" |
 <br>
-| style="width: 110.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 116.438px;" |
-Shooter Left Wheels
-| style="width: 224.45px; text-align: center; height: 28px;" |
-Runs shooter wheels
-| style="width: 115.238px; text-align: center; height: 28px;" |
-A
-| style="width: 55.1125px; text-align: center; height: 28px;" |
-| style="text-align: center; height: 28px; width: 130.325px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 17
+| style="text-align: center; height: 28px; width: 20.075px;" | 17
-| style="text-align: center; height: 28px; width: 105.213px;" | Game Piece
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+Cage
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; height: 28px; width: 112.225px;" |
+Motor
+| style="text-align: center; height: 28px; width: 99.325px;" |
 Neo
-| style="text-align: center; height: 28px; width: 70.15px;" |
+| style="text-align: center; height: 28px; width: 66.225px;" |
+?
+| style="text-align: center; height: 28px; width: 104.35px;" |
+Hang winch
+| style="height: 28px; width: 194.637px;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
+| style="height: 28px; width: 99.325px;" |
-Shooter Right Wheels
+<br>
-| style="height: 28px; width: 224.45px;" |
+| style="height: 28px; width: 47.1625px;" |
-Runs shooter wheels
+<br>
-| style="height: 28px; width: 115.238px;" |
+| style="height: 28px; width: 116.438px;" |
-A
-| style="height: 28px; width: 55.1125px;" |
-| style="height: 28px; width: 130.325px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 18
+| style="text-align: center; height: 28px; width: 20.075px;" | 18
-| style="text-align: center; height: 28px; width: 105.213px;" | Game Piece
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+<br>
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; height: 28px; width: 112.225px;" |
+<br>
-Neo
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 70.15px;" |
+<br>
+| style="text-align: center; height: 28px; width: 66.225px;" |
+<br>
+| style="text-align: center; height: 28px; width: 104.35px;" |
+<br>
+| style="height: 28px; width: 194.637px;" |
+<br>
+| style="height: 28px; width: 99.325px;" |
+<br>
+| style="height: 28px; width: 47.1625px;" |
+<br>
+| style="height: 28px; width: 116.438px;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
-Arm
-| style="height: 28px; width: 224.45px;" |
-Pivots Arm
-| style="height: 28px; width: 115.238px;" |
-A
-| style="height: 28px; width: 55.1125px;" |
-| style="height: 28px; width: 130.325px;" |
-Using Rev through-bore encoder
-Used in absolute position mode to indicate arm pivot angle
-V powered Signal to roborio DIO
-Input lower extreme limit switch
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 19
+| style="text-align: center; height: 28px; width: 20.075px;" | 19
-| style="text-align: center; height: 28px; width: 105.213px;" | Game Piece
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+<br>
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; height: 28px; width: 112.225px;" |
+<br>
-Neo 550
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 70.15px;" |
+<br>
+| style="text-align: center; height: 28px; width: 66.225px;" |
+<br>
+| style="text-align: center; height: 28px; width: 104.35px;" |
+<br>
+| style="height: 28px; width: 194.637px;" |
+<br>
+| style="height: 28px; width: 99.325px;" |
+<br>
+| style="height: 28px; width: 47.1625px;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
+| style="height: 28px; width: 116.438px;" |
-Arm
-| style="height: 28px; width: 224.45px;" |
-Actuates bicycle brake for arm pivot
-| style="height: 28px; width: 115.238px;" |
-A
-| style="height: 28px; width: 55.1125px;" |
-| style="height: 28px; width: 130.325px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 22.05px;" | 20
+| style="text-align: center; height: 28px; width: 20.075px;" | 20
-| style="text-align: center; height: 28px; width: 105.213px;" | Hang
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 106.213px;" |
+<br>
-SparkMax
+| style="text-align: center; height: 28px; width: 100.338px;" |
-| style="text-align: center; height: 28px; width: 112.225px;" |
+<br>
-Neo
+| style="text-align: center; height: 28px; width: 99.325px;" |
-| style="text-align: center; height: 28px; width: 70.15px;" |
+<br>
+| style="text-align: center; height: 28px; width: 66.225px;" |
+<br>
+| style="text-align: center; height: 28px; width: 104.35px;" |
+<br>
+| style="height: 28px; width: 194.637px;" |
+<br>
+| style="height: 28px; width: 99.325px;" |
+<br>
+| style="height: 28px; width: 47.1625px;" |
 <br>
-| style="text-align: center; height: 28px; width: 110.225px;" |
+| style="height: 28px; width: 116.438px;" |
-Hang Arm Right
-| style="height: 28px; width: 224.45px;" |
-causes hang hook to go up or down
-| style="height: 28px; width: 115.238px;" |
-A
-| style="height: 28px; width: 55.1125px;" |
-| style="height: 28px; width: 130.325px;" |
 <br>
 |- style="height: 51px;"
-| style="text-align: center; width: 22.05px; height: 51px;" | 21
+| style="text-align: center; width: 20.075px; height: 51px;" | 21
-| style="text-align: center; width: 105.213px; height: 51px;" | Hang
+| style="text-align: center; width: 99.325px; height: 51px;" |
-| style="text-align: center; width: 106.213px; height: 51px;" | SparkMax
+<br>
-| style="text-align: center; width: 112.225px; height: 51px;" | Neo
+| style="text-align: center; width: 100.338px; height: 51px;" |
-| style="text-align: center; width: 70.15px; height: 51px;" | <br>
+<br>
-| style="text-align: center; width: 110.225px; height: 51px;" | Hang Arm Left
+| style="text-align: center; width: 99.325px; height: 51px;" |
-| style="width: 224.45px; height: 51px;" | causes hang hook to go up or down
+<br>
-| style="width: 115.238px; height: 51px;" | 40A
+| style="text-align: center; width: 66.225px; height: 51px;" |
-| style="width: 55.1125px; height: 51px;" | 14
+<br>
-| style="width: 130.325px; height: 51px;" | <br>
+| style="text-align: center; width: 104.35px; height: 51px;" |
+<br>
+| style="width: 194.637px; height: 51px;" |
+<br>
+| style="width: 99.325px; height: 51px;" |
+<br>
+| style="width: 47.1625px; height: 51px;" |
+<br>
+| style="width: 116.438px; height: 51px;" |
+<br>
 |- style="height: 28px;"
-| style="text-align: center; width: 22.05px; height: 28px;" | 22
+| style="text-align: center; width: 20.075px; height: 28px;" | 22
-| style="text-align: center; width: 105.213px; height: 28px;" | <br>
+| style="text-align: center; width: 99.325px; height: 28px;" | <br>
-| style="text-align: center; width: 106.213px; height: 28px;" |
+| style="text-align: center; width: 100.338px; height: 28px;" |
 <br>
-| style="text-align: center; width: 112.225px; height: 28px;" | <br>
+| style="text-align: center; width: 99.325px; height: 28px;" | <br>
-| style="text-align: center; width: 70.15px; height: 28px;" | <br>
+| style="text-align: center; width: 66.225px; height: 28px;" | <br>
-| style="text-align: center; width: 110.225px; height: 28px;" | <br>
+| style="text-align: center; width: 104.35px; height: 28px;" | <br>
-| style="width: 224.45px; height: 28px;" | <br>
+| style="width: 194.637px; height: 28px;" | <br>
-| style="width: 115.238px; height: 28px;" | <br>
+| style="width: 99.325px; height: 28px;" | <br>
-| style="width: 55.1125px; height: 28px;" | <br>
+| style="width: 47.1625px; height: 28px;" | <br>
-| style="width: 130.325px; height: 28px;" | <br>
+| style="width: 116.438px; height: 28px;" | <br>
 |}
-<div class="mw-parser-output">
+<div class="mw-parser-output"></div>
-= &nbsp;CAN Chain Pathway =
+<br>
-{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 529px;"
+== CAN Physical Chain Layout ==
+&lt;td colspan="2" "="" &gt;'''NOTE:''' ''CAN connection to drive base Kraken caps needs Yellow CAN wire on pin 1''<br>
+{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 391px;"
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Current Device (ID):
+| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span>
-| style="width: 33.3333%; height: 23px;" | Next Device (ID):
+| style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Next Device'''</span>
-| style="width: 33.3333%; height: 23px;" | Notes:
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | RIO
+| style="width: 50%; height: 23px;" | Robo Rio
-| style="width: 33.3333%; height: 23px;" | PDH(0)
+| style="width: 50%; height: 23px;" | Elevator Left
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
+|-
+| style="width: 50%;" | Elevator Left
+| style="width: 50%;" | Rear Left Rotational
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | PDH(0)
+| style="width: 50%; height: 23px;" | Rear Left Rotational
-| style="width: 33.3333%; height: 23px;" | &nbsp;Front Right Encoder (10)
+| style="width: 50%; height: 23px;" | Rear Left Drive
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Front Right Encoder (10)
+| style="width: 50%; height: 23px;" | Rear Left Drive
-| style="width: 33.3333%; height: 23px;" | Front Right Drive (2)
