2026:Robot IO Map: Difference between revisions

Operator Controls

IO Maps for Old Robots

Revision as of 13:44, 12 January 2026

CAN ID Assignments

CAN Physical Chain Layout

PDB Assignments

VRM Assignments

PWM Outputs

Relay Outputs

Analog IO

Digital IO (GPIO)

Junction Box For Gamepiece Communication (Base & Carriage)

I2C Registers

SPI Devices

USB Host Ports

Pneumatics Control Modules

Revision as of 13:44, 12 January 2026

Contents

CAN ID Assignments

CAN Physical Chain Layout

PDB Assignments

VRM Assignments

PWM Outputs

Relay Outputs

Analog IO

Digital IO (GPIO)

Junction Box For Gamepiece Communication (Base & Carriage)

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
2
3
4
5
6
7
8
9
10
11
12
14
15
16
17
18
19
20
21
22

<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	Max Channel Current	Motor Type	Note
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
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
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
1
2
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 30: / Line 30: @@
 |- style="height: 12px;"
 | style="text-align: center; height: 12px; width: 20.075px;" | 1
-| style="text-align: center; height: 12px; width: 99.325px;" | '''Drive'''
+| style="text-align: center; height: 12px; width: 99.325px;" |
-| style="text-align: center; height: 12px; width: 100.338px;" | Motor
+| style="text-align: center; height: 12px; width: 100.338px;" |
-| style="text-align: center; width: 99.325px; height: 12px;" | Kraken X60&nbsp;
+| style="text-align: center; width: 99.325px; height: 12px;" |
-| style="width: 66.225px; text-align: center; height: 12px;" | Brake
+| style="width: 66.225px; text-align: center; height: 12px;" |
-| style="width: 104.35px; text-align: center; height: 12px;" | Drive Motor Front Left
+| style="width: 104.35px; text-align: center; height: 12px;" |
 | style="width: 194.637px; text-align: center; height: 12px;" |
 <br>
@@ Line 45: / Line 45: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 2
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Rotation Motor Front Left
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 63: / Line 60: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 3
 | style="text-align: center; height: 28px; width: 99.325px;" |
-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;" |
-<br>
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Cancoder Front Left&nbsp;
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 83: / Line 75: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 4
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="text-align: center; height: 28px; width: 104.35px;" |
-Drive Motor Front Right
 | style="height: 28px; width: 194.637px;" |
 <br>
@@ Line 101: / Line 90: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 5
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="text-align: center; height: 28px; width: 104.35px;" |
-Rotation Motor Front Right
 | style="height: 28px; width: 194.637px;" |
 <br>
@@ Line 119: / Line 105: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 6
 | style="text-align: center; height: 28px; width: 99.325px;" |
-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;" |
-<br>
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Cancoder Front Right
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 139: / Line 120: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 7
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Drive Motor
-Back Right
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 159: / Line 135: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 8
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="text-align: center; height: 28px; width: 104.35px;" |
-Rotation Motor Back Right
 | style="text-align: center; height: 28px; width: 194.637px;" |
 <br>
@@ Line 178: / Line 151: @@
 | style="text-align: center; height: 28px; width: 99.325px;" |
-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;" |
-<br>
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Cancoder Back Right
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 198: / Line 166: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 10
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Drive Motor
-Back Left
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 218: / Line 181: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 11
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
+| style="text-align: center; width: 99.325px; height: 28px;" |
-| style="text-align: center; width: 99.325px; height: 28px;" | Kraken X60&nbsp;
+| style="width: 66.225px; text-align: center; height: 28px;" |
-| style="width: 66.225px; text-align: center; height: 28px;" | Brake
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Rotation Motor Back Left
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 236: / Line 196: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 12
 | style="text-align: center; height: 28px; width: 99.325px;" |
-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;" |
-<br>
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Cancoder Back Left
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 256: / Line 211: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 14
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Drive
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Pigeon
 | style="width: 99.325px; text-align: center; height: 28px;" |
-Pigeon
 | style="width: 66.225px; text-align: center; height: 28px;" |
-<br>
 | style="width: 104.35px; text-align: center; height: 28px;" |
-IMU
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 276: / Line 226: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 15
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Elevator
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
 | style="width: 99.325px; text-align: center; height: 28px;" |
-Neo
 | style="width: 66.225px; text-align: center; height: 28px;" |
-Brake
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Elevator Motor Right
