2026:Robot IO Map: Difference between revisions

Operator Controls

IO Maps for Old Robots

Latest revision as of 10:28, 26 February 2026

CAN ID Assignments

CAN Physical Chain Layout

PDB Assignments

VRM Assignments

PWM Outputs

Relay Outputs

Analog IO

Digital IO (GPIO)

I2C Registers

SPI Devices

USB Host Ports

Pneumatics Control Modules

Latest revision as of 10:28, 26 February 2026

Contents

CAN ID Assignments

CAN Physical Chain Layout

PDB Assignments

VRM Assignments

PWM Outputs

Relay Outputs

Analog IO

Digital IO (GPIO)

I2C Registers

SPI Devices

USB Host Ports

Pneumatics Control Modules

Navigation menu

RoboRIO Analog Inputs

More Board Analog Inputs

RoboRio IO

Rev Robotics More Board IO

RoboRIO Analog Inputs

More Board Analog Inputs

RoboRio IO

Rev Robotics More Board IO

Page actions

Page actions

Personal tools

Navigation

Search

Build Season Pages

Subteam Portals

Tools

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 Base	Motor	Cancoder		Front Right Encoder
2	Drive Base	Motor	Kraken X60	Brake	Front Right Drive			18
3	Drive Base	Motor	Kraken X60	Brake	Front Right Steer			19
4	Drive Base	Motor	Cancoder		Back Right Encoder
5	Drive Base	Motor	Kraken X60	Brake	Back Right Drive			10
6	Drive Base	Motor	Kraken X60	Brake	Back Right Steer			11
7	Drive Base	Motor	Cancoder		Front Left Encoder
8	Drive Base	Motor	Kraken X60	Brake	Front Left Drive			16
9	Drive Base	Motor	Kraken X60	Brake	Front Left Steer			17
10	Drive Base	Motor	Cancoder		Back Left Encoder
11	Drive Base	Motor	Kraken X60	Brake	Back Left Drive			12
12	Drive Base	Motor	Kraken X60	Brake	Back Left Steer			13
13	Drive Base	Pigeon	Pigeon		IMU			1*
14	Climber	Motor	Neo 2.0	?	Climb			2
15	Intake	Encoder	Throughbore Encoder		Intake Pos Shaft Encoder			1*
16	Intake	Motor	Neo 2.0		Intake Pos Drive			3
17	Intake	Motor	Kraken X60		Intake Speed Drive			0
18	Spindexer	Motor	Kraken X60		Spindexer Drive			14
19	Kicker	Motor	Kraken X60		Kicker Drive			5
20	Shooter	Motor	Kraken X60		Shooter Drive Left			8
21	Shooter	Motor	Kraken X60		Shooter Drive Right			7
22	Shooter Hood	Encoder	Throughbore Encoder		Hood Shaft Encoder
23	Shooter Hood	Motor	Kraken X44		Hood Drive			6
24
25
26
27
28
29
30

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

Current Device	Next Device

Port #	Device (Subteam)	Breaker Value	Motor Type
0	Intake speed / rollers	40	Kraken X60
1	Intake Encoder, pigeon, limelight	20 (swap to 5 when they come in)	N/A
2	Climber	40	Neo 2.0
3	Intake Position	40	Neo 2.0
4
5	Kicker	40	Kraken X60
6	Shooter Hood	40	Kraken X44
7	Shooter Right	40	Kraken X60
8	Shooter Left	40	Kraken X60
9	LEDs	5	N/A
10	Back Right Drive	40	Kraken X60
11	Back Right Steer	40	Kraken X60
12	Back Left Drive	40	Kraken X60
13	Back Left Steer	40	Kraken X60
14	Spindexer	40	Kraken X60
15
16	Front Left Drive	40	Kraken X60
17	Front Left Steer	40	Kraken X60
18	Front Right Drive	40	Kraken X60
19	Front Right Steer	40	Kraken X60
20	RoboRIO	10	N/A
21	Radio	10	N/A
22
23 (Switchable)

Port #	Device (Subteam)
5V/2A
5V/2A
5V/500mA
5V/500mA
12V/2A
12V/2A
12V/500mA
12V/500mA

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Brake/Coast	Notes (8) max. 40A PDB #
0
1
2
3
4
5
6
7
8
9	Lights
10
11

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

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

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Climb Top Limit
1	IN	Elevator	Sensor	REV Robotics Magnetic Limit Switch (REV 31-1462)	Climb Bottom Limit
2	IN	shooter - hood	beam break	OPB815	hood "0" beam break sensor
3
4
5
6
7
8
9
10

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

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

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

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

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

Subsystem

Component

Type

Model #

Description
(brief)