+| style="width: 50%; height: 23px;" | Rear Left Cancoder
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Front Right Drive (2)
+| style="width: 50%; height: 23px;" | Rear Left Cancoder
-| style="width: 33.3333%; height: 23px;" | Front Right Rotation (6)
+| style="width: 50%; height: 23px;" | Front Left Rotational
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Front Right Rotation (6)
+| style="width: 50%; height: 23px;" | Front Left Rotational
-| style="width: 33.3333%; height: 23px;" | Hang Right (20)
+| style="width: 50%; height: 23px;" | Front Left Drive
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Hang Right (20)
+| style="width: 50%; height: 23px;" | Front Left Drive
-| style="width: 33.3333%; height: 23px;" | Back Right Rotation (8)
+| style="width: 50%; height: 23px;" | Front Left Cancoder
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Back Right Rotation (8)
+| style="width: 50%; height: 23px;" | Front Left Cancoder
-| style="width: 33.3333%; height: 23px;" | Back Right Drive (4)
+| style="width: 50%; height: 23px;" | Front Right Cancoder
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Back Right Drive (4)
+| style="width: 50%; height: 23px;" | Front Right Cancoder
-| style="width: 33.3333%; height: 23px;" | Back Right Encoder (12)
+| style="width: 50%; height: 23px;" | Front Right Drive
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
-|-
-| style="width: 33.3333%;" | Back Right Encoder (12)
-| style="width: 33.3333%;" | Worm/Brake (19)
-| style="width: 33.3333%;" | On Worm Gearbox
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Worm/Brake (19)
+| style="width: 50%; height: 23px;" | Front Right Drive
-| style="width: 33.3333%; height: 23px;" | Pidgeon 2.0 (14)
+| style="width: 50%; height: 23px;" | Front Right Rotational
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Pidgeon 2.0 (14)
+| style="width: 50%; height: 23px;" | Front Right Rotational
-| style="width: 33.3333%; height: 23px;" | Arm Pivot (18)
+| style="width: 50%; height: 23px;" | Rear Right Rotational
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Arm Pivot (18)
+| style="width: 50%; height: 23px;" | Rear Right Rotational
-| style="width: 33.3333%; height: 23px;" | Front Left Encoder (11)
+| style="width: 50%; height: 23px;" | Rear Right Drive
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Front Left Encoder (11)
+| style="width: 50%; height: 23px;" | Rear Right Drive
-| style="width: 33.3333%; height: 23px;" | Front Left Drive (3)
+| style="width: 50%; height: 23px;" | Rear Right Cancoder
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Front Left Drive (3)
+| style="width: 50%; height: 23px;" | Rear Right Cancoder
-| style="width: 33.3333%; height: 23px;" | Front Left Rotation (7)
+| style="width: 50%; height: 23px;" | Pigeon
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Front Left Rotation (7)
+| style="width: 50%; height: 23px;" | Pigeon
-| style="width: 33.3333%; height: 23px;" | Hang Left (21)
+| style="width: 50%; height: 23px;" | Elevator Right
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Hang Left (21)
+| style="width: 50%; height: 23px;" | Elevator Right
-| style="width: 33.3333%; height: 23px;" | Back Left Rotation (9)
+| style="width: 50%; height: 23px;" | Hang
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
 |- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Back Left Rotation (9)
+| style="width: 50%; height: 23px;" | Hang
-| style="width: 33.3333%; height: 23px;" | Back Left Drive (5)
+| style="width: 50%; height: 23px;" | PDH (Termination)
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
+|-
-|- style="height: 23px;"
+|}
-| style="width: 33.3333%; height: 23px;" | Back Left Drive (5)
-| style="width: 33.3333%; height: 23px;" | Back Left Encoder (13)
+== PDB Assignments ==
-| style="width: 33.3333%; height: 23px;" | On DB Bellypan
-|- style="height: 23px;"
-| style="width: 33.3333%; height: 23px;" | Back Left Encoder (13)
+{| class="wikitable" style="height: 1198px; width: 1012px;" width="920"
-| style="width: 33.3333%; height: 23px;" | Left Shooter (16)
+! style="height: 28px; width: 177px;" | Port #
-| style="width: 33.3333%; height: 23px;" |
+! style="height: 28px; width: 222px;" | Device (Subteam)
+! style="height: 28px; width: 145px;" | Breaker Value
+! style="height: 28px; width: 181px;" | Max Channel Current
+! style="width: 116px;" | Motor Type
+! style="height: 28px; width: 171px;" | Note
+|- style="height: 28px;"
+| style="height: 28px; width: 177px; text-align: center;" | 0
+| style="height: 28px; width: 222px; text-align: center;" |
+Front Right Drive (Drivebase)
+| style="height: 28px; width: 145px; text-align: center;" |
+A
+| style="height: 28px; width: 181px; text-align: center;" |
 <br>
-|- style="height: 23px;"
+| style="width: 116px; text-align: center;" | Kraken 60
-| style="width: 33.3333%; height: 23px;" |
+| style="height: 28px; width: 171px; text-align: center;" |
-Left Shooter (16)
-| style="width: 33.3333%; height: 23px;" |
-Right Shooter (17)
-| style="width: 33.3333%; height: 23px;" |
 <br>
-|- style="height: 23px;"
+|- style="height: 28px;"
-| style="width: 33.3333%; height: 23px;" |
+| style="height: 28px; width: 177px; text-align: center;" | 1
-Right Shooter (17)
+| style="height: 28px; width: 222px; text-align: center;" |
-| style="width: 33.3333%; height: 23px;" |
+Front Right Rotation (Drivebase)
-Intake (15)
+| style="height: 28px; width: 145px; text-align: center;" |
-| style="width: 33.3333%; height: 23px;" |
+A
+| style="height: 28px; width: 181px; text-align: center;" |
 <br>
-|- style="height: 23px;"
+| style="width: 116px; text-align: center;" | Kraken 60
-| style="width: 33.3333%; height: 23px;" |
+| style="height: 28px; width: 171px; text-align: center;" |
-Intake (15)
-| style="width: 33.3333%; height: 23px;" |
-TERMINATION: 120 ohm resistor&nbsp;
-| style="width: 33.3333%; height: 23px;" |
 <br>
-|- style="height: 23px;"
+|- style="height: 28px;"
-| style="width: 33.3333%; height: 23px;" |
+| style="height: 28px; width: 177px; text-align: center;" | 2
-<br>
+| style="height: 28px; width: 222px; text-align: center;" |
-| style="width: 33.3333%; height: 23px;" |
+Front Left Drive (Drivebase)
+| style="height: 28px; width: 145px; text-align: center;" |
+A
+| style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 33.3333%; height: 23px;" |
+| style="width: 116px; text-align: center;" | Kraken 60
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
-|}
-</div>
-{| class="wikitable" style="height: 700px;"
-|+ PDB Assignments
-! style="height: 28px; width: 99px;" | Port #
-! style="height: 28px; width: 133px;" | Device (Subteam)
-! style="height: 28px; width: 82px;" | Breaker Value
-! style="height: 28px; width: 144px;" | Max Channel Current
-! style="height: 28px; width: 32px;" | Note
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 0
+| style="height: 28px; width: 177px; text-align: center;" | 3
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Front Right Drive (Drive)
+Front Left Rotation (Drivebase)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Kraken 60
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 1
+| style="height: 28px; width: 177px; text-align: center;" | 4
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Front Right Rotation (Drive)
+Rear Left Drive (Drivebase)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Kraken 60
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 2
+| style="height: 28px; width: 177px; text-align: center;" | 5
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Solenoid Relay
+Rear Left Rotation (Drivebase)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
-A
-| style="height: 28px; width: 144px; text-align: center;" |
 A
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
+<br>
+| style="width: 116px; text-align: center;" | Kraken 60
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 3
+| style="height: 28px; width: 177px; text-align: center;" | 6
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
+Wrist
+| style="height: 28px; width: 145px; text-align: center;" |
+A?
+| style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Neo
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
-| style="height: 28px; width: 144px; text-align: center;" |
+|- style="height: 28px;"
-A
+| style="height: 28px; width: 177px; text-align: center;" | 7
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
+Intake Left Motor
+| style="height: 28px; width: 145px; text-align: center;" |
+A?
+| style="height: 28px; width: 181px; text-align: center;" |
+<br>
+| style="width: 116px; text-align: center;" | Neo 550
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 4
+| style="height: 28px; width: 177px; text-align: center;" | 8
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Left Hang Arm
+Intake Right Motor
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
-A
+A?