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 296: / Line 241: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 16
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Elevator
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
 | style="width: 99.325px; text-align: center; height: 28px;" |
-Neo
 | style="width: 66.225px; text-align: center; height: 28px;" |
-Brake
 | style="width: 104.35px; text-align: center; height: 28px;" |
-Elevator Motor Left
 | style="width: 194.637px; text-align: center; height: 28px;" |
 <br>
@@ Line 316: / Line 256: @@
 | style="text-align: center; height: 28px; width: 20.075px;" | 17
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Cage
 | style="text-align: center; height: 28px; width: 100.338px;" |
-Motor
 | style="text-align: center; height: 28px; width: 99.325px;" |
-Neo
 | style="text-align: center; height: 28px; width: 66.225px;" |
-?
 | style="text-align: center; height: 28px; width: 104.35px;" |
-Hang winch
 | style="height: 28px; width: 194.637px;" |
 <br>
@@ Line 432: / Line 367: @@
 == 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
+| style="width: 50%; height: 23px;" |
-|-
+|- style="height: 28px;"
-| style="width: 50%;" | Elevator Left
+| style="width: 50%; height: 28px;" |
-| style="width: 50%;" | Rear Left Rotational
+| style="width: 50%; height: 28px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Left Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Left Drive
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Left Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Left Cancoder
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Left Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Left Rotational
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Left Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Left Drive
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Left Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Left Cancoder
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Left Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Right Cancoder
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Right Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Right Drive
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Right Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Front Right Rotational
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Front Right Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Right Rotational
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Right Rotational
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Right Drive
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Right Drive
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Rear Right Cancoder
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Rear Right Cancoder
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Pigeon
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Pigeon
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Elevator Right
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Elevator Right
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | Hang
+| style="width: 50%; height: 23px;" |
 |- style="height: 23px;"
-| style="width: 50%; height: 23px;" | Hang
+| style="width: 50%; height: 23px;" |
-| style="width: 50%; height: 23px;" | PDH (Termination)
+| style="width: 50%; height: 23px;" |
-|-
+|- style="height: 10px;"
 |}
@@ Line 503: / Line 438: @@
 | style="height: 28px; width: 177px; text-align: center;" | 0
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Right Drive (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 1
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Right Rotation (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 2
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Left Drive (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 3
 | style="height: 28px; width: 222px; text-align: center;" |
-Front Left Rotation (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 4
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Left Drive (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 5
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Left Rotation (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 6
 | style="height: 28px; width: 222px; text-align: center;" |
-Wrist
 | style="height: 28px; width: 145px; text-align: center;" |
-A?
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Neo
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 7
 | style="height: 28px; width: 222px; text-align: center;" |
-Intake Left Motor
 | style="height: 28px; width: 145px; text-align: center;" |
-A?
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Neo 550
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 8
 | style="height: 28px; width: 222px; text-align: center;" |
-Intake Right Motor
 | style="height: 28px; width: 145px; text-align: center;" |
-A?
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Neo 550
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 9
 | style="height: 28px; width: 222px; text-align: center;" |
-Both Limelight Devices
 | 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="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)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 11
 | style="height: 28px; width: 222px; text-align: center;" |
-Rear Right Rotation (Drivebase)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Kraken 60
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 12
 | style="height: 28px; width: 222px; text-align: center;" |
-Elevator Drive Left (Gamepiece)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Neo
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 13
 | style="height: 28px; width: 222px; text-align: center;" |
-Elevator Drive Right (Gamepiece)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Neo
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 14
 | style="height: 28px; width: 222px; text-align: center;" |
-Cage Solenoid
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Spike Relay
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 15