Operation

@@ Line 1: / Line 1: @@
 == CAN ID Assignments ==
-{| style="width: 996px; height: 750px;" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 784px; height: 937px;" border="1" cellspacing="1" cellpadding="2"
 |- style="height: 80px;"
-| style="text-align: center; height: 80px; width: 20.075px;" | '''ID'''
+| style="text-align: center; height: 80px; width: 17px;" | '''ID'''
-| style="text-align: center; height: 80px; width: 99.325px;" | '''Subsystem'''
+| style="text-align: center; height: 80px; width: 90px;" | '''Subsystem'''
-| style="height: 80px; width: 100.338px;" | <p style="text-align: center">'''Component'''</p>
+| style="height: 80px; width: 91px;" | <p style="text-align: center">'''Component'''</p>
 <p style="text-align: center">'''Type'''</p>
-| style="text-align: center; width: 99.325px; height: 80px;" | '''Model #'''
+| style="text-align: center; width: 85px; height: 80px;" | '''Model #'''
-| style="width: 66.225px; text-align: center; height: 80px;" | '''Brake or Coast?'''
+| style="width: 59px; text-align: center; height: 80px;" | '''Brake or Coast?'''
-| style="width: 104.35px; text-align: center; height: 80px;" | '''Description'''<br>(brief)
+| style="width: 94px; text-align: center; height: 80px;" | '''Description'''<br>(brief)
-| style="width: 194.637px; text-align: center; height: 80px;" | '''Operation'''
+| style="width: 147px; text-align: center; height: 80px;" | '''Operation'''
-| style="width: 151.288px; text-align: center; height: 80px;" colspan="2" |
+| style="width: 108px; text-align: center; height: 80px;" colspan="2" |
 '''PD Board Info'''
 '''(8) max. 40A &nbsp; &nbsp; &nbsp; &nbsp; PDB #'''
-| style="height: 80px; width: 116.438px;" | '''General Notes'''
+| style="height: 80px; width: 93px;" | '''General Notes'''
 |- style="height: 75px;"
-| style="text-align: center; height: 75px; width: 20.075px;" | 0
+| style="text-align: center; height: 75px; width: 17px;" | 0
-| style="text-align: center; height: 75px; width: 99.325px;" | Electrica'''l'''
+| style="text-align: center; height: 75px; width: 90px;" | Electrica'''l'''
-| style="height: 75px; width: 100.338px;" | <p style="text-align: center">PD Module</p>
+| style="height: 75px; width: 91px;" | <p style="text-align: center">PD Module</p>
-| style="text-align: center; width: 99.325px; height: 75px;" | &nbsp;
+| style="text-align: center; width: 85px; height: 75px;" | &nbsp;
-| style="width: 66.225px; text-align: center; height: 75px;" | &nbsp;
+| style="width: 59px; text-align: center; height: 75px;" | &nbsp;
-| style="width: 104.35px; text-align: center; height: 75px;" | Power Distribution Module feedback
+| style="width: 94px; text-align: center; height: 75px;" | Power Distribution Module feedback
-| style="width: 194.637px; text-align: center; height: 75px;" | monitor PD
+| style="width: 147px; text-align: center; height: 75px;" | monitor PD
-| style="width: 99.325px; height: 75px;" | <p style="text-align: center">must be CAN 0</p>
+| style="width: 74px; height: 75px;" | <p style="text-align: center">must be CAN 0</p>
-| style="width: 47.1625px; height: 75px;" | &nbsp;
+| style="width: 34px; height: 75px;" | &nbsp;
-| style="height: 75px; width: 116.438px;" |
+| style="height: 75px; width: 93px;" |
 <br>
-|- style="height: 12px;"
+|- style="height: 17px;"
-| style="text-align: center; height: 12px; width: 20.075px;" | 1
+| style="text-align: center; height: 17px; width: 17px;" | 1
-| style="text-align: center; height: 12px; width: 99.325px;" | '''Drive'''
+| style="text-align: center; height: 17px; width: 90px;" |
-| style="text-align: center; height: 12px; width: 100.338px;" | Motor
+Drive Base
-| style="text-align: center; width: 99.325px; height: 12px;" | Kraken X60&nbsp;
+| style="text-align: center; height: 17px; width: 91px;" |
-| style="width: 66.225px; text-align: center; height: 12px;" | Brake
+Motor
-| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left
+| style="text-align: center; width: 85px; height: 17px;" |
-| style="width: 194.637px; text-align: center; height: 12px;" |
+Cancoder
+| style="width: 59px; text-align: center; height: 17px;" |
 <br>
-| style="width: 99.325px; text-align: center; height: 12px;" |
+| style="width: 94px; text-align: center; height: 17px;" |
+Front Right Encoder
+| style="width: 147px; text-align: center; height: 17px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 12px;" | &nbsp;
+| style="width: 74px; text-align: center; height: 17px;" |
-| style="height: 12px; width: 116.438px;" |
+<br>
+| style="width: 34px; text-align: center; height: 17px;" | &nbsp;
+| style="height: 17px; width: 93px;" |
+<br>
+|- style="height: 52px;"
+| style="text-align: center; height: 52px; width: 17px;" | 2
+| style="text-align: center; height: 52px; width: 90px;" |
+Drive Base
+| style="text-align: center; height: 52px; width: 91px;" |
+Motor
+| style="text-align: center; width: 85px; height: 52px;" |
+Kraken X60
+| style="width: 59px; text-align: center; height: 52px;" |
+Brake
+| style="width: 94px; text-align: center; height: 52px;" |
+Front Right Drive
+| style="width: 147px; text-align: center; height: 52px;" |
+<br>
+| style="width: 74px; text-align: center; height: 52px;" |
+<br>
+| style="width: 34px; text-align: center; height: 52px;" |
+| style="height: 52px; width: 93px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 2
+| style="text-align: center; height: 28px; width: 17px;" | 3
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Rotation Motor Front Left
+Brake
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
+Front Right Steer
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="width: 99.325px; text-align: center; height: 28px;" |
+| style="width: 74px; text-align: center; height: 28px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="width: 34px; text-align: center; height: 28px;" |
-<br>
-| style="height: 28px; width: 116.438px; text-align: center;" |
+| style="height: 28px; width: 93px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 3
+| style="text-align: center; height: 28px; width: 17px;" | 4
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
+Motor
+| style="text-align: center; width: 85px; height: 28px;" |
 Cancoder
-| style="text-align: center; width: 99.325px; height: 28px;" |
+| style="width: 59px; 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;" |
+| style="width: 94px; text-align: center; height: 28px;" |
-Cancoder Front Left&nbsp;
+Back Right Encoder
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 147px;" |
 <br>
-| style="width: 99.325px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 74px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 34px; text-align: center;" |
 <br>
-| style="height: 28px; width: 116.438px; text-align: center;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 4
+| style="text-align: center; height: 28px; width: 17px;" | 5
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="text-align: center; height: 28px; width: 104.35px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Drive Motor Front Right
+Brake
-| style="height: 28px; width: 194.637px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
-<br>
+Back Right Drive
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="height: 28px; width: 147px;" |
 <br>
-| style="height: 28px; width: 47.1625px; text-align: center;" |
+| style="text-align: center; height: 28px; width: 74px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="height: 28px; width: 34px; text-align: center;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 5
+| style="text-align: center; height: 28px; width: 17px;" | 6
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="text-align: center; height: 28px; width: 104.35px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Rotation Motor Front Right
+Brake
-| style="height: 28px; width: 194.637px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
-<br>
+Back Right Steer
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="height: 28px; width: 47.1625px; text-align: center;" |
+| style="width: 74px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="width: 34px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 6
+| style="text-align: center; height: 28px; width: 17px;" | 7
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
+Motor
+| style="text-align: center; width: 85px; height: 28px;" |
 Cancoder
-| style="text-align: center; width: 99.325px; height: 28px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
 <br>
-| style="width: 66.225px; text-align: center; height: 28px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
+Front Left Encoder
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 74px; 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;" |
+| style="width: 34px; text-align: center; height: 28px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 93px; text-align: center;" |
-<br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 7
+| style="text-align: center; height: 28px; width: 17px;" | 8
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Drive Motor
+Brake
+| style="width: 94px; text-align: center; height: 28px;" |
-Back Right
+Front Left Drive
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 147px;" |
-<br>
-| style="width: 99.325px; text-align: center; height: 28px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 74px;" |
 <br>
-| style="height: 28px; width: 116.438px; text-align: center;" |
+| style="text-align: center; height: 28px; width: 34px;" |
