Robot Control and Motor Assignments

Drive Controller (Pilot)

PS5 Button	Assigned Function	Motor Type	Motor ID
X (Cross)
O (Circle)
△ (Triangle)
□ (Square)
L1
L2	for Slow/FastMode
R1
R2
L3 (Left Stick Click)	Move Swerve	Kraken	2, 4, 6, 8
R3 (Right Stick Click)	Turn Swerve	Kraken	1, 3, 5, 7
D-Pad Up
D-Pad Down
D-Pad Left
D-Pad Right
Options Button + Create Button

Mech Controller (Operator)

PS5 Button	Assigned Mech Function	Motor Type	Motor ID
X (Cross)	Pivot In , pivot out	Neo	14
O (Circle)	Intake Coral	Neo	16
△ (Triangle)	Outtake Coral	Neo	16
□ (Square)
L1	Rollers Outtake	Neo	16
R1	Rollers Intake	Neo	16
L2	Elevator Up	Kraken	13
R2	Elevator Down	Kraken	13
L3 (Left Stick Click)
R3 (Right Stick Click)
D-Pad Up	Stage 1 Elevator	Kraken	13
D-Pad Down	Stage 4 Elevator	Kraken	13
D-Pad Left	Stage 3 Elevator	Kraken	13
D-Pad Right	Stage 2 Elevator	Kraken	13
Options Button + Create Button	Deepclimb	Neo	9, 10

Motor Assignments

Component	Motor Type	Position	Port
Swerve	Neo (Steer)	FL	1
		FR	3
		BR	5
		BL	7
	Kraken (Drive)	FL	2
		FR	4
		BL	6
		BR	8
Climb	Neo	TOP	9
		BOTTOM	10
Elevator	Kraken	-	13
Pivot	Neo	-	14
Intake	Neo	-	16