2026-Code

Rebuilt documentation

• Game Manual
• Full drawing package
• April Tags

Useful Java Docs

• WPILIB
• Phoenix
• Rev
• LimeLight

Drivetrain CANivore Bus CAN IDs

Subsystem	Description	CAN ID	Device
Swerve	IMU	0	Pigeon v2
Swerve	FL Encoder	1	CANCoder
Swerve	FR Encoder	2	CANCoder
Swerve	BR Encoder	3	CANCoder
Swerve	BL Encoder	4	CANCoder
Swerve	FL Angle	5	Kraken x44
Swerve	FL Speed	6	Kraken x60
Swerve	FR Angle	7	Kraken x44
Swerve	FR Speed	8	Kraken x60
Swerve	BR Angle	9	Kraken x44
Swerve	BR Speed	10	Kraken x60
Swerve	BL Angle	11	Kraken x44
Swerve	BL Speed	12	Kraken x60

Rio Bus CAN IDs

Subsystem	Description	CAN ID	Device
Intake	Roller	12	Kraken x60
Intake	Deploy	13	Kraken x44
Indexer	Spindexer	14	Kraken x44
Shooter	Hood	15	Kraken x44
Shooter	Flywheel Main	16	Kraken x60
Shooter	Flywheel Follower	17	Kraken x60
Kicker	Kicker	18	Kraken x60
Climb		19	Kraken x60
Climb		20	CANrange
Indexer	Left Top Hopper	25	CANrange
Indexer	Right Top Hopper	26	CANrange
Indexer		28	CanandColor
Turret		29	Kraken x44

DIO

Subsystem	Description	Port

PWM

Subsystem	Description	Port

PDH

Port	Destination	Breaker (A)	Wire Gauge
0	Left Front Speed	40	10
1	Right Front Speed	40	10
2	Left Back Angle	40	12
3	Left Front Angle	40	12
4	Right Front Angle	40	12
5	Spindexer	40	10
6	Deploy Intake	40	10
7	—	—	—
8	—	—	—
9	—	—	—
10	—	—	—
11	—	—	—
12	—	—	—
13	—	—	—
14	Tower	40	10
15	Spinning Intake	40	10
16	Right Back Angle	40	12
17	Mini Power Module	40	12
18	Right Back Speed	40	10
19	Left Back Speed	40	10
20	RoboRIO	10	18
21	—	—	—
22	—	—	—
23	—	—	—

MPM

Port	Destination	Breaker (A)
01	Brainbox	10
02	Radio	10
03	4 CANCoders	10
04	CANivore	10
05	Pigeon 2	10

Buttons Controller

Button	Function
Left Trigger	Intake
Right Trigger	Outtake
Y	Gentle shot
Back Button	Engage Climb
Start Button	Disengage Climb

Driver Controller

Button	Function
Left Stick	Manual Driving
Right Stick	Manual Rotation
Left Bumper	Drive + Climb
Y	Drive + Shuttle
X	Drive + Score
B	Drive + Intake
Back	Reset Yaw
D-Pad	Change target

Auton Paths

Neutral Zone Paths:

• Depot-side start + end
• Depot-side start, outpost-side end

Raspberry Pi