+| style="height: 28px; width: 93px; text-align: center;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 8
+| style="text-align: center; height: 28px; width: 17px;" |
-| style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
+| style="text-align: center; height: 28px; width: 90px;" |
-| style="text-align: center; height: 28px; width: 100.338px;" |
+Drive Base
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="text-align: center; height: 28px; width: 104.35px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Rotation Motor Back Right
+Brake
-| style="text-align: center; height: 28px; width: 194.637px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
-<br>
+Front Left Steer
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 47.1625px;" |
+| style="width: 74px; text-align: center; height: 28px;" |
 <br>
-| style="height: 28px; width: 116.438px; text-align: center;" |
+| style="width: 34px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" |
+| style="text-align: center; height: 28px; width: 17px;" | 10
+| style="text-align: center; height: 28px; width: 90px;" |
-| style="text-align: center; height: 28px; width: 99.325px;" |
+Drive Base
-Drive
+| style="text-align: center; height: 28px; width: 91px;" |
-| style="text-align: center; height: 28px; width: 100.338px;" |
+Motor
+| style="text-align: center; width: 85px; height: 28px;" |
 Cancoder
-| style="text-align: center; width: 99.325px; height: 28px;" |
+| style="width: 59px; 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;" |
+| style="width: 94px; text-align: center; height: 28px;" |
-Cancoder Back Right
+Back Left Encoder
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="width: 99.325px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 74px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 34px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 10
+| style="text-align: center; height: 28px; width: 17px;" | 11
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Drive Motor
+Brake
+| style="width: 94px; text-align: center; height: 28px;" |
-Back Left
+Back Left Drive
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="width: 147px; 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;" |
+| style="text-align: center; height: 28px; width: 74px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="text-align: center; height: 28px; width: 34px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 11
+| style="text-align: center; height: 28px; width: 17px;" | 12
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Drive Base
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 85px; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
+Kraken X60
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
-Rotation Motor Back Left
+Brake
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
+Back Left Steer
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 74px;" |
 <br>
-| style="text-align: center; height: 28px; width: 47.1625px;" |
+| style="text-align: center; height: 28px; width: 34px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+|- style="height: 28px;"
+| style="text-align: center; height: 28px; width: 17px;" | 13
+| style="text-align: center; height: 28px; width: 90px;" |
+Drive Base
+| style="text-align: center; height: 28px; width: 91px;" |
+Pigeon
+| style="width: 85px; text-align: center; height: 28px;" |
+Pigeon
+| style="width: 59px; text-align: center; height: 28px;" |
 <br>
-|- style="height: 28px;"
+| style="width: 94px; text-align: center; height: 28px;" |
-| style="text-align: center; height: 28px; width: 20.075px;" | 12
+IMU
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="width: 147px; text-align: center; height: 28px;" |
-Drive
-| style="text-align: center; height: 28px; width: 100.338px;" |
-Cancoder
-| style="text-align: center; width: 99.325px; height: 28px;" |
 <br>
-| style="width: 66.225px; text-align: center; height: 28px;" |
+| style="width: 74px; text-align: center; height: 28px;" |
 <br>
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 34px; text-align: center; height: 28px;" |
-Cancoder Back Left
+*
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
-| style="text-align: center; height: 28px; width: 99.325px;" |
+|- style="height: 28px;"
+| style="text-align: center; width: 17px; height: 28px;" | 14
+| style="text-align: center; width: 90px; height: 28px;" | Climber
+| style="text-align: center; width: 91px; height: 28px;" | Motor
+| style="width: 85px; text-align: center; height: 28px;" | Neo 2.0
+| style="width: 59px; text-align: center; height: 28px;" | ?
+| style="width: 94px; text-align: center; height: 28px;" | Climb
+| style="width: 147px; text-align: center; height: 28px;" | <br>
+| style="width: 74px; text-align: center; height: 28px;" | <br>
+| style="width: 34px; text-align: center; height: 28px;" | 2
+| style="text-align: center; width: 93px; height: 28px;" | <br>
+|- style="height: 28px;"
+| style="text-align: center; height: 28px; width: 17px;" | 15
+| style="text-align: center; width: 90px;" | Intake
+| style="text-align: center; width: 91px;" | Encoder
+| style="text-align: center; width: 85px;" | Throughbore Encoder
+| style="text-align: center; width: 59px;" | <br>
+| style="text-align: center; width: 94px;" | Intake Pos Shaft Encoder
+| style="width: 147px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 47.1625px;" |
+| style="width: 74px; text-align: center; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="width: 34px; text-align: center; height: 28px;" |
+*
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 14
+| style="text-align: center; height: 28px; width: 17px;" | 16
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Drive
+Intake
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
-Pigeon
+Motor
-| style="width: 99.325px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 85px;" |
-Pigeon
+Neo 2.0
-| style="width: 66.225px; text-align: center; height: 28px;" |
+| style="text-align: center; width: 59px;" |
+<br>
+| style="text-align: center; width: 94px;" | Intake Pos Drive
+| style="width: 147px; text-align: center; height: 28px;" |
+<br>
+| style="width: 74px; text-align: center; height: 28px;" |
 <br>
-| style="width: 104.35px; text-align: center; height: 28px;" |
+| style="width: 34px; text-align: center; height: 28px;" |
-IMU
-| style="width: 194.637px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 93px;" |
 <br>
-| style="width: 99.325px; text-align: center; height: 28px;" |
+|- style="height: 28px;"
+| style="text-align: center; height: 28px; width: 17px;" | 17
+| style="text-align: center; width: 90px;" | Intake
+| style="text-align: center; width: 91px;" | Motor
+| style="text-align: center; width: 85px;" | Kraken X60
+| style="text-align: center; width: 59px;" | <br>
+| style="text-align: center; width: 94px;" | Intake Speed Drive
+| style="height: 28px; width: 147px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 74px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="height: 28px; width: 34px;" |
+| style="height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 15
+| style="text-align: center; height: 28px; width: 17px;" | 18
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Elevator
+Spindexer
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="width: 99.325px; text-align: center; height: 28px;" |
+| style="width: 85px; text-align: center; height: 28px;" |
-Neo
+Kraken X60
-| style="width: 66.225px; text-align: center; height: 28px;" |
+| style="width: 59px; 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="width: 99.325px; text-align: center; height: 28px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
+Spindexer Drive
+| style="height: 28px; width: 147px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 74px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="height: 28px; width: 34px;" |
+| style="height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 16
+| style="text-align: center; height: 28px; width: 17px;" | 19
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Elevator
+Kicker
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="width: 99.325px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 85px;" |
-Neo
+Kraken X60
-| style="width: 66.225px; text-align: center; height: 28px;" |
+| style="text-align: center; height: 28px; width: 59px;" |
-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;" |
+| style="text-align: center; height: 28px; width: 94px;" |
+Kicker Drive
+| style="height: 28px; width: 147px;" |
 <br>
-| style="width: 47.1625px; text-align: center; height: 28px;" |
+| style="height: 28px; width: 74px;" |
 <br>
-| style="text-align: center; height: 28px; width: 116.438px;" |
+| style="height: 28px; width: 34px;" |
+| style="height: 28px; width: 93px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 17
+| style="text-align: center; height: 28px; width: 17px;" | 20
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
-Cage
+Shooter
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 Motor
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 85px;" |
-Neo
+Kraken X60
-| style="text-align: center; height: 28px; width: 66.225px;" |
+| style="text-align: center; height: 28px; width: 59px;" |
-?
-| style="text-align: center; height: 28px; width: 104.35px;" |
-Hang winch
-| style="height: 28px; width: 194.637px;" |
 <br>
-| style="height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 94px;" |
+Shooter Drive Left
