The following code includes the code for a tank drive drivetrain, an elevator that lifts the arm up with the joystick, and a claw that works with pneumatics to extend the claw arm, and to close and open it. The pneumatics will have 2 settings depending on the object picking up, cube and cone. There is also a slow mode for the drivetrain on the x key.
In total there are 6 motor controllers, 4 for the drivetrain, 2 for the elevator. We have a total of 4 solenoids, one for arm extension, 2 more for different settings of the cube and cone, and one to retract the claw.
- Command base does not work with the template, had to work around by pasting code into time base template.
- Logic erroring in elevator system, solved by rewriting it into right Y axis on controller.
- Drivestation inverted controllers, had to invert them in code. (Unknown reason)