FRC 2025 Team 5142 Code Base

Swerve - (canivore, ctre proprietary loop)

Front left - angle motor ID 1 - Kraken

Front left - drive motor ID 2 - Kraken

Front right - angle motor ID 3 - Kraken

Front right - drive motor ID 4 - Kraken

Back left - angle motor ID 5 - Kraken

Back left - drive motor ID 6 - Kraken

Back right - angle motor ID 7 - Kraken

Back right - drive motor ID 8 - Kraken

Pigeon ID 9

Front left encoder ID 10

Front right encoder ID 11

Back left encoder ID 12

Back right encoder ID 13

Elevator Main Stage

PDH ID 14

NEO 500 Leader ID 15

NEO 500 Follower ID 16

Elevator Secondary Stage

NEO 500 ID 17

End Effector

Arm ID 18 NEO 500

Coral Motor NEO 550 ID 19

Algae Motor NEO 550 ID 20

Climber

NEO 500 ID 21

Encoders and Sensors

Drivetrain - 4 absolute cancoders

Gyro - Pigeon 2

Elevator - 2 Limit switches

Intake - 3 redux robotics color sensors CAN IDs 22, 23, 24

Climber - Encoder ID 25