- rear left drive = can 30 | pdp port 0
- rear left rotate motor = 2
- rear right drive = 1
- rear right rotate = 3
- front right drive = 19
- front right steer = 17
- front left drive = ?
- front left steer = 16
- rear right encoder = 0
- rear left encoder = 1
- front right encoder = 2
- front left encoder = 3
- top magnet sensor = ?
- bottom magnet sensor = ?