2009:DriverStationControls

Below is a list of the controls that will be included on the main and secondary control box.

Main Box Controls

Control/Display Type	Control Description	Operation Details
Analog Knob	Front Belt Speed Control	Controls front belt speed (power if "Broken Belt" on)
Analog Knob	Back Belt Speed Control	Controls back belt speed (power if "Broken Belt" on)
Analog Knob	Autonomous Delay	Delays autonomous start by a variable amount of time
Analog Knob	Shooter Speed Control	Controls the speed at which the shooter wheel spins when ejecting balls from robot or into the hopper
Toggle Switch	Enable/Disable Robot	Enables and disables robot - NOTE: Wires into competition port!!!
Digital Dial (8 Position)	Autonomous Mode	Selects the autonomous mode to run
Toggle Switch	Traction Control Disable	Master disable for traction control. Disables all traction control, overriding any traction control enable/disable on the joysticks.
Toggle Switch	Acceleration Limit Disable	Disable for acceleration limiting. Makes drive train accelerate 1-to-1 as joysticks are moved, rather than slowing acceleration.
Toggle Switch	Trim Disable	Disable left/right trim adjustment, making left/right drive train power control exactly equal rather than using trim knob setting.
Toggle Switch	Ball Queue Broken	Disables use of the ball queue sensor. This sensor is currently unused.
Toggle Switch	Belt Speed Broken	Disables the use of the belt speed sensors. When disabled, the belt speed dials will control belt power instead.
Toggle Switch	Shooter Speed Broken	Disables the use of the shooter speed sensors. When disabled, the shooter speed dial will control shooter motor power.
Toggle Switch	Spare Toggle Switch #1	TBD
Toggle Switch	Spare Toggle Switch #2	TBD
Toggle Switch	Spare Toggle Switch #3	TBD
Toggle Switch	Spare Toggle Switch #4	TBD
3 Position Toggle Switch	Autonomous Start Position	Selects one of 3 starting robot positions (near, center, far)
Pushbutton	Robot Mode - Stop Mode	Puts ball system in to stop mode. Stops all ball system motors. Lower gates/doors remain in current position.
Pushbutton	Robot Mode - Dump	Puts ball system in to dump mode. Lowers the front door, closes the hopper door. Pressing fire will run belts downward, ejecting balls in belt.
Pushbutton	Robot Mode - Collect Belt	Puts ball system in to "Collect into Belt" mode. Lowers the front door, closes the hopper door. Belts run upward. Shooter wheel is stopped. If fire is pressed, shooter wheel spins to eject balls.
Pushbutton	Robot Mode - Collect Hopper	Puts ball system in to "Collect into Hopper" mode. Lowers the front door, closes the hopper door. Belts run upward. Shooter wheel runs to put balls in the hopper. If fire is pressed, shooter wheel changes directions to eject balls that are coming up conveyor.
Pushbutton	Robot Mode - Shoot	Puts ball system in to Shoot mode. Raises the front door, opens the hopper door. Belts run upward. Shooter wheel is stopped. If fire is pressed, the shooter wheel spins up and ejects balls.
Digital Dial (4 Position)	Trap Door Control	Four possible choices: Auto (trap doors controlled by robot modes - see mode button descriptions), Up (run motor so that front door goes up and hopper door goes down), Stop (stop trap door motor), and Down (run motor so that front door goes down and hopper door goes up).
Pushbutton	Fire	Action depends on robot mode. See robot mode button descriptions.
Big Green LED	Traction Control On	Indicates the traction control is enabled.
Big Red LED	Traction Loss	Indicates that a traction loss is detected and being corrected for.
LED	Robot Mode - Stop Mode	Indicates robot is in Stop Mode.
LED	Robot Mode - Dump	Indicates robot is in Dump Mode.
LED	Robot Mode - Collect Belt	Indicates robot is in Collect into Belt Mode.
LED	Robot Mode - Collect Hopper	Indicates robot is in Collect balls in to hopper.
LED	Robot Mode - Score	Indicates robot is in Scoring Mode.
LED	Trap Door Up	Indicates front door is fully up and hopper door is fully down.
LED	Trap Door Down	Indicates front door is fully down and hopper door is fully up.
LED	Spare LED	TBD
7-Segment Display	Autonomous Mode Number	Indicates autonomous mode number (0 - 7 or 1 - 8?)

Joystick Controls

Joystick	Control	Function	Operation Details
L	Y axis	Tank drive - left	Controls speed of left drive.
R	Y axis	Tank drive - right	Controls speed of right drive.
L	Trigger	Turbo mode - left drive	Left drive runs extra fast.
R	Trigger	Turbo mode - right drive	Right drive runs extra fast.
L	Buttons 2 & 3	Slow mode - left drive	Left drive runs slower - either button 2, button 3, or both may be pressed.
R	Buttons 2 & 3	Slow mode - right drive	Right drive runs slower - either button 2, button 3, or both may be pressed.
R	Throttle	Left-right trim	Fine adjustment of left-right motor speeds to make the robot go straight.  See trim enable/disable buttons below.  At startup, trim is enabled.
L	Throttle	Acceleration limiter	Limits acceleration to prevent wheel slip.  Sets the minimum time for wheel motors to go from zero to full speed.  Range: 0 (off - no limiting) to 8 (8 seconds from zero to max turbo speed).  Decelleration is limited to 1/4 the acceleration limit.  i.e. if accel limit is set to 3 sec, deceleration from full to zero would be limited to 0.75 sec.
L	Button 7	Debug	While button is held down, debugging info is written to console.
R	Button 8	Trim disable	Completely disables left-right trim function on right throttle.  This function will eventually move to a toggle switch on the driver station panel
R	Button 9	Trim enable	Enables left-right trim function on right .
L	Button 10	Override	While this button is held down, all trim, acceleration limiting, and traction control is disabled.  Not very useful if you have to keep holding the button down.  It will be more useful when it s connected to a toggle switch.
R	Button 10	Traction Control enable	Enable automatic traction control.  This compares the speeds of the wheels and tries to slow down wheels that are going faster than the others.  This function will eventually move to a toggle switch on the driver station panel.
R	Button 11	Traction Control disable	Disable traction control.
L	Button 11	Reset button	Currently unimplemented