***Note - all encoders are tentative - some can be removed (i.e. vertical aim)

• Autonomous
  • Drive Base (Eric)
    • Six wheels
      • Two DC PWM CIM motors for each side
    • Encoders - speed control and distance
  • Ball shooter (Nolan & Ben)
    • Vertical angle aim
      • Some sort of motor
      • Screw shaft to lift platform
      • Encoder
    • Horizontal angle aim
      • Encoder/potentiometer
      • Drive base motors
    • Shooting wheels
      • Two DC PWM motors
      • Start when shooting sequence begins
      • Encoders
    • Camera
  • Multi-position switch - change auto modes (Philip)
    • Some other auto modes that cross a defense and shoot in the high goal
    • Reach defense
    • Do nothing
• Teleop
  • Drive Base (Eric)
    • Two wheels
      • Two DC PWM CIM motors for each side
      • Drive
      • Two joysticks - motors mapped to Y
    • Encoders - speed control and distance
  • Ball Collection - Human controlled (Eric)
    • One DC PWM CIM motor
      • Start on ball collection sequence
    • Pneumatic piston - raise angle
  • Ball Shooter (Nolan & Ben)
    • Auto
      • Vertical angle aim
        • Some sort of motor
        • Screw shaft to lift platform
        • Encoder
      • Horizontal angle aim
        • Drive base motors
      • Shooting wheels
        • Two DC PWM motors
        • Start when shooting sequence begins
        • Encoders
    • Human override - button on Ben’s joystick
      • Shooting wheels - start with button on Ben’s joystick
        • Two DC PWM motors
        • Encoders
      • Horizontal aim
        • Drive base motors
        • Mapped to x axis on Ben’s joystick
      • Vertical aim
        • Some sort of motor & screw system
        • Mapped to y axis on Ben’s joystick
    • Camera