2025-Code

Reefscape documentation

• Game Manual
• Full drawing package
• Layout and Marking Diagram
• April Tags

Useful Java Docs

• WPILIB
• Phoenix
• Rev
• LimeLight

Rio Bus CAN IDs

Subsystem	Description	CAN ID	Node Type
Robot
	RoboRIO	00	RoboRIO
	PDH	01	PDH
Elevator		02-09
	height control	02	Spark Flex
	height control	03	Spark Flex
Arm		10-19
	angle control	10	Spark Flex
Claw		20-29
	left grabber	21	Spark Max
	color sensor	27	Canandcolor
Climb		30-39
	follower	30	Talon Fx
	main	31	Talon Fx
	hook	32	Spark Max

DIO

Subsystem	Description	Port

PWM

Subsystem	Description	Port
Climb	servo for ratchet	0

PDH

Port	Destination	Breaker	Gauge
0	FLS	40 A	8 AWG
1	BLS	40 A	8 AWG
2	FLA	40 A	12 AWG
3	BLA	40 A	12 AWG
4	Climb 1	40 A	8 AWG
5	Climb 2	40 A	8 AWG
6	Climb Hook	30 A	14 AWG
7	LL, Pi, LED	20 A	18 AWG
8
9	Switch	10 A	22 AWG
10	Intake 1	30 A	14 AWG
11
12
13	Arm	40 A	12 AWG
14	Elevator 1	40 A	12 AWG
15	Elevator 2	40 A	12 AWG
16	BRA	40 A	12 AWG
17	FRA	40 A	12 AWG
18	BRS	40 A	8 AWG
19	FRS	40 A	8 AWG
----	-----------	-------	------
20	Canandcolor	3 A	18 AWG
21	RPM	10 A	22 AWG
22	VRM	20 A	18 AWG
23	RoboRIO	10 A	18 AWG

VRM

Channel	Destination
12V/2A
	CANcoders
12V/500 mA
	CANivore
	Pigeon 2.0
5V/2A
5V/500 mA

Buttons Controller

Button	Function
Y	Score Coral L2
X	Score Coral L1
B	Score Coral L3
A	Score Coral L4
LT
LB	Intake Coral
RT
RB
DU
DD
DL
DR
LSB
RSB
Start
Back

Driver Controller

Button	Function
Y	Raise Climb Arm
X	Lock
B	Drive To Point
A	Lower Climb Arm
LT
LB	Driver Assist
RT	Slow swerve
RB
DU
DD
DL
DR
LSB
RSB
Start
Back	Reset Yaw

Auton Paths

LEAVE for all starting line areas (Top, Middle, Processor) L1 CORAL TOP-Scores 1 coral on L1 from the top of the starting line to ID19 L1 CORAL MIDDLE-Scores 1 coral on L1 from the middle of the staring line to ID21 L1 CORAL PROCESSOR-Scores 1 coral on L1 from the processor side of the starting line to ID17 2 CORAL TOP-Scores 1 coral on L1 from the top of the starting line to ID19, intake closest human playerstation, then score L1 to ID19 again 2 CORAL MIDDLE-Scores 1 coral on L1 from the top of the starting line to ID17, intake closest human playerstation, then score L1 to ID17 again 2 CORAL PROCESSOR-Scores 1 coral on L1 from the top of the starting line to ID17, intake closest human playerstation, then score L1 to ID17 again

Raspberry Pi

contains code intended to be run on an FRC robot's coprocessor

pip install pynetworktables
pip install ntcore # don't acutally need this
pip3 install rpi_ws281x adafruit-circuitpython-neopixel
python3 -m pip install --force-reinstall adafruit-blinka
pip install adafruit-board-toolkit

add sudo and --break-system-packages to all pip installs
(ex. sudo pip install pynetworktables --break-system-packages)
python main.py 192.168.88.135 # robot or simulator IP address