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Pinout:

  • gyro on cs0

Button Mapping:

  • Swerve translation: left stick
  • Swerve rotation: right stick
  • Gyro reset: right bumper bottomed out
  • Calibrate gyro: A button
  • Intake motor: need to assign
  • Shooter motor: need to assign

CAN IDs:

  1. CAN ID 9 – TalonSRX for the shooter.

    • Connected to the shooter motor, controlled by the Shooter class.

  2. CAN ID 10 – TalonSRX for the intake.

    • Connected to the intake motor, controlled by the Intake class.

  3. Drivetrain Motors:

    • Drive Motors (TalonFX):
      • Front Left Module: CAN ID 1 (drive motor).
      • Front Right Module: CAN ID 3 (drive motor).
      • Rear Left Module: CAN ID 5 (drive motor).
      • Rear Right Module: CAN ID 7 (drive motor).
    • Steering Motors (TalonSRX):
      • Front Left Module: CAN ID 2 (steer motor).
      • Front Right Module: CAN ID 4 (steer motor).
      • Rear Left Module: CAN ID 6 (steer motor).
      • Rear Right Module: CAN ID 8 (steer motor).