Port Configuration

Port Configuration

! PDP Ports should be the same as the CAN Bus ID !
All of these ports will be set in the Constants.java file

Pneumatic Control Module(PCM) Ports:

• PCM_0
  • Port 0: Cargo Drawbridge
  • Port 1: Shifter
  • Port 2: Beak Port
  • Port 3: Hatch Launcher
  • Port 4: Auto Wing
  • Port 5: Climber
  • Port 6: N/A
  • Port 7: N/A
• PCM_1
  • Port 0: N/A
  • Port 1: N/A
  • Port 2: N/A
  • Port 3: N/A
  • Port 4: N/A
  • Port 5: N/A
  • Port 6: N/A
  • Port 7: N/A

Power Distribution Panel (PDP) Ports:

• Port 0: Right Front Chassis Motor (Spark MAX)
• Port 1: Right Rear Chassis Motor (Spark MAX)
• Port 2: Right Side Chassis Encoder/Cargo Intake Motor (Talon)
• Port 3: N/A
• Port 4: Right Front Lift Motor
• Port 5: Right Rear Lift Motor
• Port 6: T-Rex Motor/Stringpot *************
• Port 7: Limelight
• Port 8: Cargo Trolley Motor
• Port 9: Cargo Escalator
• Port 10: Left Front Lift Motor
• Port 11: Right Rear Lift Motor
• Port 12: N/A
• Port 13: Left Side Chassis Encoder/RoboWrangler (Talon)
• Port 14: Left Rear Chassis Motor (Spark MAX)
• Port 15: Left Front Chassis Motor (Spark MAX)

CAN Bus IDs:

• Port 0: Right Front Chassis Motor (Spark MAX)
• Port 1: Right Rear Chassis Motor (Spark MAX)
• Port 2: Right Side Chassis Encoder (Talon)
• Port 3: Cargo Intake Motor
• Port 4: Cargo Escalator Motor
• Port 5: Cargo Score Motor
• Port 6: RoboWrangler Motor
• Port 7: N/A
• Port 8: Right Front Lift Motor
• Port 9: Right Rear Lift Motor
• Port 10: Left Front Lift Motor
• Port 11: Right Rear Lift Motor
• Port 12: N/A
• Port 13: Left Front Chassis Motor (Spark MAX)
• Port 14: Left Rear Chassis Motor (Spark MAX)
• Port 15: Left Side Chassis Encoder (Talon)
• ==== Talon Drive Motors ====
• The Chassis Encoder Talons are the front motors for each side
• Port 20: Pigeon
• Port 31: Chassis Right Mid (Talon)
• Port 32: Chassis Right Rear (Talon)
• Port 46: Chassis Left Mid (Talon)
• Port 47: Chassis Left Rear (Talon)

RIO Ports

Analog Ports

• 0: N/A
• 1: N/A
• 2: N/A
• 3: N/A

DIO Ports

• 0: Cargo Escalator Sensor
• 1: Cargo Score Sensor
• 2: N/A
• 3: N/A
• 4: N/A
• 5: N/A
• 6: N/A
• 7: N/A
• 8: N/A
• 9: N/A

PWM Ports

• 0: Blinkin
• 1: N/A
• 2: N/A
• 3: N/A
• 4: N/A
• 5: N/A
• 6: N/A
• 7: N/A
• 8: N/A
• 9: N/A