 | style="height: 28px; width: 222px; text-align: center;" |
-Cage Winch
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | Neo
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 16
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
 | 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="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 17
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
 | 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="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 18
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
 | style="height: 28px; width: 145px; text-align: center;" |
-<br>
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | <br>
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 19
 | style="height: 28px; width: 222px; text-align: center;" |
-<br>
 | style="height: 28px; width: 145px; text-align: center;" |
-<br>
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | <br>
 | style="height: 28px; width: 171px; text-align: center;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 20
 | style="height: 28px; width: 222px; text-align: center;" |
-Radio (RCS)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | <br>
 | style="height: 28px; width: 171px; text-align: center;" |
-Fused Port
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 21
 | style="height: 28px; width: 222px; text-align: center;" |
-RoboRio (RCS)
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | <br>
 | style="height: 28px; width: 171px; text-align: center;" |
-Fused Port
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 22
 | style="height: 28px; width: 222px; text-align: center;" |
-VRM
 | style="height: 28px; width: 145px; text-align: center;" |
-A
 | style="height: 28px; width: 181px; text-align: center;" |
-<br>
+| style="width: 116px; text-align: center;" |
-| style="width: 116px; text-align: center;" | <br>
 | style="height: 28px; width: 171px; text-align: center;" |
-Fused Port
 |- style="height: 28px;"
 | style="height: 28px; width: 177px; text-align: center;" | 23 (Switchable)
@@ Line 770: / Line 610: @@
 <div class="mw-parser-output">
 <div class="mw-parser-output">
 <br><br></div></div>
@@ Line 782: / Line 621: @@
 | style="height: 28px; width: 75.25px;" | 5V/2A
 | style="height: 28px; width: 120.85px;" |
-Lights (RCS)
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/2A
 | style="height: 28px; width: 120.85px;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/500mA
 | style="height: 28px; width: 120.85px;" |
-Pigeon (RCS)
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 5V/500mA
 | style="height: 28px; width: 120.85px;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/2A
 | style="height: 28px; width: 120.85px;" |
-CANCoders (except right rear)
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/2A
 | style="height: 28px; width: 120.85px;" |
-<br>
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/500mA
 | style="height: 28px; width: 120.85px;" |
-CANCoder - right rear
 |- style="height: 28px;"
 | style="height: 28px; width: 75.25px;" | 12V/500mA
@@ Line 820: / Line 652: @@
 {| 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 670: @@
 |- 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
+| style="width: 80.1167px; height: 28px;" |
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
-Motor
+| style="width: 136.167px; text-align: center; height: 28px;" |
-| style="width: 75.675px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
-Neo 550
+| style="width: 211.25px; height: 28px;" |
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; height: 28px;" |
-Calgae Motors (Left and Right)
+| style="width: 52.0667px; height: 28px;" | &nbsp;
-| style="width: 120.025px; height: 28px;" |
-<br>
-| style="width: 211.488px; height: 28px;" |
-Brake
-| style="width: 88.725px; height: 28px;" |
-<br>
-| style="width: 52.9375px; 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
+| style="width: 80.1167px; height: 28px;" |
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
-LED strips
+| style="width: 136.167px; text-align: center; height: 28px;" |
-| style="width: 75.675px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
-<br>
+| style="width: 211.25px; height: 28px;" |
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; height: 28px;" |
-Addressable LED strips
+| style="width: 52.0667px; height: 28px;" | &nbsp;
-| style="width: 120.025px; height: 28px;" |
-<br>
-| style="width: 211.488px; height: 28px;" |
-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
+| style="width: 80.1167px; height: 28px;" |
-| style="width: 79.9875px; height: 28px;" |
+| style="width: 75.1px; height: 28px;" |
-Motor
+| style="width: 136.167px; text-align: center; height: 28px;" |
-| style="width: 75.675px; height: 28px;" |
+| style="width: 120.15px; height: 28px;" |
-Neo
+| style="width: 211.25px; height: 28px;" |
-| style="width: 136.3px; text-align: center; height: 28px;" |
+| style="width: 88.1167px; height: 28px;" |
-Calgae Wrist
+| style="width: 52.0667px; height: 28px;" | &nbsp;
-| style="width: 120.025px; height: 28px;" | &nbsp;
-| style="width: 211.488px; height: 28px;" | &nbsp;Brake
-| style="width: 88.725px; height: 28px;" | &nbsp;
-| style="width: 52.9375px; height: 28px;" | &nbsp;
 |- 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>
-| 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 class="mw-parser-output">&nbsp;</div></div>
+<div class="mw-parser-output"></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 846: @@
 {| 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
+| style="width: 80.4px; height: 28px;" |
-| style="width: 80px; height: 28px;" |
+| style="width: 51.25px; height: 28px;" |
-SPIKE relay
+| style="width: 166.75px; height: 28px;" |
-| style="width: 51.2188px; height: 28px;" |
+| style="width: 217.983px; height: 28px;" |
-<br>
+| style="width: 182.833px; height: 28px;" |
-| style="width: 166.875px; height: 28px;" |
-Controls electric solenoid
-| style="width: 217.828px; height: 28px;" |
-Power on to disengage pawl from ratchet, power off to engage
