2025 FIRST REEFSCAPE

   

Controls

Driver Controls	Operator Controls

State Diagrams

Robot State	Tag Align

CAN Bus

Subsystem	Type	Talon	ID	CAN BUS	Comp PDP	Proto PDP	Motor	Breaker
Drive	FXS	azimuth	0	FD		16	Minion
Drive	FXS	azimuth	1	FD		17	Minion
Drive	FXS	azimuth	2	FD		6	Minion
Drive	FXS	azimuth	3	FD		7	Minion
Drive	FX	drive	10	FD		23	kraken
Drive	FX	drive	11	FD		22	kraken
Drive	FX	drive	12	FD		0	kraken
Drive	FX	drive	13	FD		1	kraken
Elevator	FX	elevatorMain	20	rio		21	kraken
Elevator	FX	elevatorFollow	21	rio		20	kraken
Biscuit	FXS	biscuit	25	rio		3	Minion
Algae	FXS	algae	30	rio			Minion
Coral	FXS	coral	35	rio		2	Minion
Funnel	FXS	rollers	40	rio			Minion
Climb	FX	frontMain	45	rio			Minion
Climb	FX	backFollow	46	rio			kraken
Climb	CANcoder	CANCoder	47	rio			n/a
Laser	CANRange	CANRange	50	rio			n/a
-	-	rio	-	both		12
-	-	vrm (radio, pigeon)	-	-		13
-	-	custom circuit (pi power)	-	-

VRM

Device	Voltage	Current	ID
Pigeon 2	12	0.5	4
Ethernet Switch	12	2
Headlights	12	0.5

Beam Breaks

Subsystem	Talon	ID	Fwd/Rev	Purpose
Funnel	rollers	40	REV	Coral Presence
Coral	wheels	35	REV	Coral partially in
Coral	wheels	35	FWD	Coral fully in
Algae	algae	30	FWD	Algae in claw
Algae	algae	30	REV	Lvl 1 Coral in

Roborio

Subsystem	Interface	Device
n/a	USB	CANivore

DIO	MXP	PWM	Analog
Subsystem name ID BattMon Batt I 0 BattMon PDP V 1 BattMon Breaker T 2 TagServo Headlight Enable 3 AutoSwitch switch 4 AutoSwitch switch 5 AutoSwitch switch 6 AutoSwitch switch 7 AutoSwitch switch 8 AutoSwitch switch 9	Subsystem name ID 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25	Subsystem name ID LED lights 0 Climb deployServo 1 Climb ratchetServo 2 3 4 5 6 7 8 9	Subsystem name ID 0 1 2 3 4 5 6 7 8 9

Cameras

Camera	IP Address	Type
Left Servo	10.27.67.11	USB 3.0
Right Servo	10.27.67.12	USB 3.0
Rear Left	10.27.67.13	USB 2.0
Rear Right	10.27.67.13	USB 2.0

Autos

ID	Start Loc	Description	Status
0x00	non-processor shallow	3.5 piece Coral	Tested
0x01	non-processor mid	4 piece Coral	Needs Tuning
0x02	non-processor mid	3.5 piece Coral	Tested
0x03	non-processor deep barge	IRI - 3 Algae	Partially Tested
0x10	Middle Barge	2.5 Algae, Non-Processor First	Tested
0x11	Middle Barge	2.5 Algae, Processor First	Tested
0x12	Middle Barge	2 Algae, Non-Processor	Tested
0x13	Middle Barge	2 Algae, Processor	Tested
0x14	Middle Barge	Super-Cycle then Steal Processor	Tested
0x15	Middle Barge	Steal Immediately Processor	Tested
0x16	Middle Barge	Coral then Steal Processor	Tested
0x17	Middle Barge	Coral then Steal Two	Tested
0x18	Middle Barge	Super-Cycle then Steal Front	Partially Tested
0x20	processor shallow	3.5 piece Coral	Tested
0x21	processor shallow	4 piece Coral	Needs Tuning
0x22	processor mid	3.5 piece Coral	Tested

LEDs

Super Structure Strip	Front Strip	Back Strip
Strip Segment Color Pattern Meaning Coral Level Red Solid Level 1 Coral Level Yellow Solid Level 2 Coral Level Green Solid Level 3 Coral Level Blue Solid Level 4 Auto Score Side Black Solid Manual Auto Score Side Purple Solid Left Post Auto Score Side Orange Solid Right Post Get Algae On Cycle Teal Solid Get Algae Get Algae On Cycle Black Solid No Algae Full Strip Blue Blinking Auto Place Active Full Strip Red Blinking Thermal Limit Active Full Strip Red Solid Climb Too Far Full Strip Green Solid Climb Good Full Strip Blue Solid Climb Too Close	Strip Segment Color Pattern Meaning Upper Orange Solid No Coral in Bot Upper Purple Solid Coral in Transit Upper White Solid Coral Fully Loaded Lower Black Solid No Algae in Bot Lower Teal Solid Algae in Claw Full Strip Blue Blinking Auto Place Active Full Strip Red Blinking Thermal Limit Active Full Strip Red Solid Climb Too Far Full Strip Green Solid Climb Good Full Strip Blue Solid Climb Too Close	Strip Segment Color Pattern Meaning Full Strip Blue Solid High Algae Full Strip Brown Solid Low Algae Full Strip Blue Blinking Auto Place Active Full Strip Red Blinking Thermal Limit Active Full Strip Red Solid Climb Too Far Full Strip Green Solid Climb Good Full Strip Blue Solid Climb Too Close