PWM Channels

• Channel 1: <not assigned>
• Channel 2: <not assigned>
• Channel 3: <not assigned>
• Channel 4: <not assigned>
• Channel 5: <not assigned>
• Channel 6: <not assigned>
• Channel 7: <not assigned>
• Channel 8: <not assigned>
• Channel 9: <not assigned>
• Channel 10: <not assigned>

CAN Bus Layout

• 3: Left Forward
• 4: Right Forward
• 5: Left Backward
• 6: Right Backward
• 13: Lift
• 16: Arm

Digital Pin Layout

• 1: Center Photoelectric Sensor (Photoelectric)
• 2: Left Photoelectric Sensor (Photoelectric)
• 3: Right Photoelectric Sensor (Photoelectric)
• 4: Deployment Limit (Minideploy)
• 5: Height Input A
• 6: Height Input B
• 7: Digital Pressure Switch (PneumaticsTask)
• 8: Red light (ColorLights)
• 9: White lights (Colorlights)
• 10: Blue lights (Colorlights)
• 11: <not assigned>
• 12: <not assigned>
• 13: <not assigned>
• 14: <not assigned>

Analog Module 1 Layout

• 1: Sonar, straight ahead (SonarTask)
• 2: Sonar, right (SonarTask)
• 3: Sonar, left (SonarTask)
• 4: <not assigned>
• 5: Autonomous Lane Selector (Autonomous)
• 6: Autonomous Height Selector (Autonomous)
• 7: Pressure Transducer (PneumaticsTask)
• 8: <not assigned>

Analog Module 2: not used

Relay Layout

• 1: Compressor Relay (PneumaticsTask)
• 2-1: Red Tube Color Light (ColorLights)
• 2-2: White Tube Color Light (ColorLights)
• 3: Blue Tube Color Light (ColorLights)

Pneumatics Module

• 1: Open Gripper
• 2: Close Gripper
• 3: Minibot Release (MiniDeploy)
• 4: Minibot Deployer Extender (MiniDeploy)
• 5: Minibot Deployer (MiniDeploy)
• 6: Extend Elevator Brake
• 7: <not assigned>
• 8: <not assigned>

Joystick Buttons

Driver (1)

• Y-Axis: Drive
• X-Axis: Strafe
• R-Axis: Spin
• Trigger: <not assigned>
• Buttons 2-4: Reserved for Autonomous Assist
• Button 5: Driver Autonomous Assist (AutoAssist)
• Button 6: Deploy Minibot

Driver (2)

• Nothing decided yet, will we even be using one?

Copilot (3)

• Y-Axis: Elevator Height
• X-Axis: Wrist Angle
• Trigger: Floor Preset
• Button 2: Clear all lights (ColorLights)
• Button 3: While light (ColorLights)
• Button 4: Red light (ColorLights)
• Button 5: Blue light (ColorLights)
• Button 6: Top Side Preset
• Button 7: Middle Side Preset
• Button 8: Low Side Preset
• Button 9: Low Center Preset
• Button 10: Middle Center Preset
• Button 11: Top Center Preset