Team 1073's robot code for FRC 2022: Rapid React, to control our robot Willard.
| Device | CAN ID |
|---|---|
| PDP | 0 |
| CANifier | 8 |
| IMU (Pigeon IMU) | 9 |
| Left drivetrain leader | 30 |
| Left drivetrain follower | 50 |
| Right drivetrain leader | 31 |
| Right drivetrain follower | 27 |
| Collector lift | 49 |
| Collector intake | 48 |
| Indexer | 19 |
| Right spooler | 44 |
| Right extension | 35 |
| Left spooler | 32 |
| Left extension | 17 |
| Feeder | 42 |
| Flywheel | 45 |
| Hood | 18 |
| Slot | Mechanism |
|---|---|
| 0 | Battery (built in) |
| 1 | Drivetrain |
| 2 | Indexer |
| 3 | Climber |
| 4 | Collector |
| 5 | Shooter |
| 6 | Driver controlled (human player interaction) |
| 7 | TBD |
| Letter | Shape |
|---|---|
| A | X |
| B | Circle |
| X | Square |
| Y | Triangle |