Digital:
- 1, 2: quadrature encoder on right side for tower
- 3: single-wire encoder on right base wheel
- 4: single-wire encoder on left base wheel
- 5: touch
- 6: touch
- 7: touch
- 8: touch
Motors:
- 2: Right tower; 2-wire 393
- 3: Left tower; 2-wire 393
- 6: Intake; 3-wire
- 8: Left wheel; 3-wire
- 9: Right wheel; 3-wire
Code for all that:
#pragma config(Sensor, dgtl1, rightTowerEncoder, sensorQuadEncoder)
#pragma config(Sensor, dgtl5, Button1, sensorTouch)
#pragma config(Sensor, dgtl6, Button2, sensorTouch)
#pragma config(Sensor, dgtl7, Button3, sensorTouch)
#pragma config(Sensor, dgtl8, Button4, sensorTouch)
#pragma config(Motor, port2, rightTower, tmotorVex393, openLoop)
#pragma config(Motor, port3, leftTower, tmotorVex393, openLoop)
#pragma config(Motor, port6, intake, tmotorNormal, openLoop)
#pragma config(Motor, port8, leftWheel, tmotorNormal, openLoop)
#pragma config(Motor, port9, rightWheel, tmotorNormal, openLoop)
Controller layout:
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