+| style="height: 28px; width: 147px;" |
 <br>
-| style="height: 28px; width: 47.1625px;" |
+| style="height: 28px; width: 74px;" |
 <br>
-| style="height: 28px; width: 116.438px;" |
+| style="height: 28px; width: 34px;" |
+| style="height: 28px; width: 93px;" |
 <br>
-|- style="height: 28px;"
+|- style="height: 51px;"
-| style="text-align: center; height: 28px; width: 20.075px;" | 18
+| style="text-align: center; width: 17px; height: 51px;" | 21
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 90px;" |
+Shooter
+| style="text-align: center; height: 28px; width: 91px;" |
+Motor
+| style="text-align: center; height: 28px; width: 85px;" |
+Kraken X60
+| style="text-align: center; width: 59px; height: 28px;" | <br>
+| style="text-align: center; width: 94px; height: 28px;" | Shooter Drive Right
+| style="width: 147px; height: 51px;" |
+<br>
+| style="width: 74px; height: 51px;" |
 <br>
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="width: 34px; height: 51px;" |
+| style="width: 93px; height: 51px;" |
 <br>
-| style="text-align: center; height: 28px; width: 99.325px;" |
+|- style="height: 28px;"
+| style="text-align: center; width: 17px; height: 28px;" | 22
+| style="text-align: center; width: 90px; height: 51px;" | Shooter Hood
+| style="text-align: center; width: 91px; height: 51px;" | Encoder
+| style="text-align: center; width: 85px; height: 51px;" | Throughbore Encoder
+| style="text-align: center; width: 59px; height: 51px;" | <br>
+| style="text-align: center; width: 94px; height: 51px;" | Hood Shaft Encoder
+| style="width: 147px; height: 28px;" | <br>
+| style="width: 74px; height: 28px;" | <br>
+| style="width: 34px; height: 28px;" | <br>
+| style="width: 93px; height: 28px;" | <br>
+|- style="height: 51px;"
+| style="text-align: center; width: 17px; height: 51px;" | 23
+| style="text-align: center; width: 90px; height: 28px;" | Shooter Hood
+| style="text-align: center; width: 91px; height: 28px;" | Motor
+| style="text-align: center; width: 85px; height: 28px;" | Kraken X44
+| style="text-align: center; width: 59px; height: 28px;" | <br>
+| style="text-align: center; width: 94px; height: 28px;" | Hood Drive
+| style="width: 147px; height: 51px;" | <br>
+| style="width: 74px; height: 51px;" | <br>
+| style="width: 34px; height: 51px;" | 6
+| style="width: 93px; height: 51px;" | <br>
+|- style="height: 28px;"
+| style="text-align: center; width: 17px; height: 28px;" | 24
+| style="text-align: center; height: 28px; width: 90px;" |
 <br>
-| style="text-align: center; height: 28px; width: 66.225px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 <br>
-| style="text-align: center; height: 28px; width: 104.35px;" |
+| style="width: 85px; text-align: center; height: 28px;" |
 <br>
-| style="height: 28px; width: 194.637px;" |
+| style="width: 59px; text-align: center; height: 28px;" |
 <br>
-| style="height: 28px; width: 99.325px;" |
+| style="width: 94px; text-align: center; height: 28px;" |
 <br>
-| style="height: 28px; width: 47.1625px;" |
+| style="width: 147px; height: 28px;" | <br>
+| style="width: 74px; height: 28px;" | <br>
+| style="width: 34px; height: 28px;" | <br>
+| style="width: 93px; height: 28px;" | <br>
+|- style="height: 51px;"
+| style="text-align: center; width: 17px; height: 51px;" | 25
+| style="text-align: center; height: 28px; width: 90px;" |
 <br>
-| style="height: 28px; width: 116.438px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 <br>
-|- style="height: 28px;"
+| style="text-align: center; height: 28px; width: 85px;" |
-| style="text-align: center; height: 28px; width: 20.075px;" | 19
-| style="text-align: center; height: 28px; width: 99.325px;" |
 <br>
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 59px;" |
 <br>
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 94px;" |
 <br>
-| style="text-align: center; height: 28px; width: 66.225px;" |
+| style="width: 147px; height: 51px;" | <br>
+| style="width: 74px; height: 51px;" | <br>
+| style="width: 34px; height: 51px;" | <br>
+| style="width: 93px; height: 51px;" | <br>
+|-
+| style="text-align: center; width: 17px;" | 26
+| style="text-align: center; height: 28px; width: 90px;" |
 <br>
-| style="text-align: center; height: 28px; width: 104.35px;" |
+| style="text-align: center; height: 28px; width: 91px;" |
 <br>
-| style="height: 28px; width: 194.637px;" |
+| style="text-align: center; height: 28px; width: 85px;" |
 <br>
-| style="height: 28px; width: 99.325px;" |
+| style="text-align: center; height: 28px; width: 59px;" |
 <br>
-| style="height: 28px; width: 47.1625px;" |
+| style="text-align: center; height: 28px; width: 94px;" |
 <br>
-| style="height: 28px; width: 116.438px;" |
+| style="width: 147px;" | <br>
+| style="width: 74px;" | <br>
+| style="width: 34px;" | <br>
+| style="width: 93px;" | <br>
+|-
+| style="text-align: center; width: 17px;" | 27
+| style="text-align: center; height: 28px; width: 90px;" |
 <br>
-|- style="height: 28px;"
+| style="text-align: center; height: 28px; width: 91px;" |
-| style="text-align: center; height: 28px; width: 20.075px;" | 20
-| style="text-align: center; height: 28px; width: 99.325px;" |
 <br>
-| style="text-align: center; height: 28px; width: 100.338px;" |
+| style="text-align: center; height: 28px; width: 85px;" |
 <br>
-| style="text-align: center; height: 28px; width: 99.325px;" |
+| style="text-align: center; width: 59px; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 66.225px;" |
+| style="text-align: center; width: 94px; height: 28px;" |
 <br>
-| style="text-align: center; height: 28px; width: 104.35px;" |
+| style="width: 147px;" | <br>
+| style="width: 74px;" | <br>
+| style="width: 34px;" | <br>
+| style="width: 93px;" | <br>
+|-
+| style="text-align: center; width: 17px;" | 28
+| style="text-align: center; width: 90px; height: 51px;" |
 <br>
-| style="height: 28px; width: 194.637px;" |
+| style="text-align: center; width: 91px; height: 51px;" |
 <br>
-| style="height: 28px; width: 99.325px;" |
+| style="text-align: center; width: 85px; height: 51px;" |
 <br>
-| style="height: 28px; width: 47.1625px;" |
+| style="text-align: center; width: 59px; height: 51px;" |
 <br>
-| style="height: 28px; width: 116.438px;" |
+| style="text-align: center; width: 94px; height: 51px;" |
 <br>
-|- style="height: 51px;"
+| style="width: 147px;" | <br>
-| style="text-align: center; width: 20.075px; height: 51px;" | 21
+| style="width: 74px;" | <br>
-| style="text-align: center; width: 99.325px; height: 51px;" |
+| style="width: 34px;" | <br>
+| style="width: 93px;" | <br>
+|-
+| style="text-align: center; width: 17px;" | 29
+| style="text-align: center; width: 90px; height: 28px;" |
 <br>
-| style="text-align: center; width: 100.338px; height: 51px;" |
+| style="text-align: center; width: 91px; height: 28px;" |
 <br>
-| style="text-align: center; width: 99.325px; height: 51px;" |
+| style="text-align: center; width: 85px; height: 28px;" |
 <br>
-| style="text-align: center; width: 66.225px; height: 51px;" |
+| style="text-align: center; width: 59px; height: 28px;" |
 <br>
-| style="text-align: center; width: 104.35px; height: 51px;" |
+| style="text-align: center; width: 94px; height: 28px;" |
 <br>
-| style="width: 194.637px; height: 51px;" |
+| style="width: 147px;" | <br>
+| style="width: 74px;" | <br>
+| style="width: 34px;" | <br>
+| style="width: 93px;" | <br>
+|-
+| style="text-align: center; width: 17px;" | 30
+| style="text-align: center; width: 90px;" |
 <br>
-| style="width: 99.325px; height: 51px;" |
+| style="text-align: center; width: 91px;" |
 <br>
-| style="width: 47.1625px; height: 51px;" |
+| style="text-align: center; width: 85px;" |
 <br>
-| style="width: 116.438px; height: 51px;" |
+| style="text-align: center; width: 59px;" |
 <br>
-|- style="height: 28px;"
+| style="text-align: center; width: 94px;" |
-| style="text-align: center; width: 20.075px; height: 28px;" | 22
-| style="text-align: center; width: 99.325px; height: 28px;" | <br>
-| style="text-align: center; width: 100.338px; height: 28px;" |
 <br>
-| style="text-align: center; width: 99.325px; height: 28px;" | <br>
+| style="width: 147px;" | <br>
-| style="text-align: center; width: 66.225px; height: 28px;" | <br>
+| style="width: 74px;" | <br>
-| style="text-align: center; width: 104.35px; height: 28px;" | <br>
+| style="width: 34px;" | <br>
-| style="width: 194.637px; height: 28px;" | <br>
+| style="width: 93px;" | <br>
-| style="width: 99.325px; height: 28px;" | <br>
-| style="width: 47.1625px; height: 28px;" | <br>
-| style="width: 116.438px; height: 28px;" | <br>
 |}
@@ Line 430: / Line 565: @@
 <br>
 == 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;"
+{| class="wikitable" style="border-collapse: collapse; width: 100%; height: 429px;"
 |- style="height: 23px;"
 | style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Current Device'''</span>
 | style="width: 50%; height: 23px;" | <span style="font-size: 14pt;">'''Next Device'''</span>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Robo Rio
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Elevator Left
+<br>
-|-
+| style="width: 50%; height: 23px;" |
-| style="width: 50%;" | Elevator Left
+<br>
-| style="width: 50%;" | Rear Left Rotational
+|- style="height: 28px;"
+| style="width: 50%; height: 28px;" |
+<br>
+| style="width: 50%; height: 28px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Left Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Left Drive
