Team 1073's robot code for the 2023 FRC Season: Charged Up
The primary devices on CANBus are four swerve modules /w CANCoder feedback, a Pigeon 2 IMU for orientation, a CANifier driving underglow and 2-3 motors /w CANCoder feedback for the arm. Possible additional nodes to come soon.
| Device | CAN ID |
|---|---|
| PDH | 0 |
| Swerve #0 Encoder | 1 |
| Swerve #1 Encoder | 2 |
| Swerve #2 Encoder | 3 |
| Swerve #3 Encoder | 4 |
| Swerve #0 Steer Motor | 5 |
| Swerve #1 Steer Motor | 6 |
| Swerve #2 Steer Motor | 7 |
| Swerve #3 Steer Motor | 8 |
| Swerve #0 Drive Motor | 9 |
| Swerve #1 Drive Motor | 10 |
| Swerve #2 Drive Motor | 11 |
| Swerve #3 Drive Motor | 12 |
| Pigeon IMU | 13 |
| CANifier (under-glow) | 14 |
| Arm Joint #0 Encoder | 15 |
| Arm Joint #0 Motor | 16 |
| Arm Joint #1 Encoder | 17 |
| Arm Joint #1 Motor | 18 |
| Collector Motor | 19 |
| Arm Joint #2 Motor | 20 |
(will be added later in the season)
| Slot | Mechanism |
|---|
| Letter | Shape |
|---|---|
| A | X |
| B | Circle |
| X | Square |
| Y | Triangle |