-| style="width: 182.312px; 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 1,116: / Line 894: @@
 == Analog IO ==
 <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
 <div class="mw-parser-output">
 === <u>RoboRIO Analog Inputs</u> ===
@@ Line 1,244: / Line 1,020: @@
 &nbsp;</div></div>
 <div class="mw-parser-output"><div class="mw-parser-output">
 <div class="mw-parser-output">
 <div class="mw-parser-output">
 == Digital IO (GPIO) ==
 <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">
 <div class="mw-parser-output">
 === <u>RoboRio IO</u> ===
@@ Line 1,269: / Line 1,040: @@
 |- style="height: 28px;"
 | style="text-align: center; height: 28px; width: 41.9844px;" | 0
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 28px;" |
-Gamepiece
 | style="width: 119.062px; text-align: center; height: 28px;" |
-Sensor
 | style="width: 140.016px; text-align: center; height: 28px;" |
-OPB720B-06Z
 | style="width: 181.016px; height: 28px; text-align: center;" |
-Algae Sensor
 | style="width: 213.969px; text-align: center; height: 28px;" |
-Detects when Algae is present in the Calgae Intake.
 | style="width: 220.016px; height: 28px; text-align: left;" |
-Sensor should also detect slip and make sure the motors maintain grip on the Algae.
 |- style="height: 51px;"
 | style="text-align: center; height: 51px; width: 41.9844px;" | 1
-| style="text-align: center; height: 51px; width: 153px;" | IN
+| style="text-align: center; height: 51px; width: 153px;" |
 | 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: 153px;" | IN
+| style="text-align: center; height: 57px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 57px;" |
-Elevator
 | style="width: 119.062px; text-align: center; height: 57px;" |
-Sensor
 | style="width: 140.016px; text-align: center; height: 57px;" |
-&nbsp;REV Robotics Magnetic Limit Switch<br>(REV 31-1462)
 | style="width: 181.016px; height: 57px; text-align: center;" |
-Elevator Top Limit
 | style="width: 213.969px; text-align: center; height: 57px;" |
-<br>
 | style="width: 220.016px; 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: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | 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>
@@ Line 1,329: / Line 1,078: @@
 |- style="height: 28px;"
 | style="text-align: center; height: 28px; width: 41.9844px;" | 4
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 28px;" |
-Gamepiece
 | style="width: 119.062px; text-align: center; height: 28px;" |
-Encoder
 | style="width: 140.016px; text-align: center; height: 28px;" |
-[https://www.revrobotics.com/rev-11-1271/ REV 11-1271]
 | style="width: 181.016px; text-align: center; height: 28px;" |
-Used in absolute position mode to indicate wrist pivot angle.
 | style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
@@ Line 1,345: / Line 1,090: @@
 | style="text-align: center; height: 28px; width: 41.9844px;" | 5
 | style="text-align: center; height: 28px; width: 153px;" |
-IN
 | style="width: 76.9375px; text-align: center; height: 28px;" |
-Hang
 | style="width: 119.062px; text-align: center; height: 28px;" |
-Sensor
 | style="width: 140.016px; text-align: center; height: 28px;" |
-<br>
 | style="width: 181.016px; text-align: center; height: 28px;" |
-Hang Solenoid Up
 | style="width: 213.969px; text-align: center; height: 28px;" |
 <br>
@@ Line 1,361: / Line 1,101: @@
 | style="text-align: center; height: 19px; width: 41.9844px;" | 6
 | style="text-align: center; height: 19px; width: 153px;" |
-IN
 | style="width: 76.9375px; text-align: center; height: 19px;" |
-Hang
 | style="width: 119.062px; text-align: center; height: 19px;" |
-Sensor
 | style="width: 140.016px; text-align: center; height: 19px;" |
-<br>
 | style="width: 181.016px; 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;" |
-<br>
 |- style="height: 28px;"
 | style="text-align: center; height: 28px; width: 41.9844px;" | 7
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
@@ Line 1,390: / Line 1,124: @@
 |- style="height: 28px;"
 | style="text-align: center; height: 28px; width: 41.9844px;" | 8
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
@@ Line 1,404: / Line 1,138: @@
 |- style="height: 28px;"
 | style="text-align: center; height: 28px; width: 41.9844px;" | 9
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
@@ Line 1,418: / Line 1,152: @@
 |- style="height: 28px;"
 | style="text-align: center; height: 28px; width: 41.9844px;" | 10
-| style="text-align: center; height: 28px; width: 153px;" | IN
+| style="text-align: center; height: 28px; width: 153px;" |
 | style="width: 76.9375px; text-align: center; height: 28px;" |
 <br>
@@ Line 1,448: / Line 1,182: @@
 |-
 | style="width: 16px;" | 0
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,457: / Line 1,191: @@
 |-
 | style="width: 16px; text-align: center;" | 1
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,466: / Line 1,200: @@
 |-
 | style="width: 16px; text-align: center;" | 2
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,475: / Line 1,209: @@
 |-
 | style="width: 16px; text-align: center;" | 3
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,484: / Line 1,218: @@
 |-
 | style="width: 16px; text-align: center;" | 4
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,493: / Line 1,227: @@
 |-
 | style="width: 16px; text-align: center;" | 5
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,502: / Line 1,236: @@
 |-
 | style="width: 16px; text-align: center;" | 6
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,511: / Line 1,245: @@
 |-
 | style="width: 16px; text-align: center;" | 7
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,520: / Line 1,254: @@
 |-
 | style="width: 16px; text-align: center;" | 8
-| style="width: 56px; text-align: center;" | IN
+| style="width: 56px; text-align: center;" |
 | style="width: 74px; text-align: center;" | &nbsp;
 | style="width: 74px; text-align: center;" | &nbsp;
@@ Line 1,596: / Line 1,330: @@
 == 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 1,841: / Line 1,476: @@
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 == Pneumatics Control Modules ==