Subsystem Architecture

Drivetrain

Driving Control

• Drive Tank (two joysticks)
• Steering Wheel / Arcade Drive?
• Inversion of Drivetrain Controllers (change "front" of robot)

Shifting Control

• Shift Up
• Shift Down

Autonomous Helper Functions

• Drive to Angle
• Drive to Distance

Shooter

• Preset Speed to reach High Goal from in front of boiler
• Preset Speed to reach Low Goal from in front of boiler?
• Manual Override (joystick/gamepad control - (raw speed input) )
• Vision Alignment for High Goal

Loader

Opening Mechanism

• Vision Alignment for Gear Placement
• Manual Open of Loader Mechanism

Closing Mechanism

• Auto Close of Loader Mechanism
• Manual Close of Loader Mechanism
• Manual Catching Position

Communication Mechanism

• LEDs (manual buttons)

Intake

Down/On Position

• Pivot Down
• Turn On

Up/Off Position

• Pivot Up
• Turn Off

Manual Override

• Out / Reverse Direction (to clear stuck balls)

Feeder

• Turn on
• Turn off

Climber

• Manual Override (joystick/gamepad control - (raw speed input) )
• Auto Climb
• LIDAR Climb
• Current Detection
• Encoder Distance