# FTC Hardware Config 2023

Below are the following configurations for our robots

| control hub physical ports | robot part          | robot part location   | robot software config name |
|----------------------------|---------------------|-----------------------|----------------------------|
| motor 0                    | HD hex motor        | right front motor     | Drive front rt             |
| motor 1                    | HD hex motor        | right back motor      | Drive back rt              |
| motor 2                    | HD hex motor        | left front motor      | Drive front lt             |
| motor 3                    | HD hex motor        | left back motor       | Drive back lt              |
| control hub physical ports |                     |                       |                            |
| ports                      |                     |                       | 
 | motor 4                    | 	expansion hub      | 	expansion hub        |                            |
| motor 5                    |                     |||
 | motor 6                    |                     |                       |                            |
| motor 7                    |                     |                       |                            |
| control hub physical ports |                     |                       | 
| ports                      |                     |||
| motor 8                    | 	Ultraplanetary     | 	Back left high motor | 	   arm raise              |
| motor 9                    |                     ||||
| motor 10                   |                     ||||
| motor 11                   |                     ||||
| I2C Bus 0 control hub 1    | Color sensor        | 	Left                 | color left                 |
 | I2C Bus 1 control hub 1    | Color sensor        | 	Right                | color right |
 | I2C Bus 0 expansion hub    | 	2m distance sensor | 	Middle Back	distance |
| expansion hub f            |                     ||||
| Physical ports             |                     ||||
| motor 0                    | 	rev encoder        | 	right dead wheel     | |
| motor 1                    | 	rev encoder        | 	back dead wheel      |
| motor 2                    | 	rev encoder        | 	left dead wheel |
| motor 3                    |                     ||||
| control hub physical ports |                     ||||
| ports                      |                     ||||
| motor 4                    |                     ||||
| motor 5                    |                     ||||
| motor 6                    |                     ||||
| motor 7                    |                     ||||
| control hub physical ports |                     ||||
| ports                      |                     ||||
| motor 8                    ||||
| motor 9                    ||||
| motor 10                   ||||
| motor 11                   ||||
| I2C port 0 control hub 2   | 	color sensor       | 	right |	color right|
| I2C port 1 control hub 2   | 	color sensor       |	left |	color left|
| Servo port 0	              | Smart Robot Servo   |  on arm             | 	wrist              |
| Servo port 1               | 	Smart Robot Servo  | 	on arm             |  gripper            |