SCDS/FtcRobotController
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Arm function and changes to arm in general

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robotics1
2023-12-02 10:47:59 -08:00
parent c5bc5df6a3
commit 6943172487
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HARDWARE.md
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@ -10,22 +10,22 @@ There are two robots: 14493-DS, and FTC-992M.
Below are the following configurations for our robots
| physical port | hub | robot part | robot part location | robot software config name |
|---------------|-----------|-----------------------------|-------------------------------|----------------------------|
| motor0 | control | UltraPlanetary HD hex motor | right front leg frame | Drive front rt |
| motor1 | control | UltraPlanetary HD hex motor | right back leg frame | Drive back rt |
| motor2 | control | UltraPlanetary HD hex motor | left front leg frame | Drive front lt |
| motor3 | control | UltraPlanetary HD hex motor | left back leg frame | Drive back lt |
| I2C B0 | control | Color sensor V3 | Left outside leg frame | color left |
| I2C B1 | control | Color sensor V3 | Right outside leg frame | color right |
| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
| motor1 | expansion | Core Hex Motor | right back arm frame | hang |
| motor3 | expansion | Digital device | arm frame back right | axle encoder |
| Servo 0 | expansion | Servo | on arm | wrist |
| Servo 1 | expansion | Servo | on arm | gripper |
| physical port | hub | robot part | robot part location | robot software config name |
|---------------|-----------|------------------------------|-------------------------------|----------------------------|
| motor0 | control | UltraPlanetary HD hex motor | right front leg frame | Drive front rt |
| motor1 | control | UltraPlanetary HD hex motor | right back leg frame | Drive back rt |
| motor2 | control | UltraPlanetary HD hex motor | left front leg frame | Drive front lt |
| motor3 | control | UltraPlanetary HD hex motor | left back leg frame | Drive back lt |
| I2C B0 | control | Color sensor V3 | Left outside leg frame | color left |
| I2C B1 | control | Color sensor V3 | Right outside leg frame | color right |
| I2C B0 | expansion | 2m distance sensor | Middle Back outside leg frame | distance |
| motor0 | expansion | UltraPlanetary HD hex motor | left back arm frame | arm raise |
| motor1 | expansion | Core Hex Motor | right back arm frame | hang |
| motor3 | expansion | UltraPlanetary HD hex motor* | arm frame back right | axle encoder |
| Servo 0 | expansion | Servo | on arm | wrist |
| Servo 1 | expansion | Servo | on arm | gripper |
** * **: The device plugged into motor3 is actually a Digital Device encoder but behaves like a UltraPlanetary HD hex motor encoder.