## Hardware: - n NEOs - n Sparkmax controllers - pneumatic cylinder? - solenoid? ## Actions - Rotate in (intake) - Rotate out (outtake) - Extend cylinder and open hand - Retract cylinder and close hand - Distinguish between cube and cone ## Inputs - n NEO encoders - Xbox controller - n Sparkmax ## Outputs - Controls motors - Controls cylinder - pneumatic solenoid? ## Constraints - Limited angle and cylinder length (TBD) - Limited motor speed (TBD) - Limited acceleration - Start the match closed and stopped - Do not intake until in desired position - Do not outtake until in desired position - Coast or brake (TBD)