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Neo 550
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 5
+| style="height: 28px; width: 177px; text-align: center;" | 9
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Intake
+Both Limelight Devices
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" |
 <br>
+| style="height: 28px; width: 171px; text-align: center;" |
+Y break in wire that transfers power to both Limelights
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 6
+| style="height: 28px; width: 177px; text-align: center;" | 10
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Right Shooter
+Rear Right Drive (Drivebase)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Kraken 60
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 7
+| style="height: 28px; width: 177px; text-align: center;" | 11
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Left Shooter
+Rear Right Rotation (Drivebase)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Kraken 60
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 8
+| style="height: 28px; width: 177px; text-align: center;" | 12
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Front Left Drive (Drive)
+Elevator Drive Left (Gamepiece)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Neo
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 9
+| style="height: 28px; width: 177px; text-align: center;" | 13
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Front Left Rotation
+Elevator Drive Right (Gamepiece)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Neo
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 10
+| style="height: 28px; width: 177px; text-align: center;" | 14
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
+Cage Solenoid
+| style="height: 28px; width: 145px; text-align: center;" |
+A
+| style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Spike Relay
+| style="height: 28px; width: 171px; text-align: center;" |
-| style="height: 28px; width: 144px; text-align: center;" |
-A
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 11
+| style="height: 28px; width: 177px; text-align: center;" | 15
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Back Left Rotation (Drive)
+Cage Winch
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | Neo
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 12
+| style="height: 28px; width: 177px; text-align: center;" | 16
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Back Left Drive (Drive)
+<br>
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" |
+<br>
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 13
+| style="height: 28px; width: 177px; text-align: center;" | 17
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
 <br>
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 <br>
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" |
+<br>
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 14
+| style="height: 28px; width: 177px; text-align: center;" | 18
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Game Piece Arm Pivot
-| style="height: 28px; width: 82px; text-align: center;" |
-A
-| style="height: 28px; width: 144px; text-align: center;" |
-A
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
-|- style="height: 28px;"
+| style="height: 28px; width: 145px; text-align: center;" |
-| style="height: 28px; width: 99px; text-align: center;" | 15
-| style="height: 28px; width: 133px; text-align: center;" |
-Back Right Drive (Drive)
-| style="height: 28px; width: 82px; text-align: center;" |
-A
-| style="height: 28px; width: 144px; text-align: center;" |
-A
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
-|- style="height: 28px;"
+| style="height: 28px; width: 181px; text-align: center;" |
-| style="height: 28px; width: 99px; text-align: center;" | 16
-| style="height: 28px; width: 133px; text-align: center;" |
-Back Right Rotation (Drive)
-| style="height: 28px; width: 82px; text-align: center;" |
-A
-| style="height: 28px; width: 144px; text-align: center;" |
-A
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
-|- style="height: 28px;"
+| style="width: 116px; text-align: center;" | <br>
-| style="height: 28px; width: 99px; text-align: center;" | 17
+| style="height: 28px; width: 171px; text-align: center;" |
-| style="height: 28px; width: 133px; text-align: center;" |
-Hang Right&nbsp;
-| style="height: 28px; width: 82px; text-align: center;" |
-A
-| style="height: 28px; width: 144px; text-align: center;" |
-A
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 18
+| style="height: 28px; width: 177px; text-align: center;" | 19
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-Brake/Worm Gear
-| style="height: 28px; width: 82px; text-align: center;" |
-A
-| style="height: 28px; width: 144px; text-align: center;" |
-A
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
-|- style="height: 28px;"
+| style="height: 28px; width: 145px; text-align: center;" |
-| style="height: 28px; width: 99px; text-align: center;" | 19
-| style="height: 28px; width: 133px; text-align: center;" |
 <br>
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="width: 116px; text-align: center;" | <br>
-A
+| style="height: 28px; width: 171px; text-align: center;" |
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 20
+| style="height: 28px; width: 177px; text-align: center;" | 20
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-RoboRIO (RCS)
+Radio (RCS)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A Fused
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
+| style="width: 116px; text-align: center;" | <br>
+| style="height: 28px; width: 171px; text-align: center;" |
+Fused Port
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 21
+| style="height: 28px; width: 177px; text-align: center;" | 21
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-VRM (RCS)
+RoboRio (RCS)
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A Fused
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
+| style="width: 116px; text-align: center;" | <br>
+| style="height: 28px; width: 171px; text-align: center;" |
+Fused Port
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 22
+| style="height: 28px; width: 177px; text-align: center;" | 22
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
-X Allen Bradley Sensors (Ganged)
+VRM
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 A
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A Fused
-| style="height: 28px; width: 32px; text-align: center;" |
 <br>
+| style="width: 116px; text-align: center;" | <br>
+| style="height: 28px; width: 171px; text-align: center;" |
+Fused Port
 |- style="height: 28px;"
-| style="height: 28px; width: 99px; text-align: center;" | 23 (Switchable)
+| style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable)
-| style="height: 28px; width: 133px; text-align: center;" |
+| style="height: 28px; width: 222px; text-align: center;" |
 <br>
-| style="height: 28px; width: 82px; text-align: center;" |
+| style="height: 28px; width: 145px; text-align: center;" |
 <br>
-| style="height: 28px; width: 144px; text-align: center;" |
+| style="height: 28px; width: 181px; text-align: center;" |
-A Fused
+<br>
-| style="height: 28px; width: 32px; text-align: center;" |
+| style="width: 116px; text-align: center;" | <br>
+| style="height: 28px; width: 171px; text-align: center;" |
 <br>
 |}
 <div class="mw-parser-output">
 <div class="mw-parser-output">
+<br><br></div></div>
+== VRM Assignments ==
 {| class="wikitable" style="height: 252px;"
-|+ VRM Assignments
 ! style="height: 28px; width: 75.25px;" | Port #
 ! style="height: 28px; width: 120.85px;" | Device (Subteam)
@@ Line 816: / Line 782: @@
 | style="height: 28px; width: 75.25px;" | 5V/2A
 | style="height: 28px; width: 120.85px;" |
-LED
+Lights (RCS)
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/2A
 | style="height: 28px; width: 120.85px;" |
-LED
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/500mA
 | style="height: 28px; width: 120.85px;" |
-<br>
+Pigeon (RCS)
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/500mA
@@ Line 832: / Line 798: @@
 | style="height: 28px; width: 75.25px;" | 12V/2A
 | style="height: 28px; width: 120.85px;" |
-Radio (RCS)
+CANCoders (except right rear)
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/2A
 | style="height: 28px; width: 120.85px;" |
-Do Not Use&nbsp;
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/500mA
 | style="height: 28px; width: 120.85px;" |
-CanCoders 4x Ganged - Drive
+CANCoder - right rear
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/500mA
-| Pigeon2
+|
+<br>
 |}
-</div>
+<div class="mw-parser-output"></div>
 <div class="mw-parser-output"></div>
-<div class="mw-parser-output"></div></div>
 == PWM Outputs ==
@@ Line 873: / Line 840: @@
 | style="width: 16.025px; height: 28px;" | 0
 | style="width: 76.8375px; height: 28px;" |
-LEDs
+Gamepiece
 | style="width: 79.9875px; height: 28px;" |
-<br>
+Motor
 | style="width: 75.675px; height: 28px;" |
-<br>
+Neo 550
 | style="width: 136.3px; text-align: center; height: 28px;" |
-<br>
+Calgae Motors (Left and Right)
 | style="width: 120.025px; height: 28px;" |
 <br>
 | style="width: 211.488px; height: 28px;" |
-<br>
+Brake
 | style="width: 88.725px; height: 28px;" |
 <br>
@@ Line 890: / Line 857: @@
 | style="width: 16.025px; height: 28px;" | 1
 | style="width: 76.8375px; height: 28px;" |
-<br>
+N/A
 | style="width: 79.9875px; height: 28px;" |
-<br>
+LED strips
 | style="width: 75.675px; height: 28px;" |
 <br>
 | style="width: 136.3px; text-align: center; height: 28px;" |
+Addressable LED strips
+| style="width: 120.025px; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" | &nbsp;
 | style="width: 211.488px; height: 28px;" |
-<br>
+total nodes
-| style="width: 88.725px; height: 28px;" | &nbsp;
+| style="width: 88.725px; height: 28px;" | &nbsp;VRM 5V
 | style="width: 52.9375px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
 | style="width: 16.025px; height: 28px;" | 2
 | style="width: 76.8375px; height: 28px;" |
-<br>
+Gamepiece
 | style="width: 79.9875px; height: 28px;" |
-<br>
+Motor
 | style="width: 75.675px; height: 28px;" |
-<br>
+Neo
 | style="width: 136.3px; text-align: center; height: 28px;" |
-<br>
+Calgae Wrist
 | style="width: 120.025px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" | &nbsp;
+| style="width: 211.488px; height: 28px;" | &nbsp;Brake
 | style="width: 88.725px; height: 28px;" | &nbsp;
 | style="width: 52.9375px; height: 28px;" | &nbsp;
@@ Line 1,052: / Line 1,020: @@
 | style="width: 52.9375px; height: 28px;" | &nbsp;
 |}
+=== LED Strip Layout and Function ===
 <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div>
-<div class="mw-parser-output">&nbsp;</div>
+<div class="mw-parser-output">&nbsp;
+{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 161px;"
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | '''Node Numbers'''
+| style="width: 33.3333%; height: 23px;" | '''Location'''
+| style="width: 33.3333%; height: 23px;" | '''Function'''
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | 0 - 18
+| style="width: 33.3333%; height: 23px;" | Side of elevator on Robot-left.&nbsp; Node 0 at bottom, 18 at top
+| style="width: 33.3333%; height: 23px;" | Strategy-requested features for gameplay, fun stuff
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | 19
+| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, robot-left
+| style="width: 33.3333%; height: 23px;" | Cage raw sensor status.&nbsp; Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | 20
+| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, 1 node in from robot-left
+| style="width: 33.3333%; height: 23px;" | Elevator limit raw sensor status. &nbsp;Green if top sensor is triggered, red if bottom sensor is triggered, blue if neither, white if both<br>
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | 21
+| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front, 1 node in from robot-right
+| style="width: 33.3333%; height: 23px;" | Coral raw sensor status.&nbsp; Green if coral is sensed, red if not
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | 22
+| style="width: 33.3333%; height: 23px;" | Base of elevator on robot front,&nbsp; robot-right
+| style="width: 33.3333%; height: 23px;" | Algae raw sensor status. Green if algae is sensed, red if not
+|- style="height: 23px;"
+| style="width: 33.3333%; height: 23px;" | 23 - 42
+| style="width: 33.3333%; height: 23px;" | Side of elevator on Robot-right.&nbsp; Node 23 at bottom, 42 at top
+| style="width: 33.3333%; height: 23px;" | Strategy-requested features for gameplay, fun stuff
+|}
+</div>
 == Relay Outputs ==
@@ Line 1,070: / Line 1,073: @@
 |- style="height: 28px;"
 | style="height: 28px; width: 27.8906px;" | 0
-| style="height: 28px; width: 139.875px;" | &nbsp;Hang
+| style="height: 28px; width: 139.875px;" |
-| style="width: 80px; height: 28px;" | SPIKE relay
+Cage
-| style="width: 51.2188px; height: 28px;" | &nbsp;
+| style="width: 80px; height: 28px;" |
-| style="width: 166.875px; height: 28px;" | Actuates braking pawl against ratchet wheel.
+SPIKE relay
+| style="width: 51.2188px; height: 28px;" |
-Energizing lifts the pawl off the ratchet wheel. Integrated spring pushes pawl into ratchet wheel.
+<br>
-| style="width: 217.828px; height: 28px;" | &nbsp;
+| style="width: 166.875px; height: 28px;" |
-| style="width: 182.312px; height: 28px;" | Two solenoids controlled via one SPIKE relay (one on M+ and one on M- with common ground)
+Controls electric solenoid
+| style="width: 217.828px; height: 28px;" |
-Left Solenoid is Reverse, Right is Forward.
