Motor Functions - 2004
Function	Motor	Control *	Feedback	Speed Controller	Relay	PWM Output	Relay Output	Feedback	Fuse Size (A)	Position	Wire Gauge (AWG)
Front Right Crab Drive	Drill	PWM	Distance/Velocity encoder, Current reading	Green		2			40	R	10
Front Left Crab Drive	Drill	PWM	Current reading	Blue		1			40	L	10
Rear Right BUPOD Drive	Chiaphua (CIM)	PWM	Current reading	Red		4			40	R	10
Rear Left BUPOD Drive	Chiaphua (CIM)	PWM	Current reading	Orange		3			40	L	10
Crab Angle	Globe	PWM	Angular Position	Purple		13		Analog 2	30	L	10/16
Accumulator	Seat	On-Off-On	NA		Green/Black		1		20	R	16
Big Arm	Fisher Price	PWM	Angular Position, Current reading	Yellow		5		Analog 3	30	M	10
Winch	Fisher Price	PWM	NA	Gray		6			30	M	10
Elbow Right	Window	On-Off-On	Angular Position	Blue/Black		10		Analog 4	20	R	16
Elbow Left	Window	On-Off-On	Angular Position						20
Small Arm	Van Door	PWM	Current reading	Brown		9		Analog 5	30	R	10
Arm Brake	Servo	PWM	On-Off	White		7
Winch Brake	Servo	PWM	On-Off	Black		8
Front Elevator - 1.5 x 6	Air Cylinder #1	Up/Down	Valve On-Off		Orange/Black		3		20	F	16
Rear Elevator - 1.5 x 6	Air Cylinder #2	Up/Down	Valve On-Off		Orange/Black		3		20	R	16
Small Arm Squeezer - 1.5 x 8	Air Cylinder #3	In/Out	Valve On-Off		Gray/Black		4		20		16
Goal Grabber - .75 x 2	Air Cylinder #4	In/Out	Valve On-Off				4				16
Bumper, Front - .75 x 8	Air Cylinder #5	In/Out			Blue/Yellow		5		20	F	16
Bumper, Right - .75 x 8	Air Cylinder #6	In/Out			Blue/Yellow		5		20	R	16
Air Pump	Air Pump	On-Off	On-Off		Red/Green		6	Analog 1	20		10/16
Robot Controller				Purple/Yellow					20		16
Platform Sensors				Orange/Blue				Digital 11-18	20		24
								Front
Analog Inputs	Port Number		digital I/O	port #	I/O?		FLF	11	13	FRF
pump	1		CC power	1	n/a
crab pot	2		r/l switch	2	input		FLB	12	14	FRB
big shoulder	3		FLF	11	input
big elbow	4		FLB	12	input	Left		Light Sensor Layout			Right
small shoulder	5		FRF	13	input
			FRB	14	input
			BLF	15	input		BLF	15	17	BRF
			BLB	16	input
			BRF	17	input		BLB	16	18	BRB
			BRB	18	input			Back