Master Task List

Build 2 display boards for the field
We should hook up a 10k linear trim potentiometer to one of the motor controllers and also hook up one of the smaller motors (like an older window motor) to allow programming work with the position control capabilities that the CAN interface allows them. See Jaguar Getting Started Guide page 22 for wiring guide. Note that it expects a 0-3V input!!!
Save the Earth - it's the only planet with chocolate (as far as we know)

Electrical Components the Robot Design is Using

Motors Used So Far

Main Drivetrain: 4 CIM - 4 Jaguars
Kicker: 2 Nippon - 2 Spike Relays
Electromagnet: 1 Spike Relay
Front Spinner Beaterbar: 1 Fisher-Price - 1 Spike Relay (BUT, this might have to be a speed controller if it can't be geared down in the space available)
Hanging Winch: 1 CIM - 1 Jaguar
Hanging Mechanism Tilt: 1 Nippon-Denso - 1 Jaguar

Sensors Used So Far

Front Ball Position: Banner photoelectric
Kicker Windup Mechanism rotation: magnetic rotation
Kicker electromagnet contact: pushbutton switch
Kicker electrical endstops (max forward, max reverse): 2 mechanical limit switches
Rotary Encoders on main drivetrain motors: (4) Banebots
Lifting mechanism endstops (max retract, max extend): ???
Lifting winch: US Digital rotary encoder (can be used to determine absolute extension of arm?) or multiturn potentiometer or ?

Pneumatics Used So Far

Servos Used So Far

Relay Outputs Used So Far

Total Jaguars - 6

Total Spike Relays - 4

Pin Type	Pin Number	Connected Device
PWM Outputs
Drivetrain	01	Jaguar #4 - LF (left front)
Drivetrain	02	Jaguar #5 - LR (left rear)
Drivetrain	03	Jaguar #6 - RF (right front)
Drivetrain	04	Jaguar #7 - RR (rail road)
Lifting Winch	05	Jaguar #?
Lifting Arm Tilt	06	Jaguar #?
Front Beater bar	07	Jaguar??? this might just be a relay
	08
	09
	10
Relay Outputs
Kicker	01	Window Motor (any)
Kicker	02	Window Motor (any)
	03
Kicker	04	Electromagnet
Front Beater Bar	05	Motor
	06
	07
	08
Analog Inputs
	01	Gyro
Kicker shaft angle	02	Magnetic rotary encoder (Austria Microsystems)
	03
	04
	05
	06
	07
	08	Battery Voltage Input (Don't use)
Digital Outputs (GPIO)
drive motor rotation	01	Banebots rotary encoder - LF - channel A
drive motor rotation	02	Banebots rotary encoder - LR - channel A
drive motor rotation	03	Banebots rotary encoder - RF - channel A
drive motor rotation	04	Banebots rotary encoder - RR - channel A
front ball position	05	Banner photoelectric sensor
kicker electromagnet contact	06	pushbutton switch
kicker max forward position	07	limit switch
kicker max pullback position	08	limit switch
lifting arm fully retracted	09	switch
lifting arm fully extended	10	switch
lifting winch encoder	11	US Digital rotary encoder
	12
	13
	14