+Power on to disengage pawl from ratchet, power off to engage
+| style="width: 182.312px; height: 28px;" |
-[https://content.vexrobotics.com/docs/spike-blue-guide-sep05.pdf See Spike Users Guide]
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 27.8906px;" | 1
@@ Line 1,118: / Line 1,121: @@
 === <u>RoboRIO Analog Inputs</u> ===
-{| style="width: 1030px" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1030px; height: 169px;" border="1" cellspacing="1" cellpadding="2"
-|-
+|- style="height: 57px;"
-| ID
+| style="height: 57px; width: 14.4px;" | ID
-| style="text-align: center" | Subsystem
+| style="text-align: center; height: 57px; width: 73.65px;" | Subsystem
-| style="width: 70px" | <p style="text-align: center">Component</p>
+| style="width: 89.65px; height: 57px;" | <p style="text-align: center;">Component</p>
-<p style="text-align: center">Type</p>
+<p style="text-align: center;">Type</p>
-| style="width: 54px;  text-align: center" | Model #
+| style="width: 108.05px; text-align: center; height: 57px;" | Model #
-| style="width: 227px;  text-align: center" | Description<br>(brief)
+| style="width: 200.913px; text-align: center; height: 57px;" | Description<br>(brief)
-| style="width: 262px;  text-align: center" | Operation
+| style="width: 228.538px; text-align: center; height: 57px;" | Operation
-| style="width: 132px;  text-align: center" |
+| style="width: 193.55px; text-align: center; height: 57px;" |
 Voltage
 Range
-| style="width: 91px;  text-align: center" | Notes
+| style="width: 82.05px; text-align: center; height: 57px;" | Notes
-|-
+|- style="height: 28px;"
-| 0
+| style="height: 28px; width: 14.4px;" | 0
-|
+| style="height: 28px; width: 73.65px;" |
 <br>
-| style="width: 70px" |
+| style="width: 89.65px; height: 28px;" |
 <br>
-| style="width: 54px" |
+| style="width: 108.05px; height: 28px;" |
 <br>
-| style="width: 227px" |
+| style="width: 200.913px; height: 28px;" |
 <br>
-| style="width: 262px" |
+| style="width: 228.538px; height: 28px;" |
 <br>
-| style="width: 132px" |
+| style="width: 193.55px; height: 28px;" |
 <br>
-| style="width: 91px;  text-align: center" |
+| style="width: 82.05px; text-align: center; height: 28px;" |
 <br>
-|-
+|- style="height: 28px;"
-| style="text-align: center" | 1
+| style="text-align: center; height: 28px; width: 14.4px;" | 1
-| style="text-align: center" |
+| style="text-align: center; height: 28px; width: 73.65px;" |
 <br>
-| style="width: 69px;  text-align: center" |
+| style="width: 89.65px; text-align: center; height: 28px;" |
 <br>
-| style="width: 122px;  text-align: center" |
+| style="width: 108.05px; text-align: center; height: 28px;" |
 <br>
-| style="width: 139px;  text-align: center" |
+| style="width: 200.913px; text-align: center; height: 28px;" |
 <br>
-| style="width: 193px;  text-align: center" |
+| style="width: 228.538px; text-align: center; height: 28px;" |
 <br>
-| style="width: 223px;  text-align: center" | &nbsp;
+| style="width: 193.55px; text-align: center; height: 28px;" | &nbsp;
-| &nbsp;
+| style="height: 28px; width: 82.05px;" | &nbsp;
-|-
+|- style="height: 28px;"
-| style="text-align: center" | 2
+| style="text-align: center; height: 28px; width: 14.4px;" | 2
-| style="text-align: center" | &nbsp;
+| style="text-align: center; height: 28px; width: 73.65px;" | &nbsp;
-| style="width: 69px;  text-align: center" | &nbsp;
+| style="width: 89.65px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 122px;  text-align: center" | &nbsp;
+| style="width: 108.05px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 139px;  text-align: center" | &nbsp;
+| style="width: 200.913px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 193px;  text-align: center" | &nbsp;
+| style="width: 228.538px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 223px;  text-align: center" | &nbsp;
+| style="width: 193.55px; text-align: center; height: 28px;" | &nbsp;
-| &nbsp;
+| style="height: 28px; width: 82.05px;" | &nbsp;
-|-
+|- style="height: 28px;"
-| style="text-align: center" | 3
+| style="text-align: center; height: 28px; width: 14.4px;" | 3
-| style="text-align: center" | &nbsp;
+| style="text-align: center; height: 28px; width: 73.65px;" | &nbsp;
-| style="width: 69px;  text-align: center" | &nbsp;
+| style="width: 89.65px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 122px;  text-align: center" | &nbsp;
+| style="width: 108.05px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 139px;  text-align: center" | &nbsp;
+| style="width: 200.913px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 193px;  text-align: center" | &nbsp;
+| style="width: 228.538px; text-align: center; height: 28px;" | &nbsp;
-| style="width: 223px;  text-align: center" | &nbsp;
+| style="width: 193.55px; text-align: center; height: 28px;" | &nbsp;
-| &nbsp;
+| style="height: 28px; width: 82.05px;" | &nbsp;
 |}
-</div>
-<div class="mw-parser-output">&nbsp;</div></div>
+<div class="mw-parser-output">&nbsp;</div>
 === <u>More Board Analog Inputs</u> ===
-{| style="width: 1030px" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1030px;" border="1" cellspacing="1" cellpadding="2"
 |-
 | ID
-| style="text-align: center" | Subsystem
+| style="text-align: center;" | Subsystem
-| style="width: 70px" | <p style="text-align: center">Component</p>
+| style="width: 70px;" | <p style="text-align: center;">Component</p>
-<p style="text-align: center">Type</p>
+<p style="text-align: center;">Type</p>
-| style="width: 54px; text-align: center" | Model #
+| style="width: 54px; text-align: center;" | Model #
-| style="width: 227px; text-align: center" | Description<br>(brief)
+| style="width: 227px; text-align: center;" | Description<br>(brief)
-| style="width: 262px; text-align: center" | Operation
+| style="width: 262px; text-align: center;" | Operation
-| style="width: 132px; text-align: center" |
+| style="width: 132px; text-align: center;" |
 Voltage
 Range
-| style="width: 91px; text-align: center" | Notes
+| style="width: 91px; text-align: center;" | Notes
 |-
-| style="text-align: center" | 0
+| style="text-align: center;" | 0
-| style="text-align: center" | &nbsp;
+| style="text-align: center;" | &nbsp;
-| style="width: 69px; text-align: center" | &nbsp;
+| style="width: 69px; text-align: center;" | &nbsp;
-| style="width: 122px; text-align: center" | &nbsp;
+| style="width: 122px; text-align: center;" | &nbsp;
-| style="width: 139px; text-align: center" | &nbsp;
+| style="width: 139px; text-align: center;" | &nbsp;
-| style="width: 193px; text-align: center" | &nbsp;
+| style="width: 193px; text-align: center;" | &nbsp;
-| style="width: 223px; text-align: center" | &nbsp;
+| style="width: 223px; text-align: center;" | &nbsp;
 | &nbsp;
 |-
-| style="text-align: center" | 1
+| style="text-align: center;" | 1
-| style="text-align: center" | &nbsp;
+| style="text-align: center;" | &nbsp;
-| style="width: 69px; text-align: center" | &nbsp;
+| style="width: 69px; text-align: center;" | &nbsp;
-| style="width: 122px; text-align: center" | &nbsp;
+| style="width: 122px; text-align: center;" | &nbsp;
-| style="width: 139px; text-align: center" | &nbsp;
+| style="width: 139px; text-align: center;" | &nbsp;
-| style="width: 193px; text-align: center" | &nbsp;
+| style="width: 193px; text-align: center;" | &nbsp;
-| style="width: 223px; text-align: center" | &nbsp;
+| style="width: 223px; text-align: center;" | &nbsp;
 | &nbsp;
 |-
-| style="text-align: center" | 2
+| style="text-align: center;" | 2
-| style="text-align: center" | &nbsp;
+| style="text-align: center;" | &nbsp;
-| style="width: 69px; text-align: center" | &nbsp;
+| style="width: 69px; text-align: center;" | &nbsp;
-| style="width: 122px; text-align: center" | &nbsp;
+| style="width: 122px; text-align: center;" | &nbsp;
-| style="width: 139px; text-align: center" | &nbsp;
+| style="width: 139px; text-align: center;" | &nbsp;
-| style="width: 193px; text-align: center" | &nbsp;
+| style="width: 193px; text-align: center;" | &nbsp;
-| style="width: 223px; text-align: center" | &nbsp;
+| style="width: 223px; text-align: center;" | &nbsp;
 | &nbsp;
 |-
-| style="text-align: center" | 3
+| style="text-align: center;" | 3
-| style="text-align: center" | &nbsp;
+| style="text-align: center;" | &nbsp;
-| style="width: 69px; text-align: center" | &nbsp;
+| style="width: 69px; text-align: center;" | &nbsp;
-| style="width: 122px; text-align: center" | &nbsp;
+| style="width: 122px; text-align: center;" | &nbsp;
-| style="width: 139px; text-align: center" | &nbsp;
+| style="width: 139px; text-align: center;" | &nbsp;
-| style="width: 193px; text-align: center" | &nbsp;
+| style="width: 193px; text-align: center;" | &nbsp;
-| style="width: 223px; text-align: center" | &nbsp;
+| style="width: 223px; text-align: center;" | &nbsp;
 | &nbsp;
 |}
@@ Line 1,253: / Line 1,256: @@
 === <u>RoboRio IO</u> ===
-{| style="width: 1187px; height: 417px;" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1187px; height: 408px;" border="1" cellspacing="1" cellpadding="2"
 |- style="height: 57px;"
-| style="text-align: center; height: 57px; width: 44px;" | '''ID'''
+| style="text-align: center; height: 57px; width: 41.9844px;" | '''ID'''
-| style="text-align: center; height: 57px; width: 159px;" | '''Direction'''<br>(IN/OUT)
+| style="text-align: center; height: 57px; width: 153px;" | '''Direction'''<br>(IN/OUT)
-| style="width: 76px; text-align: center; height: 57px;" | '''Subsystem'''
+| style="width: 76.9375px; text-align: center; height: 57px;" | '''Subsystem'''
-| style="width: 122px; height: 57px;" | <p style="text-align: center;">'''Component'''</p>
+| style="width: 119.062px; height: 57px;" | <p style="text-align: center;">'''Component'''</p>
 <p style="text-align: center;">'''Type'''</p>
-| style="width: 139px; text-align: center; height: 57px;" | '''Model #'''
+| style="width: 140.016px; text-align: center; height: 57px;" | '''Model #'''
-| style="width: 193px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
+| style="width: 181.016px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
-| style="width: 223px; text-align: center; height: 57px;" | '''Operation'''
+| style="width: 213.969px; text-align: center; height: 57px;" | '''Operation'''
-| style="width: 231px; text-align: center; height: 57px;" | '''Notes'''
+| style="width: 220.016px; text-align: center; height: 57px;" | '''Notes'''
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 0
+| style="text-align: center; height: 28px; width: 41.9844px;" | 0
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
-Game Piece - Intake
+Gamepiece
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
-Diffuse retro-reflective sensor
+Sensor
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
-Allen Bradley 42EF-D2MPAK-F4
+OPB720B-06Z
-| style="width: 193px; height: 28px; text-align: left;" |
+| style="width: 181.016px; height: 28px; text-align: center;" |
-Senses GP<br>Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.