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Left Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Left Cancoder
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Left Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Left Rotational
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Left Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Left Drive
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Left Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Left Cancoder
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Left Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Right Cancoder
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Right Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Right Drive
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Right Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Right Rotational
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Right Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Right Rotational
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Right Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Right Drive
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Right Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Right Cancoder
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Right Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Pigeon
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Pigeon
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Elevator Right
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Elevator Right
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Hang
+<br>
+| style="width: 50%; height: 23px;" |
+<br>
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Hang
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | PDH (Termination)
+<br>
-|-
+| style="width: 50%; height: 23px;" |
+<br>
+|- style="height: 10px;"
 |}
@@ Line 503: / Line 673: @@
 | style="height: 28px; width: 177px; text-align: center;" | 0
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Right Drive (Drivebase)
+Intake speed / rollers
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 514: / Line 685: @@
 | style="height: 28px; width: 177px; text-align: center;" | 1
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Right Rotation (Drivebase)
+Intake Encoder, pigeon, limelight
 | style="height: 28px; width: 145px; text-align: center;" |
-A
+(swap to 5 when they come in)
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+N/A
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 525: / Line 697: @@
 | style="height: 28px; width: 177px; text-align: center;" | 2
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Left Drive (Drivebase)
+Climber
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+Neo 2.0
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 536: / Line 709: @@
 | style="height: 28px; width: 177px; text-align: center;" | 3
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Left Rotation (Drivebase)
+Intake Position
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+Neo 2.0
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 547: / Line 721: @@
 | style="height: 28px; width: 177px; text-align: center;" | 4
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Left Drive (Drivebase)
+<br>
 | style="height: 28px; width: 145px; text-align: center;" |
-A
+<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+<br>
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 558: / Line 733: @@
 | style="height: 28px; width: 177px; text-align: center;" | 5
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Left Rotation (Drivebase)
+Kicker
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 569: / Line 745: @@
 | style="height: 28px; width: 177px; text-align: center;" | 6
 | style="height: 28px; width: 222px; text-align: center;" |
-Wrist
+Shooter Hood
 | 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
+| style="width: 116px; text-align: center;" |
+Kraken X44
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 580: / Line 757: @@
 | style="height: 28px; width: 177px; text-align: center;" | 7
 | style="height: 28px; width: 222px; text-align: center;" |
-Intake Left Motor
+Shooter Right
 | 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="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 591: / Line 769: @@
 | style="height: 28px; width: 177px; text-align: center;" | 8
 | style="height: 28px; width: 222px; text-align: center;" |
-Intake Right Motor
+Shooter Left
 | 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="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 602: / Line 781: @@
 | style="height: 28px; width: 177px; text-align: center;" | 9
 | style="height: 28px; width: 222px; text-align: center;" |
-Both Limelight Devices
+LEDs
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
 | style="width: 116px; text-align: center;" |
+N/A
+| style="height: 28px; width: 171px; 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: 177px; text-align: center;" | 10
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Right Drive (Drivebase)
+Back Right Drive
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 625: / Line 805: @@
 | style="height: 28px; width: 177px; text-align: center;" | 11
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Right Rotation (Drivebase)
+Back Right Steer
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Kraken 60
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 636: / Line 817: @@
 | style="height: 28px; width: 177px; text-align: center;" | 12
 | style="height: 28px; width: 222px; text-align: center;" |
-Elevator Drive Left (Gamepiece)
+Back Left Drive
 | 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
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 647: / Line 829: @@
 | style="height: 28px; width: 177px; text-align: center;" | 13
 | style="height: 28px; width: 222px; text-align: center;" |
-Elevator Drive Right (Gamepiece)
+Back Left Steer
 | 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
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 658: / Line 841: @@
 | style="height: 28px; width: 177px; text-align: center;" | 14
 | style="height: 28px; width: 222px; text-align: center;" |
-Cage Solenoid
+Spindexer
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Spike Relay
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 669: / Line 853: @@
 | style="height: 28px; width: 177px; text-align: center;" | 15
 | style="height: 28px; width: 222px; text-align: center;" |
-Cage Winch
+<br>
 | style="height: 28px; width: 145px; text-align: center;" |
-A
+<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | Neo
+| style="width: 116px; text-align: center;" |
+<br>
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 680: / Line 865: @@
 | style="height: 28px; width: 177px; text-align: center;" | 16
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
+Front Left Drive
 | style="height: 28px; width: 145px; text-align: center;" |
-<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
 | style="width: 116px; text-align: center;" |
-<br>
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 692: / Line 877: @@
 | style="height: 28px; width: 177px; text-align: center;" | 17
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
+Front Left Steer
 | style="height: 28px; width: 145px; text-align: center;" |
-<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
 | style="width: 116px; text-align: center;" |
-<br>
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 704: / Line 889: @@
 | style="height: 28px; width: 177px; text-align: center;" | 18
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
+Front Right Drive
 | style="height: 28px; width: 145px; text-align: center;" |
-<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | <br>
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 715: / Line 901: @@
 | style="height: 28px; width: 177px; text-align: center;" | 19
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
+Front Right Steer
 | style="height: 28px; width: 145px; text-align: center;" |
-<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | <br>
+| style="width: 116px; text-align: center;" |
+Kraken X60
 | style="height: 28px; width: 171px; text-align: center;" |
 <br>
@@ Line 726: / Line 913: @@
 | style="height: 28px; width: 177px; text-align: center;" | 20
 | style="height: 28px; width: 222px; text-align: center;" |
-Radio (RCS)
+RoboRIO
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | <br>
+| style="width: 116px; text-align: center;" |
+N/A
 | style="height: 28px; width: 171px; text-align: center;" |
-Fused Port
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 21
 | style="height: 28px; width: 222px; text-align: center;" |
-RoboRio (RCS)
+Radio
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | <br>
+| style="width: 116px; text-align: center;" |
+N/A
 | style="height: 28px; width: 171px; text-align: center;" |
-Fused Port
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 22
 | style="height: 28px; width: 222px; text-align: center;" |
-VRM
+<br>
 | style="height: 28px; width: 145px; text-align: center;" |
-A
+<br>
 | style="height: 28px; width: 181px; text-align: center;" |
 <br>
-| style="width: 116px; text-align: center;" | <br>
+| style="width: 116px; text-align: center;" |
+<br>
 | style="height: 28px; width: 171px; text-align: center;" |
-Fused Port
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable)
@@ Line 782: / Line 972: @@
 | style="height: 28px; width: 75.25px;" | 5V/2A
