Wiring

CURRENT Port Mappings

Digital I/O Ports:

• 0, Ultrasonic echo port
• 1, Ultrasonic trigger port
• 2, Drive encoder A port
• 3, Drive encoder B port
• 4, n/a
• 5, n/a
• 6, Gear encoder A port
• 7, Gear encoder B port
• 8, Gear limit switch
• 9, n/a

PWM Ports:

• 0, Ball intake motor (Victor)
• 1, Winch motor (Victor)
• 2, Ratchet lock (Servo)
• 3, Front left drive (Victor)
• 4, Back left drive (Victor)
• 5, Gear motor (Victor)
• 6, Front right drive (Victor)
• 7, Back right drive (Victor)
• 8, n/a
• 9, n/a

Analog Input Ports:

• 0, Gyro
• 1, n/a
• 2, n/a
• 3, n/a

General Outline for ALL Years

Digital I/O Ports:

• 0, Drive encoder 1 port A
• 1, Drive encoder 1 port B
• 2, Drive encoder 2 port A
• 3, Drive encoder 2 port B
• 4, Ultrasonic trigger port
• 5, Ultrasonic echo port
• 6, limit switch 1
• 7, limit switch 2
• 8, miscellaneous
• 9, miscellaneous

PWM Ports:

• 0, Front left drive motor
• 1, Back left drive motor
• 2, Front right drive motor
• 3, Back right drive motor
• 4, Climber motor 1
• 5, Climber motor 2
• 6, Shooter motor 1
• 7, Shooter motor 2
• 8, Tool motor 1
• 9, Tool motor 2

Analog Input Ports:

• 0, Gyro
• 1, miscellaneous
• 2, miscellaneous
• 3, miscellaneous