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PORTS.md

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Robot Port Layout

CAN

  • 1: Drive Left Master

  • 2: Drive Left Slave

  • 3: Drive Right Master

  • 4: Drive Right Slave

  • 7: Arm Seg1 Master

  • 8: Arm Seg1 Slave

  • 5: Arm Seg2 Master

  • 6: Arm Seg2 Slave

  • 9: Subarm Pivot

PWM (0-9)

  • 0: Subarm Rotation Servo
  • 1: Gripper Servo

DIO (0-26)

  • 0, 1: Subarm Pivot Encoder

  • 2, 3: Subarm Rotation Encoder

  • 4, 5: Drive Left Encoder

  • 6, 7: Drive Right Encoder

  • 8, 9: Arm Seg2 Encoder

  • 10 11: Arm Seg1 Encoder