 | style="height: 28px; width: 120.85px;" |
-Lights (RCS)
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/2A
@@ Line 790: / Line 980: @@
 | style="height: 28px; width: 75.25px;" | 5V/500mA
 | style="height: 28px; width: 120.85px;" |
-Pigeon (RCS)
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/500mA
@@ Line 798: / Line 988: @@
 | style="height: 28px; width: 75.25px;" | 12V/2A
 | style="height: 28px; width: 120.85px;" |
-CANCoders (except right rear)
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/2A
@@ Line 806: / Line 996: @@
 | style="height: 28px; width: 75.25px;" | 12V/500mA
 | style="height: 28px; width: 120.85px;" |
-CANCoder - right rear
+<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/500mA
@@ Line 820: / Line 1,010: @@
 {| style="width: 902px; height: 416px;" border="1" cellspacing="1" cellpadding="2"
 |- style="height: 80px;"
-| style="width: 16.025px; height: 80px;" | '''ID'''
+| style="width: 16.0667px; height: 80px;" | '''ID'''
-| style="width: 76.8375px; text-align: center; height: 80px;" | '''Subsystem'''
+| style="width: 76.9667px; text-align: center; height: 80px;" | '''Subsystem'''
-| style="width: 79.9875px; height: 80px;" | <p style="text-align: center">'''Component'''</p>
+| style="width: 80.1167px; height: 80px;" | <p style="text-align: center">'''Component'''</p>
 <p style="text-align: center">'''Type'''</p>
-| style="text-align: center; width: 75.675px; height: 80px;" | '''Model #'''
+| style="text-align: center; width: 75.1px; height: 80px;" | '''Model #'''
-| style="text-align: center; width: 136.3px; height: 80px;" | '''Description<br>(brief)'''
+| style="text-align: center; width: 136.167px; height: 80px;" | '''Description<br>(brief)'''
-| style="text-align: center; width: 120.025px; height: 80px;" |
+| style="text-align: center; width: 120.15px; height: 80px;" |
 '''Operation'''
 &nbsp;
-| style="text-align: center; width: 211.488px; height: 80px;" | '''Brake/Coast'''
+| style="text-align: center; width: 211.25px; height: 80px;" | '''Brake/Coast'''
-| style="width: 146.462px; text-align: center; height: 80px;" colspan="2" rowspan="1" |
+| style="width: 145.183px; text-align: center; height: 80px;" colspan="2" rowspan="1" |
 '''Notes'''
@@ Line 838: / Line 1,028: @@
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 0
+| style="width: 16.0667px; height: 28px;" | 0
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
-Gamepiece
+<br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
-Motor
+<br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
-Neo 550
+<br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
-Calgae Motors (Left and Right)
+<br>
-| style="width: 120.025px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
+<br>
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 211.488px; height: 28px;" |
+| style="width: 88.1167px; height: 28px;" |
-Brake
-| style="width: 88.725px; height: 28px;" |
 <br>
-| style="width: 52.9375px; height: 28px;" | &nbsp;
+| style="width: 52.0667px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 1
+| style="width: 16.0667px; height: 28px;" | 1
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
-N/A
+<br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
-LED strips
+<br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
+<br>
+| style="width: 136.167px; text-align: center; height: 28px;" |
+<br>
+| style="width: 120.15px; height: 28px;" |
+<br>
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; height: 28px;" |
-Addressable LED strips
-| style="width: 120.025px; height: 28px;" |
 <br>
-| style="width: 211.488px; height: 28px;" |
+| style="width: 52.0667px; height: 28px;" | &nbsp;
-total nodes
-| 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: 16.0667px; height: 28px;" | 2
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
-Gamepiece
+<br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
-Motor
+<br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
-Neo
+<br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
-Calgae Wrist
+<br>
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" |
-| style="width: 211.488px; height: 28px;" | &nbsp;Brake
+<br>
-| style="width: 88.725px; height: 28px;" | &nbsp;
+| style="width: 211.25px; height: 28px;" |
-| style="width: 52.9375px; height: 28px;" | &nbsp;
+<br>
+| style="width: 88.1167px; height: 28px;" |
+<br>
+| style="width: 52.0667px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 3
+| style="width: 16.0667px; height: 28px;" | 3
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
 <br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" | &nbsp;
+| style="width: 211.25px; height: 28px;" | &nbsp;
-| style="width: 88.725px; height: 28px;" | &nbsp;
+| style="width: 88.1167px; height: 28px;" | &nbsp;
-| style="width: 52.9375px; height: 28px;" | &nbsp;
+| style="width: 52.0667px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 4
+| style="width: 16.0667px; height: 28px;" | 4
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
 <br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
 <br>
-| style="width: 211.488px; height: 28px;" |
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 88.725px; height: 28px;" |
+| style="width: 88.1167px; height: 28px;" |
 <br>
-| style="width: 52.9375px; height: 28px;" |
+| style="width: 52.0667px; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 5
+| style="width: 16.0667px; height: 28px;" | 5
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
 <br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" | &nbsp;
+| style="width: 75.1px; height: 28px;" | &nbsp;
-| style="width: 136.3px; height: 28px;" |
+| style="width: 136.167px; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" | &nbsp;
+| style="width: 211.25px; height: 28px;" | &nbsp;
-| style="width: 88.725px; height: 28px;" | &nbsp;
+| style="width: 88.1167px; height: 28px;" | &nbsp;
-| style="width: 52.9375px; height: 28px;" | &nbsp;
+| style="width: 52.0667px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" rowspan="1" | 6
+| style="width: 16.0667px; height: 28px;" rowspan="1" | 6
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
 <br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
 <br>
-| style="width: 211.488px; height: 28px;" |
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 88.725px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 52.9375px; text-align: center; height: 28px;" |
+| style="width: 52.0667px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" rowspan="1" | 7
+| style="width: 16.0667px; height: 28px;" rowspan="1" | 7
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
 <br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" |
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 88.725px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 52.9375px; text-align: center; height: 28px;" |
+| style="width: 52.0667px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" rowspan="1" | 8
+| style="width: 16.0667px; height: 28px;" rowspan="1" | 8
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
 <br>
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
 <br>
-| style="width: 211.488px; height: 28px;" |
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 88.725px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 52.9375px; text-align: center; height: 28px;" |
+| style="width: 52.0667px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" rowspan="1" | 9
+| style="width: 16.0667px; height: 28px;" rowspan="1" | 9
-| style="width: 76.8375px; height: 28px;" |
+| style="width: 76.9667px; height: 28px;" |
-<br>
+Lights
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 80.1167px; height: 28px;" |
 <br>
-| style="width: 75.675px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
 <br>
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 136.167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" |
+| style="width: 211.25px; height: 28px;" |
 <br>
-| style="width: 88.725px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; text-align: center; height: 28px;" |
 <br>
-| style="width: 52.9375px; text-align: center; height: 28px;" |
+| style="width: 52.0667px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 10
+| style="width: 16.0667px; height: 28px;" | 10
-| style="width: 76.8375px; height: 28px;" | &nbsp;
+| style="width: 76.9667px; height: 28px;" | &nbsp;
-| style="width: 79.9875px; height: 28px;" | &nbsp;
+| style="width: 80.1167px; height: 28px;" | &nbsp;
-| style="width: 75.675px; height: 28px;" | &nbsp;
+| style="width: 75.1px; height: 28px;" | &nbsp;
-| style="width: 136.3px; height: 28px;" | &nbsp;
+| style="width: 136.167px; height: 28px;" | &nbsp;
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" | &nbsp;
+| style="width: 211.25px; height: 28px;" | &nbsp;
-| style="width: 88.725px; height: 28px;" | &nbsp;
+| style="width: 88.1167px; height: 28px;" | &nbsp;
-| style="width: 52.9375px; height: 28px;" | &nbsp;
+| style="width: 52.0667px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="width: 16.025px; height: 28px;" | 11
+| style="width: 16.0667px; height: 28px;" | 11
-| style="width: 76.8375px; height: 28px;" | &nbsp;
+| style="width: 76.9667px; height: 28px;" | &nbsp;
-| style="width: 79.9875px; height: 28px;" | &nbsp;
+| style="width: 80.1167px; height: 28px;" | &nbsp;
-| style="width: 75.675px; height: 28px;" | &nbsp;
+| style="width: 75.1px; height: 28px;" | &nbsp;
-| style="width: 136.3px; height: 28px;" | &nbsp;
+| style="width: 136.167px; height: 28px;" | &nbsp;
