Official RedWatch 2022 Code

CONSTANTS AND PORTS

Drivetrain:

• RIGHT_FRONT_MOTOR = 15

• LEFT_FRONT_MOTOR = 12

• RIGHT_REAR_MOTOR = 1

• LEFT_REAR_MOTOR = 14

  • Gearbox Ratio = 1:12

• note that negative power = forward movement; invert fwd/rev but not left/right

Climbing:

• RIGHT_PIVOT_MOTOR = 10
• LEFT_PIVOT_MOTOR = 9
  • Pivot Gearbox Ratio = 1:125
• RIGHT_EXTEND_MOTOR = 2
• LEFT_EXTEND_MOTOR = 13
  • Telescoping Gearbox Ratio = 1:12

Shooting:

• FLYWHEEL_MOTOR = 3
  • Gear Ratio = 1:2
• TALON CANBUS IDS

Indexer, Intake & Misc.:

• INDEX_MOTOR = 6
  • Gear Ratio = 1:3
• INTAKE_MOTOR = 8

SENSOR PORTS:

• COLOR SENSOR PORT = I2C/RoboRIO
• BEAKBREAM PORT(s) = 2
• SOLENOID PORTS = (4, 5) & (6, 7)
• REV BLINKIN DRIVER = 0

CONTROLLER PORTS:

• DRIVER CONTROLLER PORT = 1
• WEAPONS CONTROLLER PORT = 2

Characterization Values