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RobotConfig |
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Motors |
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DriveRightPrimary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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DriveRightSecondary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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DriveLeftPrimary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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DriveLeftSecondary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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RearClimb |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Front Climb |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Climb Drive |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Shoulder1 |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Shoulder2 |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Wrist |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Extension |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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CargoIntake |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Intake2 |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Sensors |
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IMU |
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Yaw Axis |
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SPI Chip Select |
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AHRS Algorithm |
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Calibration Time (s) |
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Calibrate On Open |
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HomingButton |
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DIO Channel |
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Active Low |
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HomingLED_Green |
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DIO Channel |
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Active Low |
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HomingLED_Yellow |
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DIO Channel |
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Active Low |
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HomingLED_Red |
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DIO Channel |
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Active Low |
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PID |
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FrontClimb |
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P |
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I |
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D |
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F |
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IZone |
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RearClimb |
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P |
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I |
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D |
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F |
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IZone |
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ArmShoulder |
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P |
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I |
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D |
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F |
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IZone |
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ArmExtend |
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P |
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I |
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D |
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F |
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IZone |
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ArmWrist |
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P |
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I |
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D |
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F |
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IZone |
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Solenoids |
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Shifter |
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Solenoid Channel |
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Invert |
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Hatch Grip |
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Solenoid Channel |
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Invert |
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Hatch Extend |
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Solenoid Channel |
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Invert |
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Manipulator Slide |
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Solenoid Channel |
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Invert |
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Hatch Floor Intake |
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Solenoid Channel |
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Invert |
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Enable Compressor |
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MotionMagic |
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FrontClimbExtend |
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CruiseVelocity |
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Acceleration |
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RearClimbExtend |
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CruiseVelocity |
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Acceleration |
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FrontClimbRetract |
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CruiseVelocity |
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Acceleration |
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RearClimbRetract |
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CruiseVelocity |
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Acceleration |
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RobotDimensions |
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Length (in) |
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Shoulder Height (in) |
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Frame Height (in) |
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Arm Center to Front of Robot (in) |
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Arm Min Extension (in) |
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Arm Max Extension (in) |
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Cargo Intake Loop Length (in) |
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Cargo Intake Loop Width (in) |
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Cargo Intake Loop Offset (in) |
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Cargo Intake Loop Angle (rad) |
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Arm Home Position |
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Radius (in) |
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ShoulderAngle (rad) |
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WristAngle (rad) |
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Climb Home Position |
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Back Climb |
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Front Climb |
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Climb Positions |
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Retract |
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Level 2 |
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Level 3 |
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Front Climb Motor DevRef PhoenixMotorControlDevRef specifies a reference to the motor controller you want to use. |
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DeviceStatus |
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status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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code code is the error or warning code. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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source source describes the origin of the error or warning. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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Type |
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PWM |
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PWM Channel |
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DeadBand |
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Name |
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maxPositivePwm |
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minPositivePwm |
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centerPwm |
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maxNegativePwm |
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minNegativePwm |
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angularRange |
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CAN |
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Device Number |
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SetOutput VI Ref |
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GetOutput VI Ref |
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Enable VI Ref |
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Disable VI Ref |
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Data |
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Invert |
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DIO PWM |
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PWM "Enable" Channel |
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DIO Channel |
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PWM Rate |
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Back Climb Motor DevRef PhoenixMotorControlDevRef specifies a reference to the motor controller you want to use. |
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DeviceStatus |
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status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
|
|
code code is the error or warning code. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
|
|
source source describes the origin of the error or warning. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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Type |
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PWM |
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PWM Channel |
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DeadBand |
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Name |
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maxPositivePwm |
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minPositivePwm |
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centerPwm |
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maxNegativePwm |
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minNegativePwm |
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angularRange |
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CAN |
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Device Number |
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SetOutput VI Ref |
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GetOutput VI Ref |
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Enable VI Ref |
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Disable VI Ref |
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Data |
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Invert |
|
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DIO PWM |
|
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PWM "Enable" Channel |
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DIO Channel |
|
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PWM Rate |
|
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Home Start |
|
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Home Invalidate |
|
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Reset |
|
|
Homing Motor Speed |
|
|
Homing Stall Speed (in/s) |
|
|
Homing Stall Time (ms) |
|
|
Homing TimeOut (ms) |
|
|
Climber Home State |
|
|
Front Climb Motor Speed |
|
|
Back Climb Motor Speed |
"ClimberHome.vi History"
Current Revision: 13
