2019 FIRST DEEP SPACE

Controls

Talons

Subsystem	Talon	ID	PDP
Drive	azimuth	0	11
Drive	azimuth	1	9
Drive	azimuth	2	10
Drive	azimuth	3	8
Drive	drive	10	14
Drive	drive	11	13
Drive	drive	12	15
Drive	drive	13	12
Intake	shoulder	20	4
Intake	rollers	21	5
Elevator	elevator	30	0
Biscuit	rotate	40	7
Climb	leftSlave	50	2
Climb	rightMaster	51	3
Vacuum	vacuum	60	1

• Trident compression sensor attached to Biscuit Talon analog input
• Vacuum Sensor attached to Vacuum Talon analog input

Servos

Subsystem	Servo	PWM
Climb	leftKickstand	2
Climb	rightKickstand	3
Climb	ratchet	4

DIO

Subsystem	I/O	DIO
AutonSwitch	0	0
AutonSwitch	1	1
AutonSwitch	2	2
AutonSwitch	3	3
Intake	slowBeamBreak	4
Vision	lights	5
Vision	lights	6
Robot	eventFlag(BNC)	7
Intake	beamBreak	8
Vision	cam1Tune	9

Analog Inputs

Subsystem	I/O	Analog
Vacuum	tempSensor	0
Vacuum	climbPlate	1

Roborio

Subsystem	I/O	Button
Vision	cam0Tune	User Button

PCM

Subsystem	Valve	Solenoid
Vacuum	trident(hatch)	0
Vacuum	climb	2
Vacuum	trident(cargo)	3