Known Devices

Device	Mechanism	Detail	Wiring notes
Diffuse retro-reflective sensor Allen Bradley 42EF-D2MPAK-F4	Gamepiece - Intake	Senses gamepiece Positioned such that sensor is tripped when game piece has entered intake and sensor just clears when game piece is positioned for storage until time to shoot or eject.	Wire for Dark operating Signal connects to roborio DIO 12V powered Voltage divider added to cable pigtail See circuit diagram below
Rev through-bore encoder https://www.revrobotics.com/rev-11-1271/	Gamepiece - arm	Used in absolute position mode to indicate arm pivot angle.	5V powered Signal to roborio DIO
Leaf lever limit switch	Hang - brake	Triggers when pawl on brake is fully lifted and clear of ratchet wheel 2 total; one on each brake assembly (left and right)	roborio DIO Wire for normally open

Circuit diagrams

Allen Bradley Diffuse Circuit

Allen Bradley 42EF-D2MPAK-F4

' 1/20/2024

Disassembled old batteries
Assembled our 13 new batteries (yay!)
Wired the prototype Game Piece mechanism for testing
Wired the temporary test board for the new drive base for Programming to create/test swerve drive code

1/21/2024