- Right Trigger -> Drive Forward
- Left Trigger -> Drive Backward
- Right Bumper -> Enable fast mode
- Left Bumper -> Align the robot with the peg
- Right Stick -> Enable auto balance
- Left Joystick -> Turn
- A Button -> Enable quick turn
- Left Joystick -> Move the arm up and down
- Right Joystick -> Extend and retract the arm
- Right Trigger -> Grabber intake
- Left Trigger -> Grabber discard
- Right Bumper - > Close the grabber/ open the grabber depends on its current state
- Button A -> Move the arm to floor position automatically
- Button B -> Stow the arm automatically
- Button X -> Move the arm to the mid node position automatically
- Button Y -> Arm pick up
- TBD -> Intake
- TBD -> Move the arm to the high node position automatically