Software/Code: Subsystems

Climber is the piston cylinder with the hook pushing up when pressing a button.

• Compressor (1)

• Climber = Doublesolenoid (1,0,1)

Drivetrain is two motors, one on each side spinning the middle wheel on each side.

• Leftlead = CANSparkMax (6, MotorType.kBrushless)

• Leftfollow = CANSparkMax (7, MotorType.kBrushless)

• Rightlead = CANSparkMax (5, MotorType.kBrushless)

• Rightfollow = CANSparkMax (8, MotorType.kBrushless)

• Pdb = PowerDistributionPanel (0)

• leftEncoder = lefthead.getEncoder(EncoderType.kHallSensor, 42)

Elevator is where the ball goes up before launch. 

• elevatorLead = TalonSRX(3)

• elevatorFollow = VictorSPX(4)

Intake is where the ball gets “sucked” in.

•  intakeLead = TalonSRX(2);

•  intakeFollow = VictorSPX(1)

•  intakearmDoubleSolenoid = DoubleSolenoid(1,6,7)

LED is used for feedback about shooting, /collect state.

• displayedled = AddressableLED(1)

• ledbuffer = AddressableLEDBuffer(60)

Launcher is where the ball gets shot. There is a wheel that gives the ball a backspin.   

• Joystick _joy = new Joystick(1)

• StringBuilder _sb = new StringBuilder()

• launcherLead = new TalonSRX(9) 

• launcherFollow = new TalonSRX(10)