Deep Thought

Team 2059's 2019 Robot Code.

Building

• Java 11
• Git Bash

git clone --recursive https://github.com/team2059/2019-bot; dir=$(basename $_ .git) && $dir/gradlew -p $dir jar

Controls

List of controls used to drive the robot.

Driver Main Joystick (USB 0)

Action	Button
Drive	Joystick Axes
Intake	1
Eject	2
Jack Wheels	6 + Joystick Axes

Driver Secondary Joystick (USB 2)

Action	Button
Cargo Level 1	1
Cargo Level 2	2
Cargo Level 3	3
Hatch Level 1	4
Hatch Level 2	5
Hatch Level 3	6
Hatch Pickup	7
Cargo Pickup	8
Cargo Ship	9
Climb Preposition	10 + Level Selector
Climb	11 + Level Selector
Jack Up	12

Electronics

List of electronics used by the robot.

CAN

Motor	ID
Right Drive Motor 1	1
Right Drive Motor 2	2
Right Drive Motor 3	3
Left Drive Motor 1	4
Left Drive Motor 2	5
Left Drive Motor 3	6
Collector	7
Wrist	8
Jack	9
Arm	10
Jack Wheels	11
Hatch	12
Elevator	13
Carriage	14

DIO

Sensor	Port
Carriage Bottom Limit	4
Elevator Top Limit	5
Carriage Top Limit	6
Elevator Bottom Limit	7
Jack Encoder	8, 9
Jack Top Limit	23

AI

Sensor	Port
Wrist Pot	0
Arm Pot	1

USB

Sensor	Port
Camera 1	0
Camera 2	1