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ED2025 Subsystems

DriveTrain

All CTRE-Phoenix (v6)

• 8 Kraken (Cross The Road Electronics - CTRE) Motors
• 4 CTRE CANCoders

Front Left Swerve Module (3 - numbers used by BAMF)

• Drive Motor CAN ID: 31
• Steer Motor CAN ID: 32
• Absolute CANCoder ID: 30

Front Right Swerve Module (4)

• Drive Motor CAN ID: 21
• Steer Motor CAN ID: 22
• Absolute CANCoder ID: 20

Back Left Swerve Module (2)

• Drive Motor CAN ID: 41
• Steer Motor CAN ID: 42
• Absolute CANCoder ID: 40

Back Right Swerve Module (1)

• Drive Motor CAN ID: 11
• Steer Motor CAN ID: 12
• Absolute CANCoder ID: 10

Lift / Elevator

All REVLib (No linear encoder)

• 2 NEO Motors
• Left Motor CAN ID: 50
• Right Motor CAN ID: 51
• top and bottom limit switches (safety)

Grabber / Intake / THE Manipulator (combined subsystems?)

Hand / Claw

All REVLib

• 2 NEO Motors
• Left Motor CAN ID: 55
• Right Motor CAN ID: 56
• coral contact limit switch
• algae contact limit switch

Wrist

All REVLib (?? or is there a CANCoder or other type of abs encoder ??)

• 1 NEO Motor
• Motor CAN ID: 57
• Probably CANCoder
• CAN Coder CAN ID: 58
• 2 max ranges limit switches (safety) .

Climber

All REVLib

• 1 NEO Motor
• Motor CAN ID: 60
• one stop limit switch (safety)

Misc

• distance sensor (??)

GamePad Buttons

 [-0]
 [+1] [-1]
 [+0]

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