+Algae Sensor
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
-<br>
+Detects when Algae is present in the Calgae Intake.
-| style="width: 231px; height: 28px; text-align: left;" |
+| style="width: 220.016px; height: 28px; text-align: left;" |
-<p>Wire for Dark operating</p>Signal connects to roborio DIO<p>12V powered</p>
+Sensor should also detect slip and make sure the motors maintain grip on the Algae.
-<p>Voltage divider added to cable pigtail</p>
-<p>[https://wiki.penfieldrobotics.com/wiki/index.php?title=File:Allen_Bradley_Diffuse_Circuit.jpg See circuit diagram]&nbsp;</p>
 |- style="height: 51px;"
-| style="text-align: center; height: 51px; width: 44px;" | 1
+| style="text-align: center; height: 51px; width: 41.9844px;" | 1
-| style="text-align: center; height: 51px; width: 159px;" | IN
+| style="text-align: center; height: 51px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 51px;" |
+| style="width: 76.9375px; text-align: center; height: 51px;" |
-Game Piece - Arm
+Gamepiece
-| style="width: 122px; text-align: center; height: 51px;" |
+| style="width: 119.062px; text-align: center; height: 51px;" |
-Encoder
+Sensor
-| style="width: 139px; text-align: center; height: 51px;" |
+| style="width: 140.016px; text-align: center; height: 51px;" |
-[https://www.revrobotics.com/rev-11-1271/ https://www.revrobotics.com/rev-11-1271/]
+OMRON
-| style="width: 193px; height: 51px; text-align: left;" |
+| style="width: 181.016px; height: 51px; text-align: center;" |
-Used in absolute position mode to indicate arm pivot angle.
+Coral Sensor
-| style="width: 223px; text-align: center; height: 51px;" |
+| style="width: 213.969px; text-align: center; height: 51px;" |
+Detects when Coral is present in the Calgae Intake. Then stops the intake motors.
+| style="width: 220.016px; height: 51px; text-align: left;" |
 <br>
-| style="width: 231px; height: 51px; text-align: left;" |
-Wire White/Red/Black To roborio DIO
 |- style="height: 57px;"
-| style="text-align: center; height: 57px; width: 44px;" | 2
+| style="text-align: center; height: 57px; width: 41.9844px;" | 2
-| style="text-align: center; height: 57px; width: 159px;" | IN
+| style="text-align: center; height: 57px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 57px;" |
-Hang Brake
+Elevator
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 57px;" |
-Leaf Lever Limit Switch Right
+Sensor
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 57px;" |
-V7-2B17D8-048
+&nbsp;REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
-| style="width: 193px; height: 28px; text-align: left;" |
+| style="width: 181.016px; height: 57px; text-align: center;" |
-Triggers when pawl on brake is fully lifted and clear of ratchet wheel
+Elevator Top Limit
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 57px;" |
+<br>
+| style="width: 220.016px; height: 57px; text-align: left;" |
 <br>
-| style="width: 231px; height: 28px; text-align: left;" |
-roborio DIO<br>Wire for normally open
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 3
+| style="text-align: center; height: 28px; width: 41.9844px;" | 3
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
-Hang Brake
+Elevator
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
-Leaf Lever Limit Switch Left
+Sensor
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
-V7-2B17D8-048
+REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
-| style="width: 193px; height: 28px; text-align: left;" |
+| style="width: 181.016px; height: 28px; text-align: center;" |
-Triggers when pawl on brake is fully lifted and clear of ratchet wheel<br><br>
+Elevator Bottom Limit
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
+<br>
+| style="width: 220.016px; height: 28px; text-align: left;" |
 <br>
-| style="width: 231px; height: 28px; text-align: left;" |
-roborio DIO<br>Wire for normally open
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 4
+| style="text-align: center; height: 28px; width: 41.9844px;" | 4
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
-Hang
+Gamepiece
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
-Diffuse retro-reflective sensor
+Encoder
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
-Allen Bradley 42EF-D2MPAK-F4
+[https://www.revrobotics.com/rev-11-1271/ REV 11-1271]
-| style="width: 193px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 28px;" |
-Detects when left hook is present (down)
+Used in absolute position mode to indicate wrist pivot angle.
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
+<br>
+| style="width: 220.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 231px; text-align: center; height: 28px;" |
-<p>Wire for Dark operating</p>Signal connects to roborio DIO<p>12V powered</p>
-<p>Voltage divider added to cable pigtail</p>
-<p>[https://wiki.penfieldrobotics.com/wiki/index.php?title=File:Allen_Bradley_Diffuse_Circuit.jpg See circuit diagram]</p>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 5
+| style="text-align: center; height: 28px; width: 41.9844px;" | 5
-| style="text-align: center; height: 28px; width: 159px;" |
+| style="text-align: center; height: 28px; width: 153px;" |
 IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
 Hang
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
-Diffuse retro-reflective sensor
+Sensor
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
-Allen Bradley 42EF-D2MPAK-F4
-| style="width: 193px; text-align: center; height: 28px;" |
-Detects when right hook is present (down)
-| style="width: 223px; text-align: center; height: 28px;" |
 <br>
-| style="width: 231px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 28px;" |
-<p>Wire for Dark operating</p>Signal connects to roborio DIO<p>12V powered</p>
+Hang Solenoid Up
-<p>Voltage divider added to cable pigtail</p>
+| style="width: 213.969px; text-align: center; height: 28px;" |
-<p>[https://wiki.penfieldrobotics.com/wiki/index.php?title=File:Allen_Bradley_Diffuse_Circuit.jpg See circuit diagram]</p>
-|- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 6
-| style="text-align: center; height: 28px; width: 159px;" |
-IN
-| style="width: 76px; text-align: center; height: 28px;" |
 <br>
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 220.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 139px; text-align: center; height: 28px;" |
+|- style="height: 19px;"
+| style="text-align: center; height: 19px; width: 41.9844px;" | 6
+| style="text-align: center; height: 19px; width: 153px;" |
+IN
+| style="width: 76.9375px; text-align: center; height: 19px;" |
+Hang
+| style="width: 119.062px; text-align: center; height: 19px;" |
+Sensor
+| style="width: 140.016px; text-align: center; height: 19px;" |
 <br>
-| style="width: 193px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 19px;" |
+Hang Hung
+| style="width: 213.969px; text-align: center; height: 19px;" |
 <br>
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 220.016px; text-align: center; height: 19px;" |
-<br>
-| style="width: 231px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 7
+| style="text-align: center; height: 28px; width: 41.9844px;" | 7
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
 <br>
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 193px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
-| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 8
+| style="text-align: center; height: 28px; width: 41.9844px;" | 8
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
 <br>
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 193px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
-| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 9
+| style="text-align: center; height: 28px; width: 41.9844px;" | 9
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
 <br>
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 193px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
-| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 44px;" | 10
+| style="text-align: center; height: 28px; width: 41.9844px;" | 10
-| style="text-align: center; height: 28px; width: 159px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" | IN
-| style="width: 76px; text-align: center; height: 28px;" |
+| style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
-| style="width: 122px; text-align: center; height: 28px;" |
+| style="width: 119.062px; text-align: center; height: 28px;" |
 <br>
-| style="width: 139px; text-align: center; height: 28px;" |
+| style="width: 140.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 193px; text-align: center; height: 28px;" |
+| style="width: 181.016px; text-align: center; height: 28px;" |
 <br>
-| style="width: 223px; text-align: center; height: 28px;" |
+| style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
-| style="width: 231px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
 |}
 &nbsp;<div class="mw-parser-output">&nbsp;</div>
@@ Line 1,439: / Line 1,436: @@
 === <u>Rev Robotics More Board IO</u> ===
-{| style="width: 1022px" border="1" cellspacing="1" cellpadding="1"
+{| style="width: 1022px;" border="1" cellspacing="1" cellpadding="1"
 |-
-| style="width: 16px; text-align: center" | '''ID'''
+| style="width: 16px; text-align: center;" | '''ID'''
-| style="width: 56px; text-align: center" | '''Direction (IN/OUT)'''
+| style="width: 56px; text-align: center;" | '''Direction (IN/OUT)'''
-| style="width: 74px; text-align: center" | '''Subsystem'''
+| style="width: 74px; text-align: center;" | '''Subsystem'''
-| style="width: 74px; text-align: center" | '''Component Type'''
+| style="width: 74px; text-align: center;" | '''Component Type'''
-| style="width: 56px; text-align: center" | '''Model #'''
+| style="width: 56px; text-align: center;" | '''Model #'''
-| style="width: 197px; text-align: center" | '''Description (brief)'''
+| style="width: 197px; text-align: center;" | '''Description (brief)'''
-| style="width: 254px; text-align: center" | '''Operation'''
+| style="width: 254px; text-align: center;" | '''Operation'''
-| style="width: 141px; text-align: center" | '''Notes'''
+| style="width: 141px; text-align: center;" | '''Notes'''
 |-
-| style="width: 16px" | 0
+| style="width: 16px;" | 0
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 1
+| style="width: 16px; text-align: center;" | 1
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 2
+| style="width: 16px; text-align: center;" | 2
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 3
+| style="width: 16px; text-align: center;" | 3
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 4
+| style="width: 16px; text-align: center;" | 4
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 5
+| style="width: 16px; text-align: center;" | 5
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 6
+| style="width: 16px; text-align: center;" | 6
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 7
+| style="width: 16px; text-align: center;" | 7
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 8
+| style="width: 16px; text-align: center;" | 8
-| style="width: 56px; text-align: center" | IN
+| style="width: 56px; text-align: center;" | IN
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 9
+| style="width: 16px; text-align: center;" | 9
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 10
+| style="width: 16px; text-align: center;" | 10
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 11
+| style="width: 16px; text-align: center;" | 11
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 12
+| style="width: 16px; text-align: center;" | 12
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 13
+| style="width: 16px; text-align: center;" | 13
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 14
+| style="width: 16px; text-align: center;" | 14
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px; text-align: center" | &nbsp;
+| style="width: 141px; text-align: center;" | &nbsp;
 |-
-| style="width: 16px; text-align: center" | 15
+| style="width: 16px; text-align: center;" | 15
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 74px; text-align: center" | &nbsp;
+| style="width: 74px; text-align: center;" | &nbsp;
-| style="width: 56px; text-align: center" | &nbsp;
+| style="width: 56px; text-align: center;" | &nbsp;
-| style="width: 197px; text-align: center" | &nbsp;
+| style="width: 197px; text-align: center;" | &nbsp;
-| style="width: 254px; text-align: center" | &nbsp;
+| style="width: 254px; text-align: center;" | &nbsp;
-| style="width: 141px" | &nbsp;
+| style="width: 141px;" | &nbsp;
 |}
 </div>
 <div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div></div></div></div></div></div></div></div></div></div></div></div></div>
+== Junction Box For Gamepiece Communication (Base & Carriage)<br> ==
+{| class="wikitable" style="border-collapse: collapse; width: 56.7121%; height: 253px;"
+|- style="height: 69px;"
+| style="width: 9.97904%; text-align: center; height: 69px;" | '''# '''<br>'''(left to right)'''
+| style="width: 6.01791%; text-align: center; height: 69px;" | '''Subsystem'''
+| style="width: 11.9271%; text-align: center; height: 69px;" | '''Component'''
+| style="width: 9.38868%; text-align: center; height: 69px;" | '''Model'''<br>
+| style="width: 16.4608%; text-align: center; height: 69px;" | '''Description (brief)'''
+| style="width: 32.0989%; text-align: center; height: 69px;" | '''Operation'''
+| style="width: 58.0897%; text-align: center; height: 69px;" | '''Notes'''
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 1
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 23px;" | Spark Max
+| style="width: 9.38868%; text-align: center; height: 23px;" |
+<br>
+| style="width: 16.4608%; text-align: center; height: 23px;" | Calgae Motor&nbsp; Controller
+PWM Signal
+| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Intake
+| style="width: 58.0897%; text-align: center; height: 23px;" | After leaving box, it split off into BOTH left and right Spark Max Calgae Motor Controllers.
