Robot Control and Motor Assignments

Drive Controller (Pilot)

PS5 Button	Assigned Function	Motor ID
X (Cross)	Reset Heading
O (Circle)
△ (Triangle)	Ramp up wheels Click Again to cancel
□ (Square)
L1	Speed Mode (Slow Mech and Slow Steer)
L2	Slow Mode (set value)
R1	Shooter Sequence Click Again to cancel (drive away to cancle too)
R2	Forced Intake In (HOLD)
L3 (Left Stick Click)
R3 (Right Stick Click)	Change Driver Cam
D-Pad Up	Climb Up
D-Pad Down	Climb Down
D-Pad Left
D-Pad Right
Options Button
Create Button
PS Button
Touchpad
Left Joystick	Swerve Drive	0-11
Right Joystick	Swerve Turning	0-11

Mech Controller (Operator)

PS5 Button	Assigned Function	Motor ID
X (Cross)	Forced Pivot In (HOLD)
O (Circle)	Pivot In / Out (Click for IN/OUT)
△ (Triangle)	Shooter Hood Positions (Multiple Clicks)
□ (Square)	Shooter Wheel (Click for ON/OFF)
L1	Hopper Shoot All Balls (HOLD)
L2	Intake Rollers In Manual
R1	Hopper Reverse (Agitator) (HOLD)
R2	Intake Rollers Out Manual
L3 (Left Stick Click)
R3 (Right Stick Click)
D-Pad Up	Winch up Manual
D-Pad Down	Winch down Manual
D-Pad Left	Doornob down Manual
D-Pad Right	Doornob up Manual
Options Button
Create Button
PS Button
Touchpad
Left Joystick	Hood Up / Down Manual
Right Joystick	Intake Pivot Up / Down Manual

CAN Assignments

Subsystem	Component	Type	Position	CAN ID
Swerve	Drive	Kraken x60	FL	1
	Drive	Kraken x60	FR	3
	Drive	Kraken x60	BR	5
	Drive	Kraken x60	BL	7
	Steer	Kraken x44	FL	0
	Steer	Kraken x44	FR	2
	Steer	Kraken x44	BL	4
	Steer	Kraken x44	BR	6
	CANcoder	CANcoder	FL	11
	CANcoder	CANcoder	FR	10
	CANcoder	CANcoder	BL	8
	CANcoder	CANcoder	BR	9
Intake	Pivot	Kraken x60	-	12
	Pivot Encoder	Throughbore	-	13
	Roller	Kraken x44	-	14
Hopper	Hopper	Kraken x44	-	15
Shooter	Hood	Kraken x44	-	16
	Flywheel	Kraken x44	-	17
	Flywheel Encoder	Throughbore	-	18
Climb	Doornob	Kraken x44	-	19
	Doornob Encoder	Throughbore	-	20
	Winch	Kraken x60	-	21
CAN Devices	CANdi	CANdi	-	22
	CANdi	CANdi	-	23
	CANivore	CANivore	-	"swerve-can"
	CANivore	CANivore	-	"mech-can"
	Pigeon	Pigeon 2.0	-	24

Motor Configuration

Subsystem	Motor Name	ID	Current Limit	Max Velocity	Max Current	Max Acceleration
Swerve	Drive FL	1
	Drive FR	3
	Drive BR	5
	Drive BL	7
	Steer FL	0
	Steer FR	2
	Steer BL	4
	Steer BR	6
Intake	Pivot	12
	Roller	14
Hopper	Hopper	15
Shooter	Hood	16
	Flywheel	17
Climb	Doornob	19
	Winch	21

Mech Controller Keybinds:

Button Action R1 Intake In R2 Intake Out L1 Hopper Forward L2 Hopper Reverse Right Stick Y Pivot Manual Left Stick Y Hood/Arm Manual Square + R2 Flywheel Speed Cross (hold) Climb Down Triangle (hold) Climb Up D-Pad Up/Down Winch Up/Down