2024 FIRST CRESCENDO

Controls

Driver Controller

Operator Controller

CAN Bus

Subsystem	Type	Talon	ID	Comp PDP	Proto PDP	Motor	Breaker	CAN Bus
Drive	SRX	azimuth	0	16	16	9015		rio
Drive	SRX	azimuth	1	3	2	9015		rio
Drive	SRX	azimuth	2	17	17	9015		rio
Drive	SRX	azimuth	3	2	4	9015		rio
Drive	FX	drive	10	18	18	kraken		rio
Drive	FX	drive	11	1	1	kraken		rio
Drive	FX	drive	12	19	19	kraken		rio
Drive	FX	drive	13	0	0	kraken		rio
Intake	FX	intake	20	5	3	falcon		rio
Magazine	FX	magazine	25	10	13	falcon		rio
Elbow	FX	elbow	30	6	5	falcon		canivore
Elbow	CANcoder	cancoder	31			-		rio
Elbow	CANcoder	highRes	32			-		canivore
Wrist	SRX	wrist	35	11	11	9015		rio
Shooter	FX	leftShoot	40	12	12	falcon		rio
Shooter	FX	rightShoot	41	13	10	falcon		rio
Climb	FX	leftClimb	50	15		falcon		rio
Climb	FX	rightClimb	51	4		falcon		rio
Climb	SRX	leftFork	52	7		johnson		rio
Climb	SRX	rightFork	53	8		johnson		rio
-	rio	-	-	20		-		rio
coder/sw	vrm	top	-	21		-		-
radio	vrm	bottom	-	22		-		-

• intake beam break: to wheel 1 azimuth fwd lim
• magazine upper beam break: to magazine rev lim
• magazine lower beam break: to magazine fwd lim

Roborio

Subsystem	Interface	Device
Elbow	USB	CANivore

DIO

Subsystem	name	ID
Auto	autoSwitch	0
Auto	autoSwitch	1
Auto	autoSwitch	2
Auto	autoSwitch	3
Auto	autoSwitch	4
Auto	autoSwitch	5
Robot	eventInterlock	6
		7
		8
		9

PWM

Subsystem	name	ID
		0
		1
		2
		3
Lights	lights	4
		5
		6
		7
		8
		9

MXP

Subsystem	name	ID

Analog

Subsystem	name	ID
RobotState	tempSense	0