Team 1540's code for our 2022 Bunnybot Boba Fett.
Fett uses a claw to pick up tubes and bunnies off the ground, and an elevator to place them into the bins
The claw subsystem is a pneumatics controlled claw that is used to grab tubes and bunnies.
The elevator subsystem is a motorized elevator using a Spark Max motor controller and a brushless Neo 550 motor.
Left stick: move left side of drivetrain forwards/backwards
Right stick: move right side of drivetrain forwards/backwards
A button: toggle brake mode
Left trigger: move robot backwards
Right trigger: move robot forwards
Stick forward: move elevator down
Stick backward: move elevator up
Trigger: hold to close claw
Button #2: elevator to bottom limit switch
Button #3: elevator to top limit switch
Button #4: elevator to setpoint #1
Button #5 elevator to setpoint #2