2022 Robot

Team 1810 Robotics Swerve drive code for the 2022 competition season

Named Drilbur

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• Uses Swerve Drive Specialties's MK4 with L2 gear ratio with falcons as the motors.

• Electrical / Programming Wiring Chart. (It is restricted so only added people can open the sheets.)

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Controller Bindings

Xbox

Button	Purpose
LT
RT
LB	Left Intake
RB	Right Intake
LStick
RStick
Start
Back	Intake/auger Mod
Y	Reset Hood
X	Limelight Toggle
A
B	Auger

Joystick

Move - Button	Purpose		Rotation - Button	Purpose
Trigger			Trigger
1			1
2			2
3			3
4			4
5			5
6			6
7			7
8			8
9	Zero Gyro		9	Zero Gyro
10			10
11			11

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CAN

ID	Mechanism	Being Controlled	Controller	Wire Num
01	Drive - Front Left Drive	1 Falcon	TalonFX	1
02	Drive - Front Left Steer	1 Falcon	TalonFX	2
03	Drive - Front Right Drive	1 Falcon	TalonFX	3
04	Drive - Front Right Steer	1 Falcon	TalonFX	4
05	Drive - Back Right Drive	1 Falcon	TalonFX	5
06	Drive - Back Right Steer	1 Falcon	TalonFX	6
07	Drive - Back Left Drive	1 Falcon	TalonFX	7
08	Drive - Back Left Steer	1 Falcon	TalonFX	8
09	Drive - Front Right CANCoder			15
10	Drive - Front Left CANCoder			16
11	Drive - Back Right CANCoder			17
12	Drive - Back Left CANCoder			18
13	Gyro - Pigeon IMU			12
14	Shooter - Shooter Motor	1 NEO	SPARK MAX	25
17	REV Pneumatics Hub			28
18	Auger - Auger Motor	1 Window Regulator	VictorSPX

Relay

Port	Mechanism	Being Controlled	Controller
00	Intake - Right Intake	2 JE	Relay Spike
01	Intake - Left Intake	2 JE	Relay Spike
02	Hood - Hood Movement	1 Snowblower	Relay Spike
03

PWM

Port	Mechanism	Being Controlled	Controller
00
01
02
03
04
05
06
07
08
09

DIO

	Mechanism
00
01
02
03	Ejector LS
04
05
06
07
08
09	Hood LS

Analog In

	Mechanism
00
01
02
03