Controls

Driver Controller

Operator Controller

CAN Bus

Subsystem	Type	Talon	ID	Comp PDP	Proto PDP	Motor	Breaker
Drive	SRX	azimuth	0	16	16	9015
Drive	SRX	azimuth	1	3	2	9015
Drive	SRX	azimuth	2	17	17	9015
Drive	SRX	azimuth	3	2	4	9015
Drive	FX	drive	10	18	18	kraken
Drive	FX	drive	11	1	1	kraken
Drive	FX	drive	12	19	19	kraken
Drive	FX	drive	13	0	0	kraken
Intake	FX	intake	20	5	3	falcon
Magazine	FX	magazine	25	10	13	falcon
Exiter	FX	leftExit	40	12	12	falcon
Exiter	FX	rightExit	41	13	10	falcon
-	rio	-	-	20
coder/sw	vrm	top	-	21
radio	vrm	bottom	-	22

• intake beam break: to wheel 1 azimuth fwd lim
• magazine y-axis beam break: to magazine rev lim

Roborio

Subsystem	Interface	Device
Drive	USB	NAVX

DIO

Subsystem	name	ID
Auto	autoSwitch	0
Auto	autoSwitch	1
Auto	autoSwitch	2
Auto	autoSwitch	3
Auto	autoSwitch	4
Auto	autoSwitch	5
		6
		7
		8
		9

PWM

Subsystem	name	ID
		0
		1
		2
		3
Lights	lights	4
		5
		6
		7
		8
		9

MXP

Subsystem	name	ID