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 2
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 23px;" | PWM + DIO ground
+| style="width: 9.38868%; text-align: center; height: 23px;" |
+<br>
+| style="width: 16.4608%; text-align: center; height: 23px;" | Shared DIO ground for everything on calgae
+| style="width: 32.0989%; text-align: center; height: 23px;" |
+<br>
+| style="width: 58.0897%; text-align: center; height: 23px;" | Ground for PWM + DIO outputs
+'''Sourced from Rio DIO 0'''
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 3
+| style="width: 6.01791%; text-align: center; height: 28px;" |
+<br>
+| style="width: 11.9271%; text-align: center; height: 23px;" | <br>
+| style="width: 9.38868%; text-align: center; height: 23px;" |
+<br>
+| style="width: 16.4608%; text-align: center; height: 23px;" | <br>
+| style="width: 32.0989%; text-align: center; height: 23px;" |
+<br>
+| style="width: 58.0897%; text-align: center; height: 23px;" | <br>
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 4
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 23px;" | Spark Max
+| style="width: 9.38868%; text-align: center; height: 23px;" |
+<br>
+| style="width: 16.4608%; text-align: center; height: 23px;" | Wrist Motor Controller
+PWM Signal
+| style="width: 32.0989%; text-align: center; height: 23px;" | Controls Wrist
+| style="width: 58.0897%; text-align: center; height: 23px;" |
+<br>
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 5
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 23px;" | +5V Digital power
+| style="width: 9.38868%; text-align: center; height: 23px;" |
+<br>
+| style="width: 16.4608%; text-align: center; height: 23px;" | Shared digital power
+| style="width: 32.0989%; text-align: center; height: 23px;" |
+<br>
+| style="width: 58.0897%; text-align: center; height: 23px;" |
+Power to sensors
+'''Sourced from Rio DIO 0'''
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 6
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 28px;" |
+Encoder
+| style="width: 9.38868%; text-align: center; height: 28px;" |
+[https://www.revrobotics.com/rev-11-1271/ REV 11-1271]
+| style="width: 16.4608%; text-align: center; height: 28px;" |
+Bore Encoder
+| style="width: 32.0989%; text-align: center; height: 23px;" | Used in absolute position mode to indicate wrist pivot angle.
+| style="width: 58.0897%; text-align: center; height: 23px;" |
+<br>
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 7
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 23px;" | Sensor
+| style="width: 9.38868%; text-align: center; height: 23px;" | OMRON
+| style="width: 16.4608%; text-align: center; height: 23px;" | Coral Sensor
+| style="width: 32.0989%; text-align: center; height: 23px;" | Detects when Coral is present in the Calgae Intake. Then stops the intake motors.&nbsp;
+| style="width: 58.0897%; text-align: center; height: 23px;" |
+<br>
+|- style="height: 23px;"
+| style="width: 9.97904%; text-align: center; height: 23px;" | 8
+| style="width: 6.01791%; text-align: center; height: 23px;" | Gamepiece
+| style="width: 11.9271%; text-align: center; height: 23px;" | Sensor
+| style="width: 9.38868%; text-align: center; height: 23px;" | OPB720B-06Z
+| style="width: 16.4608%; text-align: center; height: 23px;" | Algae Sensor
+| style="width: 32.0989%; text-align: center; height: 23px;" | Detects when Algae is present in the Calgae Intake.
+| style="width: 58.0897%; text-align: center; height: 23px;" | Sensor should also detect slip and make sure the motors maintain grip on the Algae.
+|}
 == I2C Registers ==
-{| style="width: 1007px" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2"
 |-
-| style="text-align: center" | '''Address'''<br>(e.g. 0100111X)
+| style="text-align: center;" | '''Address'''<br>(e.g. 0100111X)
-| style="width: 37px; text-align: center" | '''Pin'''<br>(e.g. GP0)
+| style="width: 37px; text-align: center;" | '''Pin'''<br>(e.g. GP0)
-| style="width: 76px; text-align: center" | '''Subsystem'''
+| style="width: 76px; text-align: center;" | '''Subsystem'''
-| style="width: 75px" | <p style="text-align: center">'''Component'''</p>
+| style="width: 75px;" | <p style="text-align: center;">'''Component'''</p>
-<p style="text-align: center">'''Type'''</p>
+<p style="text-align: center;">'''Type'''</p>
-| style="width: 53px; text-align: center" | '''Model #'''
+| style="width: 53px; text-align: center;" | '''Model #'''
-| style="width: 205px; text-align: center" | '''Description<br>(brief)'''
+| style="width: 205px; text-align: center;" | '''Description<br>(brief)'''
-| style="width: 241px; text-align: center" | '''Operation'''
+| style="width: 241px; text-align: center;" | '''Operation'''
-| style="width: 112px; text-align: center" | '''Notes'''
+| style="width: 112px; text-align: center;" | '''Notes'''
 |-
-| style="text-align: center" |
+| style="text-align: center;" |
 <br>
-| style="width: 37px; text-align: center" | &nbsp;
+| style="width: 37px; text-align: center;" | &nbsp;
-| style="width: 76px; text-align: center" |
+| style="width: 76px; text-align: center;" |
 <br>
-| style="width: 75px; text-align: center" |
+| style="width: 75px; text-align: center;" |
 <br>
-| style="width: 53px; text-align: center" |
+| style="width: 53px; text-align: center;" |
 <br>
-| style="width: 205px; text-align: center" |
+| style="width: 205px; text-align: center;" |
 <br>
-| style="width: 241px; text-align: center" |
+| style="width: 241px; text-align: center;" |
 <br>
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | &nbsp;
-| style="width: 37px" | &nbsp;
+| style="width: 37px;" | &nbsp;
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | &nbsp;
-| style="width: 37px" | &nbsp;
+| style="width: 37px;" | &nbsp;
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | &nbsp;
-| style="width: 37px" | &nbsp;
+| style="width: 37px;" | &nbsp;
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | &nbsp;
-| style="width: 37px" | &nbsp;
+| style="width: 37px;" | &nbsp;
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | &nbsp;
-| style="width: 37px" | &nbsp;
+| style="width: 37px;" | &nbsp;
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | &nbsp;
-| style="width: 37px" | &nbsp;
+| style="width: 37px;" | &nbsp;
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |}
 == SPI Devices ==
-{| style="width: 1007px" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2"
 |-
-| style="text-align: center" | '''#'''
+| style="text-align: center;" | '''#'''
-| style="width: 76px; text-align: center" | '''Subsystem'''
+| style="width: 76px; text-align: center;" | '''Subsystem'''
-| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>
+| style="width: 75px;" | <p style="text-align: center;">'''Component&nbsp;Type'''</p>
-| style="width: 53px; text-align: center" | '''Model #'''
+| style="width: 53px; text-align: center;" | '''Model #'''
-| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
+| style="width: 205px; text-align: center;" | '''Description&nbsp;(brief)'''
-| style="width: 241px; text-align: center" | '''Operation'''
+| style="width: 241px; text-align: center;" | '''Operation'''
-| style="width: 112px; text-align: center" | '''Notes'''
+| style="width: 112px; text-align: center;" | '''Notes'''
 |-
-| style="text-align: center" | 0
+| style="text-align: center;" | 0
-| style="width: 76px; text-align: center" |
+| style="width: 76px; text-align: center;" |
 <br>
-| style="width: 75px; text-align: center" |
+| style="width: 75px; text-align: center;" |
 <br>
-| style="width: 53px; text-align: center" |
+| style="width: 53px; text-align: center;" |
 <br>
-| style="width: 205px; text-align: center" |
+| style="width: 205px; text-align: center;" |
 <br>
-| style="width: 241px; text-align: center" |
+| style="width: 241px; text-align: center;" |
 <br>
-| style="width: 112px; text-align: center" | &nbsp;
+| style="width: 112px; text-align: center;" | &nbsp;
 |}
 == USB Host Ports ==
-{| style="width: 1007px" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1007px;" border="1" cellspacing="1" cellpadding="2"
 |-
-| style="text-align: center" | '''Address'''
+| style="text-align: center;" | '''Address'''
-| style="width: 76px; text-align: center" | '''Subsystem'''
+| style="width: 76px; text-align: center;" | '''Subsystem'''
-| style="width: 75px" | <p style="text-align: center">'''Component&nbsp;Type'''</p>
+| style="width: 75px;" | <p style="text-align: center;">'''Component&nbsp;Type'''</p>
-| style="width: 53px; text-align: center" | '''Model #'''
+| style="width: 53px; text-align: center;" | '''Model #'''
-| style="width: 205px; text-align: center" | '''Description&nbsp;(brief)'''
+| style="width: 205px; text-align: center;" | '''Description&nbsp;(brief)'''
-| style="width: 241px; text-align: center" | '''Operation'''
+| style="width: 241px; text-align: center;" | '''Operation'''
-| style="width: 112px; text-align: center" | '''Notes'''
+| style="width: 112px; text-align: center;" | '''Notes'''
 |-
 | 0
-| style="width: 76px" |
+| style="width: 76px;" |
 <br>
-| style="width: 75px" |
+| style="width: 75px;" |
 <br>
-| style="width: 53px" |
+| style="width: 53px;" |
