RobotConfig |
Motors |
DriveRightPrimary |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
DriveRightSecondary |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
DriveLeftPrimary |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
DriveLeftSecondary |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
RearClimb |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Front Climb |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Climb Drive |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Shoulder1 |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Shoulder2 |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Wrist |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Extension |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
CargoIntake |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Intake2 |
CAN Address |
Invert |
InvertSensor |
Unit Conversion Factor |
Brake Mode |
Reverse Limt Switch Mode |
Forward Limt Swith Mode |
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. |
Motor Controller Type |
Peak Current (A) |
Continuos Current (A) |
Peak Duration (ms) |
Current Limit Enable |
Sensors |
IMU |
Yaw Axis |
SPI Chip Select |
AHRS Algorithm |
Calibration Time (s) |
Calibrate On Open |
HomingButton |
DIO Channel |
Active Low |
HomingLED_Green |
DIO Channel |
Active Low |
HomingLED_Yellow |
DIO Channel |
Active Low |
HomingLED_Red |
DIO Channel |
Active Low |
PID |
FrontClimb |
P |
I |
D |
F |
IZone |
RearClimb |
P |
I |
D |
F |
IZone |
ArmShoulder |
P |
I |
D |
F |
IZone |
ArmExtend |
P |
I |
D |
F |
IZone |
ArmWrist |
P |
I |
D |
F |
IZone |
Solenoids |
Shifter |
Solenoid Channel |
Invert |
Hatch Grip |
Solenoid Channel |
Invert |
Hatch Extend |
Solenoid Channel |
Invert |
Manipulator Slide |
Solenoid Channel |
Invert |
Hatch Floor Intake |
Solenoid Channel |
Invert |
Enable Compressor |
MotionMagic |
FrontClimbExtend |
CruiseVelocity |
Acceleration |
RearClimbExtend |
CruiseVelocity |
Acceleration |
FrontClimbRetract |
CruiseVelocity |
Acceleration |
RearClimbRetract |
CruiseVelocity |
Acceleration |
RobotDimensions |
Length (in) |
Shoulder Height (in) |
Frame Height (in) |
Arm Center to Front of Robot (in) |
Arm Min Extension (in) |
Arm Max Extension (in) |
Cargo Intake Loop Length (in) |
Cargo Intake Loop Width (in) |
Cargo Intake Loop Offset (in) |
Cargo Intake Loop Angle (rad) |
Arm Home Position |
Radius (in) |
ShoulderAngle (rad) |
WristAngle (rad) |
Climb Home Position |
Back Climb |
Front Climb |
Climb Positions |
Retract |
Level 2 |
Level 3 |
"Config_Robot.ctl History"
Current Revision: 68