-| style="width: 120.025px; height: 28px;" | &nbsp;
+| style="width: 120.15px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" | &nbsp;
+| style="width: 211.25px; height: 28px;" | &nbsp;
-| style="width: 88.725px; height: 28px;" | &nbsp;
+| style="width: 88.1167px; height: 28px;" | &nbsp;
-| style="width: 52.9375px; height: 28px;" | &nbsp;
+| style="width: 52.0667px; height: 28px;" | &nbsp;
 |}
-=== LED Strip Layout and Function ===
+<div class="mw-parser-output"></div>
-<div class="mw-parser-output"><div class="mw-parser-output">&nbsp;</div></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 1,063: / Line 1,221: @@
 {| style="width: 902px; height: 169px;" border="1" cellspacing="1" cellpadding="2"
 |- style="height: 57px;"
-| style="height: 57px; width: 27.8906px;" | '''ID'''
+| style="height: 57px; width: 27.15px;" | '''ID'''
-| style="text-align: center; height: 57px; width: 139.875px;" | '''Subsystem'''
+| style="text-align: center; height: 57px; width: 139.633px;" | '''Subsystem'''
-| style="width: 80px; height: 57px;" | <p style="text-align: center">'''Component'''</p>
+| style="width: 80.4px; height: 57px;" | <p style="text-align: center">'''Component'''</p>
 <p style="text-align: center">'''Type'''</p>
-| style="width: 51.2188px; text-align: center; height: 57px;" | '''Model #'''
+| style="width: 51.25px; text-align: center; height: 57px;" | '''Model #'''
-| style="width: 166.875px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
+| style="width: 166.75px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
-| style="width: 217.828px; text-align: center; height: 57px;" | '''Operation'''
+| style="width: 217.983px; text-align: center; height: 57px;" | '''Operation'''
-| style="width: 182.312px; text-align: center; height: 57px;" | '''Notes'''
+| style="width: 182.833px; text-align: center; height: 57px;" | '''Notes'''
 |- style="height: 28px;"
-| style="height: 28px; width: 27.8906px;" | 0
+| style="height: 28px; width: 27.15px;" | 0
-| style="height: 28px; width: 139.875px;" |
+| style="height: 28px; width: 139.633px;" |
-Cage
+<br>
-| style="width: 80px; height: 28px;" |
+| style="width: 80.4px; height: 28px;" |
-SPIKE relay
+<br>
-| style="width: 51.2188px; height: 28px;" |
+| style="width: 51.25px; height: 28px;" |
 <br>
-| style="width: 166.875px; height: 28px;" |
+| style="width: 166.75px; height: 28px;" |
-Controls electric solenoid
+<br>
-| style="width: 217.828px; height: 28px;" |
+| style="width: 217.983px; height: 28px;" |
-Power on to disengage pawl from ratchet, power off to engage
+<br>
-| style="width: 182.312px; height: 28px;" |
+| style="width: 182.833px; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="height: 28px; width: 27.8906px;" | 1
+| style="height: 28px; width: 27.15px;" | 1
-| style="height: 28px; width: 139.875px;" | &nbsp;
+| style="height: 28px; width: 139.633px;" | &nbsp;
-| style="width: 80px; height: 28px;" | &nbsp;
+| style="width: 80.4px; height: 28px;" | &nbsp;
-| style="width: 51.2188px; height: 28px;" | &nbsp;
+| style="width: 51.25px; height: 28px;" | &nbsp;
-| style="width: 166.875px; height: 28px;" | &nbsp;
+| style="width: 166.75px; height: 28px;" | &nbsp;
-| style="width: 217.828px; height: 28px;" | &nbsp;
+| style="width: 217.983px; height: 28px;" | &nbsp;
-| style="width: 182.312px; height: 28px;" | &nbsp;
+| style="width: 182.833px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="height: 28px; width: 27.8906px;" | 2
+| style="height: 28px; width: 27.15px;" | 2
-| style="height: 28px; width: 139.875px;" | &nbsp;
+| style="height: 28px; width: 139.633px;" | &nbsp;
-| style="width: 80px; height: 28px;" | &nbsp;
+| style="width: 80.4px; height: 28px;" | &nbsp;
-| style="width: 51.2188px; height: 28px;" | &nbsp;
+| style="width: 51.25px; height: 28px;" | &nbsp;
-| style="width: 166.875px; height: 28px;" | &nbsp;
+| style="width: 166.75px; height: 28px;" | &nbsp;
-| style="width: 217.828px; height: 28px;" | &nbsp;
+| style="width: 217.983px; height: 28px;" | &nbsp;
-| style="width: 182.312px; height: 28px;" | &nbsp;
+| style="width: 182.833px; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="height: 28px; width: 27.8906px;" | 3
+| style="height: 28px; width: 27.15px;" | 3
-| style="height: 28px; width: 139.875px;" | &nbsp;
+| style="height: 28px; width: 139.633px;" | &nbsp;
-| style="width: 80px; height: 28px;" | &nbsp;
+| style="width: 80.4px; height: 28px;" | &nbsp;
-| style="width: 51.2188px; height: 28px;" | &nbsp;
+| style="width: 51.25px; height: 28px;" | &nbsp;
-| style="width: 166.875px; height: 28px;" | &nbsp;
+| style="width: 166.75px; height: 28px;" | &nbsp;
-| style="width: 217.828px; height: 28px;" | &nbsp;
+| style="width: 217.983px; height: 28px;" | &nbsp;
-| style="width: 182.312px; height: 28px;" | &nbsp;
+| style="width: 182.833px; height: 28px;" | &nbsp;
 |}
 &nbsp;
@@ Line 1,256: / Line 1,414: @@
 === <u>RoboRio IO</u> ===
-{| style="width: 1187px; height: 408px;" border="1" cellspacing="1" cellpadding="2"
+{| style="width: 1143px; height: 407px;" border="1" cellspacing="1" cellpadding="2"
 |- style="height: 57px;"
-| style="text-align: center; height: 57px; width: 41.9844px;" | '''ID'''
+| style="text-align: center; height: 57px; width: 37.8833px;" | '''ID'''
-| style="text-align: center; height: 57px; width: 153px;" | '''Direction'''<br>(IN/OUT)
+| style="text-align: center; height: 57px; width: 142.9px;" | '''Direction'''<br>(IN/OUT)
-| style="width: 76.9375px; text-align: center; height: 57px;" | '''Subsystem'''
+| style="width: 76.8333px; text-align: center; height: 57px;" | '''Subsystem'''
-| style="width: 119.062px; height: 57px;" | <p style="text-align: center;">'''Component'''</p>
+| style="width: 144.7px; height: 57px;" | <p style="text-align: center;">'''Component'''</p>
 <p style="text-align: center;">'''Type'''</p>
-| style="width: 140.016px; text-align: center; height: 57px;" | '''Model #'''
+| style="width: 131.3px; text-align: center; height: 57px;" | '''Model #'''
-| style="width: 181.016px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
+| style="width: 169.417px; text-align: center; height: 57px;" | '''Description<br>(brief)'''
-| style="width: 213.969px; text-align: center; height: 57px;" | '''Operation'''
+| style="width: 197.433px; text-align: center; height: 57px;" | '''Operation'''
-| style="width: 220.016px; text-align: center; height: 57px;" | '''Notes'''
+| style="width: 200.933px; text-align: center; height: 57px;" | '''Notes'''
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 0
+| style="text-align: center; height: 28px; width: 37.8833px;" | 0
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="width: 142.9px; height: 28px;" | IN
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+| style="width: 76.8333px; height: 28px;" | <p>Elevator</p>
-Gamepiece
+| style="width: 144.7px; height: 28px;" | <p>Sensor</p>
-| style="width: 119.062px; text-align: center; height: 28px;" |
+| style="width: 131.3px; height: 28px;" | <p>&nbsp;REV Robotics Magnetic Limit Switch<br>(REV 31-1462)</p>
-Sensor
+| style="width: 169.417px; height: 28px;" | <p>Climb Top Limit</p>
-| style="width: 140.016px; text-align: center; height: 28px;" |
+| style="width: 197.433px; height: 28px;" | <p><br></p>
-OPB720B-06Z
+| style="width: 200.933px; height: 28px;" | <p><br></p>
-| style="width: 181.016px; height: 28px; text-align: center;" |
+|- style="height: 50px;"
-Algae Sensor
+| style="text-align: center; height: 50px; width: 37.8833px;" | 1
-| style="width: 213.969px; text-align: center; height: 28px;" |
+| style="width: 142.9px; height: 50px;" | IN
-Detects when Algae is present in the Calgae Intake.
+| style="width: 76.8333px; height: 50px;" | Elevator
-| style="width: 220.016px; height: 28px; text-align: left;" |
+| style="width: 144.7px; height: 50px;" | Sensor
-Sensor should also detect slip and make sure the motors maintain grip on the Algae.
+| style="width: 131.3px; height: 50px;" | REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
-|- style="height: 51px;"
+| style="width: 169.417px; height: 50px;" | <p>Climb Bottom Limit</p>
-| style="text-align: center; height: 51px; width: 41.9844px;" | 1
+| style="width: 197.433px; height: 50px;" | <p><br></p>
-| style="text-align: center; height: 51px; width: 153px;" | IN
+| style="width: 200.933px; height: 50px;" |
-| style="width: 76.9375px; text-align: center; height: 51px;" |
-Gamepiece
-| style="width: 119.062px; text-align: center; height: 51px;" |
-Sensor
-| style="width: 140.016px; text-align: center; height: 51px;" |
-OMRON
-| style="width: 181.016px; height: 51px; text-align: center;" |
-Coral Sensor
-| 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="height: 57px;"
-| style="text-align: center; height: 57px; width: 41.9844px;" | 2
+| style="text-align: center; height: 57px; width: 37.8833px;" | 2
-| style="text-align: center; height: 57px; width: 153px;" | IN
+| style="height: 57px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 57px;" |
+IN
-Elevator
+| style="width: 76.8333px; height: 57px;" |
-| style="width: 119.062px; text-align: center; height: 57px;" |
+shooter - hood
-Sensor
+| style="width: 144.7px; height: 57px;" |
-| style="width: 140.016px; text-align: center; height: 57px;" |
+beam break
-&nbsp;REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
+| style="width: 131.3px; text-align: center; height: 57px;" |
-| style="width: 181.016px; height: 57px; text-align: center;" |
+OPB815
-Elevator Top Limit