 <br>
-| style="width: 205px" |
+| style="width: 205px;" |
 <br>
-| style="width: 241px" |
+| style="width: 241px;" |
 <br>
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |-
 | 1
-| style="width: 76px" | &nbsp;
+| style="width: 76px;" | &nbsp;
-| style="width: 75px" | &nbsp;
+| style="width: 75px;" | &nbsp;
-| style="width: 53px" | &nbsp;
+| style="width: 53px;" | &nbsp;
-| style="width: 205px" | &nbsp;
+| style="width: 205px;" | &nbsp;
-| style="width: 241px" | &nbsp;
+| style="width: 241px;" | &nbsp;
-| style="width: 112px" | &nbsp;
+| style="width: 112px;" | &nbsp;
 |}
@@ Line 1,745: / Line 1,844: @@
 == Pneumatics Control Modules ==
-{| class="wikitable" style="width: 931px" border="1" cellspacing="1" cellpadding="2"
+{| class="wikitable" style="width: 931px;" border="1" cellspacing="1" cellpadding="2"
 |-
-| style="width: 8px" |
+| style="width: 8px;" |
 '''PCM'''
 '''ID'''
-| style="width: 1px" | '''#'''
+| style="width: 1px;" | '''#'''
-| style="text-align: center" | '''Subsystem'''
+| style="text-align: center;" | '''Subsystem'''
-| style="width: 75px" | <p style="text-align: center">'''Solenoid is Double or Single?'''</p>
+| style="width: 75px;" | <p style="text-align: center;">'''Solenoid is Double or Single?'''</p>
-| style="width: 64px" | <p style="text-align: center">'''Solenoid'''</p>
+| style="width: 64px;" | <p style="text-align: center;">'''Solenoid'''</p>
-<p style="text-align: center">'''Model #'''</p>
+<p style="text-align: center;">'''Model #'''</p>
-| style="width: 183px" | <p style="text-align: center">'''Description'''</p>
+| style="width: 183px;" | <p style="text-align: center;">'''Description'''</p>
-<p style="text-align: center">'''(brief)'''</p>
+<p style="text-align: center;">'''(brief)'''</p>
-| style="width: 290px; text-align: center" | '''Operation'''
+| style="width: 290px; text-align: center;" | '''Operation'''
-| style="width: 118px; text-align: center" | '''Circuit Pressure'''
+| style="width: 118px; text-align: center;" | '''Circuit Pressure'''
-| style="width: 118px; text-align: center" | '''PDB #'''
+| style="width: 118px; text-align: center;" | '''PDB #'''
 |-
-| style="width: 8px; text-align: center" rowspan="8" | 1
+| style="width: 8px; text-align: center;" rowspan="8" | 1
-| style="width: 1px" | 0
+| style="width: 1px;" | 0
 | colspan="1" rowspan="2" |
 <br>
-| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
-| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 118px; text-align: center" rowspan="8" |
+| style="width: 118px; text-align: center;" rowspan="8" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 1
+| style="width: 1px; text-align: center;" | 1
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 2
+| style="width: 1px; text-align: center;" | 2
-| style="text-align: center" colspan="1" rowspan="2" |
+| style="text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
-| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 3
+| style="width: 1px; text-align: center;" | 3
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 4
+| style="width: 1px; text-align: center;" | 4
-| style="text-align: center" colspan="1" rowspan="2" |
+| style="text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
-| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 5
+| style="width: 1px; text-align: center;" | 5
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 6
+| style="width: 1px; text-align: center;" | 6
-| style="text-align: center" colspan="1" rowspan="2" |
+| style="text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
-| style="width: 118px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 118px; text-align: center;" colspan="1" rowspan="2" |
 <br>
 |-
-| style="width: 1px; text-align: center" | 7
+| style="width: 1px; text-align: center;" | 7
-| style="width: 183px; text-align: center" |
+| style="width: 183px; text-align: center;" |
 <br>
-| style="width: 290px; text-align: center" |
+| style="width: 290px; text-align: center;" |
 <br>
 |-
-| style="width: 8px; text-align: center" colspan="1" rowspan="6" | 2
+| style="width: 8px; text-align: center;" colspan="1" rowspan="6" | 2
-| style="width: 1px; text-align: center" | 0
+| style="width: 1px; text-align: center;" | 0
 | colspan="1" rowspan="2" |
 <br>
-| style="width: 75px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 75px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px; text-align: center" colspan="1" rowspan="2" |
+| style="width: 64px; text-align: center;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px" |
+| style="width: 183px;" |
 <br>
-| style="width: 290px" |
+| style="width: 290px;" |
 <br>
-| style="width: 118px" colspan="1" rowspan="2" |
+| style="width: 118px;" colspan="1" rowspan="2" |
 <br>
-| style="width: 118px" colspan="1" rowspan="6" |
+| style="width: 118px;" colspan="1" rowspan="6" |
 <br>
 |-
-| style="width: 1px" | 1
+| style="width: 1px;" | 1
-| style="width: 183px" |
+| style="width: 183px;" |
 <br>
-| style="width: 290px" |
+| style="width: 290px;" |
 <br>
 |-
-| style="width: 1px" | 2
+| style="width: 1px;" | 2
 | colspan="1" rowspan="2" |
 <br>
-| style="width: 75px" colspan="1" rowspan="2" |
+| style="width: 75px;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px" colspan="1" rowspan="2" |
+| style="width: 64px;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px" |
+| style="width: 183px;" |
 <br>
-| style="width: 290px" |
+| style="width: 290px;" |
 <br>
-| style="width: 118px" colspan="1" rowspan="2" |
+| style="width: 118px;" colspan="1" rowspan="2" |
 <br>
 |-
-| style="width: 1px" | 3
+| style="width: 1px;" | 3
-| style="width: 183px" |
+| style="width: 183px;" |
 <br>
-| style="width: 290px" |
+| style="width: 290px;" |
 <br>
 |-
-| style="width: 1px" | 4
+| style="width: 1px;" | 4
 | colspan="1" rowspan="2" |
 <br>
-| style="width: 75px" colspan="1" rowspan="2" |
+| style="width: 75px;" colspan="1" rowspan="2" |
 <br>
-| style="width: 64px" colspan="1" rowspan="2" |
+| style="width: 64px;" colspan="1" rowspan="2" |
 <br>
-| style="width: 183px" |
+| style="width: 183px;" |
 <br>
-| style="width: 290px" |
+| style="width: 290px;" |
 <br>
-| style="width: 118px" colspan="1" rowspan="2" |
+| style="width: 118px;" colspan="1" rowspan="2" |
 <br>
 |-
-| style="width: 1px" | 5
+| style="width: 1px;" | 5
-| style="width: 183px" |
+| style="width: 183px;" |
 <br>
-| style="width: 290px" |
+| style="width: 290px;" |
 <br>
 |}
+</div></div></div></div></div></div></div></div></div></div></div>
 = Operator Controls =
-<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
+[[File:Dark Mode (1).png|1000px|frameless|Control Map]]
-<div class="mw-parser-output">
-<div class="mw-parser-output">
-=== Controller 1 - Primary Driver ===
-{| style="width: 908px" border="1" cellspacing="1" cellpadding="2"
-|-
-| style="width: 92px" | '''&nbsp;Button/Axis #'''
-| style="width: 414px" | '''Action/Button'''
-| '''Description'''
-| '''Details'''
-|-
-| style="width: 92px;  text-align: center" | A-1
-| style="width: 414px" | Left Joystick Y
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | A-1
-| style="width: 414px" | Left Joystick X
-|
-<br>
-| &nbsp;
-|-
-|
-<br>
-| Left Joystick Press
-|
-<br>
-|
-<br>
-|-
-| style="width: 92px;  text-align: center" | A-4
-| style="width: 414px" | Right Joystick Y
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | A-4
-| style="width: 414px" | Right Joystick X
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-6
-| style="width: 414px" | Right Bumper
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-5
-| style="width: 414px" | Left Bumper
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | A-3
-| style="width: 414px" | Right Trigger
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | A-2
-| style="width: 414px" | Left Trigger
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-1
-| style="width: 414px" | Square / A Button
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-3
-| style="width: 414px" | Cross / X Button
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-4
-| style="width: 414px" | Triangle / Y Button
-|
-<br>
-| &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-2
-| style="width: 414px" | Circle / B Button
-| &nbsp;
-| &nbsp;
-|}
-</div>
-<div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div>
-<div class="mw-parser-output">
-<div class="mw-parser-output">
-=== Controller 2 - Aux Driver ===
-{| style="width: 908px" border="1" cellspacing="1" cellpadding="2"
-|-
-| style="text-align: center;  width: 91px" | '''Button/Axis #'''
-| style="width: 286px" | '''Action/Button'''
-| style="width: 361px" | '''Description'''
-| style="width: 141px" | '''Details'''
-|-
-| style="text-align: center;  width: 91px" | A-0
-| style="width: 286px" | Left Joystick X-Axis
-| style="width: 361px" | &nbsp;
-| style="width: 141px" | &nbsp;
-|-
-| style="text-align: center;  width: 91px" | A-1
-| style="width: 286px" | Left Joystick Y-Axis
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | A-2
-| style="width: 286px" | Left Trigger
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | A-3
-| style="width: 286px" | Right Trigger
