2025-Reefscape

Terminal Gradle Commands

./gradlew javadoc builds the javadoc in ./build/docs/javadoc/index.html

./gradlew build builds the jar file in ./build/libs

./gradlew deply builds the jar file and deploys to robot

RoboRIO Hardware I/O Configuration

Digital I/O

Port	Device
0	Coral Limit Switch
1	Bore Encoder Channel A
2	Bore Encoder Channel B
3	Elevator Limit Switch
4
5
6
7
8
9

PWM

Port	Device
0
1
2
3
4
5
6
7
8
9	LED Lights

Relay

Port	Device
0
1
2
3

Analog In

Port	Device
0
1
2
3

CAN ID Assignments

Drivebase CAN Devices (IDs 1-12)

Module	Drive Motor ID	Angle Motor ID	Encoder ID
Front Left (FL)	1	2	3
Front Right (FR)	4	5	6
Back Left (BL)	7	8	9
Back Right (BR)	10	11	12

Coral CAN Devices (IDs 20-29)

Device	CAN ID
Intake & Outake	20
	21
	22
	23
	24
	25
	26
	27
	28
	29

Elevator CAN Devices (IDs 30-39)

Device	CAN ID
	30
Up Motor	31
	32
	33
	34
	35
	36
	37
	38
	39