+| style="width: 169.417px; height: 57px;" |
-| style="width: 213.969px; text-align: center; height: 57px;" |
+hood "0" beam break sensor
+| style="width: 197.433px; text-align: center; height: 57px;" |
 <br>
-| style="width: 220.016px; height: 57px; text-align: left;" |
+| style="width: 200.933px; height: 57px; text-align: left;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 3
+| style="text-align: center; height: 28px; width: 37.8833px;" | 3
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 28px;" |
-Elevator
-| style="width: 119.062px; text-align: center; height: 28px;" |
-Sensor
-| style="width: 140.016px; text-align: center; height: 28px;" |
-REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
-| style="width: 181.016px; height: 28px; text-align: center;" |
-Elevator Bottom Limit
-| style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; height: 28px; text-align: left;" |
+| style="width: 76.8333px; text-align: center; height: 28px;" |
+<br>
+| style="width: 144.7px; text-align: center; height: 28px;" |
+<br>
+| style="width: 131.3px; text-align: center; height: 28px;" |
+<br>
+| style="width: 169.417px; height: 28px; text-align: center;" |
+<br>
+| style="width: 197.433px; text-align: center; height: 28px;" |
+<br>
+| style="width: 200.933px; height: 28px; text-align: left;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 4
+| style="text-align: center; height: 28px; width: 37.8833px;" | 4
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+<br>
-Gamepiece
+| style="width: 76.8333px; text-align: center; height: 28px;" |
-| style="width: 119.062px; text-align: center; height: 28px;" |
+<br>
-Encoder
+| style="width: 144.7px; text-align: center; height: 28px;" |
-| style="width: 140.016px; text-align: center; height: 28px;" |
+<br>
-[https://www.revrobotics.com/rev-11-1271/ REV 11-1271]
+| style="width: 131.3px; text-align: center; height: 28px;" |
-| style="width: 181.016px; text-align: center; height: 28px;" |
+<br>
-Used in absolute position mode to indicate wrist pivot angle.
+| style="width: 169.417px; text-align: center; height: 28px;" |
-| style="width: 213.969px; text-align: center; height: 28px;" |
+<br>
+| style="width: 197.433px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 28px;" |
+| style="width: 200.933px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 5
+| style="text-align: center; height: 28px; width: 37.8833px;" | 5
-| style="text-align: center; height: 28px; width: 153px;" |
+| style="text-align: center; height: 28px; width: 142.9px;" |
-IN
+<br>
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+| style="width: 76.8333px; text-align: center; height: 28px;" |
-Hang
+<br>
-| style="width: 119.062px; text-align: center; height: 28px;" |
+| style="width: 144.7px; text-align: center; height: 28px;" |
-Sensor
+<br>
-| style="width: 140.016px; text-align: center; height: 28px;" |
+| style="width: 131.3px; text-align: center; height: 28px;" |
+<br>
+| style="width: 169.417px; text-align: center; height: 28px;" |
 <br>
-| style="width: 181.016px; text-align: center; height: 28px;" |
+| style="width: 197.433px; text-align: center; height: 28px;" |
-Hang Solenoid Up
-| style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 28px;" |
+| style="width: 200.933px; text-align: center; height: 28px;" |
 <br>
 |- style="height: 19px;"
-| style="text-align: center; height: 19px; width: 41.9844px;" | 6
+| style="text-align: center; height: 19px; width: 37.8833px;" | 6
-| style="text-align: center; height: 19px; width: 153px;" |
+| style="text-align: center; height: 19px; width: 142.9px;" |
-IN
+<br>
-| style="width: 76.9375px; text-align: center; height: 19px;" |
+| style="width: 76.8333px; text-align: center; height: 19px;" |
-Hang
+<br>
-| style="width: 119.062px; text-align: center; height: 19px;" |
+| style="width: 144.7px; text-align: center; height: 19px;" |
-Sensor
+<br>
-| style="width: 140.016px; text-align: center; height: 19px;" |
+| style="width: 131.3px; text-align: center; height: 19px;" |
+<br>
+| style="width: 169.417px; text-align: center; height: 19px;" |
 <br>
-| style="width: 181.016px; text-align: center; height: 19px;" |
+| style="width: 197.433px; text-align: center; height: 19px;" |
-Hang Hung
-| style="width: 213.969px; text-align: center; height: 19px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 19px;" |
+| style="width: 200.933px; text-align: center; height: 19px;" |
 <br>
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 7
+| style="text-align: center; height: 28px; width: 37.8833px;" | 7
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+<br>
+| style="width: 76.8333px; text-align: center; height: 28px;" |
 <br>
-| style="width: 119.062px; text-align: center; height: 28px;" |
+| style="width: 144.7px; text-align: center; height: 28px;" |
 <br>
-| style="width: 140.016px; text-align: center; height: 28px;" |
+| style="width: 131.3px; text-align: center; height: 28px;" |
 <br>
-| style="width: 181.016px; text-align: center; height: 28px;" |
+| style="width: 169.417px; text-align: center; height: 28px;" |
 <br>
-| style="width: 213.969px; text-align: center; height: 28px;" |
+| style="width: 197.433px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 200.933px; text-align: center; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 8
+| style="text-align: center; height: 28px; width: 37.8833px;" | 8
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+<br>
+| style="width: 76.8333px; text-align: center; height: 28px;" |
 <br>
-| style="width: 119.062px; text-align: center; height: 28px;" |
+| style="width: 144.7px; text-align: center; height: 28px;" |
 <br>
-| style="width: 140.016px; text-align: center; height: 28px;" |
+| style="width: 131.3px; text-align: center; height: 28px;" |
 <br>
-| style="width: 181.016px; text-align: center; height: 28px;" |
+| style="width: 169.417px; text-align: center; height: 28px;" |
 <br>
-| style="width: 213.969px; text-align: center; height: 28px;" |
+| style="width: 197.433px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 200.933px; text-align: center; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 9
+| style="text-align: center; height: 28px; width: 37.8833px;" | 9
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+<br>
+| style="width: 76.8333px; text-align: center; height: 28px;" |
 <br>
-| style="width: 119.062px; text-align: center; height: 28px;" |
+| style="width: 144.7px; text-align: center; height: 28px;" |
 <br>
-| style="width: 140.016px; text-align: center; height: 28px;" |
+| style="width: 131.3px; text-align: center; height: 28px;" |
 <br>
-| style="width: 181.016px; text-align: center; height: 28px;" |
+| style="width: 169.417px; text-align: center; height: 28px;" |
 <br>
-| style="width: 213.969px; text-align: center; height: 28px;" |
+| style="width: 197.433px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 200.933px; text-align: center; height: 28px;" | &nbsp;
 |- style="height: 28px;"
-| style="text-align: center; height: 28px; width: 41.9844px;" | 10
+| style="text-align: center; height: 28px; width: 37.8833px;" | 10
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 142.9px;" |
-| style="width: 76.9375px; text-align: center; height: 28px;" |
+<br>
+| style="width: 76.8333px; text-align: center; height: 28px;" |
 <br>
-| style="width: 119.062px; text-align: center; height: 28px;" |
+| style="width: 144.7px; text-align: center; height: 28px;" |
 <br>
-| style="width: 140.016px; text-align: center; height: 28px;" |
+| style="width: 131.3px; text-align: center; height: 28px;" |
 <br>
-| style="width: 181.016px; text-align: center; height: 28px;" |
+| style="width: 169.417px; text-align: center; height: 28px;" |
 <br>
-| style="width: 213.969px; text-align: center; height: 28px;" |
+| style="width: 197.433px; text-align: center; height: 28px;" |
 <br>
-| style="width: 220.016px; text-align: center; height: 28px;" | &nbsp;
+| style="width: 200.933px; text-align: center; height: 28px;" | &nbsp;
 |}
 &nbsp;<div class="mw-parser-output">&nbsp;</div>
@@ Line 1,448: / Line 1,602: @@
 |-
 | style="width: 16px;" | 0
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,457: / Line 1,612: @@
 |-
 | style="width: 16px; text-align: center;" | 1
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,466: / Line 1,622: @@
 |-
 | style="width: 16px; text-align: center;" | 2
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,475: / Line 1,632: @@
 |-
 | style="width: 16px; text-align: center;" | 3
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,484: / Line 1,642: @@
 |-
 | style="width: 16px; text-align: center;" | 4
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,493: / Line 1,652: @@
 |-
 | style="width: 16px; text-align: center;" | 5
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,502: / Line 1,662: @@
 |-
 | style="width: 16px; text-align: center;" | 6
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,511: / Line 1,672: @@
 |-
 | style="width: 16px; text-align: center;" | 7
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,520: / Line 1,682: @@
 |-
 | style="width: 16px; text-align: center;" | 8
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
+<br>
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,594: / Line 1,757: @@
 <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 ==
@@ Line 2,011: / Line 2,073: @@
 = Operator Controls =
-[[File:Dark Mode (1).png|1000px|frameless|Control Map]]
 = IO Maps for Old Robots =