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | A-4
-| style="width: 286px" | Right Joystick X-Axis
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-&nbsp;
-&nbsp;
-|-
-| style="width: 91px;  text-align: center" | A-5
-| style="width: 286px" | Right Joystick Y-Axis
-| style="width: 361px" |
-<br>
-| style="width: 141px" | &nbsp;
-|-
-| style="width: 91px;  text-align: center" | B-1
-| style="width: 286px" | Square / A Button
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-2
-| style="width: 286px" | Circle / B button
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-3
-| style="width: 286px" | Cross / X Button
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-4
-| style="width: 286px" | Triangle / Y button
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-5
-| style="width: 286px" | Left bumper
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-6
-| style="width: 286px" | Right bumper
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-7
-| style="width: 286px" | Back Button
-| style="width: 361px" |
-<br>
-| style="width: 141px" | &nbsp;
-|-
-| style="width: 91px;  text-align: center" | B-8
-| style="width: 286px" | Start Button
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| style="width: 91px;  text-align: center" | B-9
-| style="width: 286px" | Left Stick Pressed
-| style="width: 361px" |
-<br>
-| style="width: 141px" | &nbsp;
-|-
-| style="width: 91px;  text-align: center" | B-10
-| style="width: 286px" | Right Stick Pressed
-| style="width: 361px" |
-<br>
-| style="width: 141px" | &nbsp;
-|-
-| style="width: 91px;  text-align: center" | POV-0
-| style="width: 286px" | D-pad up
-| style="width: 361px" |
-<br>
-| style="width: 141px" |
-<br>
-|-
-| POV-90
-| D-pad right
-|
-<br>
-|
-<br>
-|-
-| POV-180
-| D-pad down
-|
-<br>
-|
-<br>
-|-
-| POV-270
-| D-pad left
-|
-<br>
-|
-<br>
-|}
-<div class="mw-parser-output">
-=== Controller 3&nbsp;- Switches on console ===
-{| style="width: 907px" border="1" cellspacing="1" cellpadding="1"
-|-
-| style="width: 92px" | '''&nbsp;Button/Axis #'''
-| style="width: 112px" | '''&nbsp;Action/Button'''
-| style="width: 521px" | &nbsp;'''Description'''
-| style="width: 158px" | '''Details'''
-|-
-| style="width: 92px;  text-align: center" | B-1
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-2
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-3
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-4
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-5
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-6
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-7
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-8
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|-
-| style="width: 92px;  text-align: center" | B-9
-| style="width: 112px" |
-<br>
-| style="width: 521px" |
-<br>
-| style="width: 158px" | &nbsp;
-|}
-</div></div>
-=== Dashboard ===
-{| style="width: 0px" border="1" cellspacing="1" cellpadding="2"
-|-
-| '''Key'''
-| '''Data Type'''
-| '''Value'''
-| style="width: 1000px" | '''Description'''
-|-
-| thunderdashboard_gyro
-| number
-|
-- dashboard background not based on this
-- dashboard background goes red
-| used when: gyro is calibrating
-|-
-| thunderdashboard_yellow
-| number
-|
-- dashboard background not based on this
-- dashboard background goes yellow
-|
-used when: TBD
-NOTE: thunderdashboard_gyro takes precedence
-|-
-| thunderdashboard_green
-| number
-|
-- dashboard background not based on this
-- dashboard background goes green
-|
-used when: TBD
-NOTE: thunderdashboard_gyro takes precendence
-|-
-| thunderdashboard_inpitmode
-| number
-|
-- dashboard background not based on this
-- dashboard background is power blue
-|
-used when: robot is operating in 'pit mode' (for safer operatin in the pits)
-NOTE: thunderdashboard_gyro takes precendence
-|-
-| thunderdashboard_auto_list
-| string
-| a comma seperated list
-| the list of auto modes (e.g. "0,1,2,3,4,5")
-|-
-| thunderdashboard_auto_#
-| string
-| any text
-| one for each auto mode (e.g. thunderdashboard_auto_0 ... thunderdashboard_auto_5)
-|-
-| Auto_Mode
-| number
-| a number from thunderdashboard_auto_list
-| the auto mode selected on the UI
-|-
-| thunderdashboard_auto_start_delay
-| number
-|
-<br>
-| user selected number of seconds, 0 to 15, to delay start of auto mode
-|-
-| thunderdashboard_auto_doing_auto
-| boolean
-| true - should do autonomous
-false - should not do autonomous
-| Dashboard checkbox in auto selector page. When false, the robot should not do anything in autonomous
-|-
-| thunderdashboard_auto_starting_location
-| number
-| 0 - barrier side
-- center
-- edge side
-| Dashboard selection of which community zone the robot should start in
-|-
-| thunderdashboard_auto_starting_gamepiece
-| number
-| 0 - cube
-- cone
-| Dashboard selection of which GamePiece the robot is starting with. Also determines the exact starting position of the robotin combination with the general zone as provided by 'thunderdashboard_auto_starting_location'
-|-
-| thunderdashboard_auto_starting_action
-| number
-| Depending on the starting location, this value means different things.'''If starting in the center,'''
-- Score preloaded GamePiece and balance on Charge Station
-- Score preloaded GamePiece, traverse Charge Station, and collect GamePiece 3 from field
-'''If starting on either side,'''
-Anything - Score preloaded GamePiece and collect field GamePiece 1 or 4
-| Dashboard selection of what action the robot should do first in autonomous
-|-
-| thunderdashboard_auto_field_gamepiece
-| number
-| 0 - cube
-- cone
-| Dashboard selection of which GamePiece to collect on the field (if the starting action puts the robot in the position to acquire a GamePiece)
-|-
-| thunderdashboard_auto_final_action
-| number
-| Depending on the starting location, this value means different things,'''If starting in the center,'''
-- Do nothing
-- Balance on Charge Station
-'''If starting on either side,'''
-- Do nothing
-- Score acquired field GamePiece
-- Balance on Charge Station
-| Dashboard selection of what action the robot should do at the end of Autonomous (if the starting action puts the robot in the position for a final action).
-|-
-| thunderdashboard_drive_x_pos
-| number
-|
-<br>
-| Robot current X position on the field (m)
-|-
-| thunderdashboard_drive_y_pos
-| number
-|
-<br>
-| Robot current Y position on the field (m)
-|-
-| thunderdashboard_drive_target_x_pos
-| number
-|
-<br>
-| Robot target X position on the field (m)
-|-
-| thunderdashboard_drive_target_y_pos
-| number
-|
-<br>
-| Robot target Y position on the field (m)
-|-
-| thunderdashboard_drive_x_vel
-| number
-|
-<br>
-| Robot current X velocity (m/s)
-|-
-| thunderdashboard_drive_y_vel
-| number
-|
-<br>
-| Robot current Y velocity (m/s)
-|-
-| thunderdashboard_drive_ang_vel
-| number
-|
-<br>
-| Robot current angular velocity (rad/s)
-|-
-| thunderdashboard_drive_ang
-| number
-|
-<br>
-| Robot current angle (radians)
-|-
-| thunderdashboard_drive_target_ang
-| number
-|
-<br>
-| Robot target angle (radians)
-|-
-| thunderdashboard_lift_pivot_percent
-| number
-| 0 to 1
-| Percent of lift pivot
-|-
-| thunderdashboard_lift_extension_percent
-| number
-| 0 to 1
-| Percent of lift extension
-|-
-| thunderdashboard_lift_pivot_target_percent
-| number
-| 0 to 1, -1 if no target
-| Target percent of lift pivot
-|-
-| thunderdashboard_lift_extension_target_percent
-| number
-| 0 to 1, -1 if no target
-| Target percent of lift extension
-|-
-| thunderdashboard_grabber_position
-| number
-| 0 - open
-- agape
-- ajar
-| State of grabber mechanism
-|-
-| thunderdashboard_gamepiece
-| number
-| -1 - no gamepiece
-- cube
-- cone
-| Which GamePiece the robot is currently in possession of
-|-
-| thunderdashboard_match_remaining
-| number
-|
-<br>
-| The time remaining in the current match period
-|-
-| thunderdashboard_airpressure_low
-| number
-|
-<br>
-| Low air pressure on gauge
-|-
-| thunderdashboard_airpressure_high
-| number
-|
-<br>
-| High air pressure on gauge
-|-
-| thunderdashboard_airpressure
-| number
-|
-<br>
-| Current air pressure
-|-
-| thunderdashboard_airpressure_iters
-| number
-|
-<br>
-| Number of ticks on air pressure gauge
-|-
-| thunderdashboard_led_mode
-| number
-| 0 - Robot State
-- Alliance Color
-- Custom Color
-- Off
-| The mode of the robot LEDs
-|-
-| thunderdashboard_led_custom_r
-| number
-| 0-1
-| Custom LED red value
-|-
-| thunderdashboard_led_custom_g
-| number
-| 0-1
-| Custom LED green value
-|-
-| thunderdashboard_led_custom_b
-| number
-| 0-1
-| Custom LED blue value
-|-
-| thunderdashboard_score_grid
-| number
-| -1 - No grid aligned
-- Left grid
-- Center grid
-- Right grid
-| Which grid the robot is currently in front of (relative to driver, NOT field or robot)
-|-
-| thunderdashboard_score_grid_column
-| number
-| -1 - No Column selected
-- Left column
-- Center column
-- Right column
-| Which column of the grid the robot is trying to align to (relative to driver, NOT field or robot)
-|}
 = IO Maps for Old Robots =
@@ Line 2,550: / Line 2,031: @@
 *[[2009:IO_Map|2009 Thunderplucker]]
 *[[IO Pin Maps for Pre-2009 Robots]]
+</div></div>