mechanical_desc.md

Drivetrain

• Tank/diff drive: 2x 2 NEO motor (SPARK Max) -- May want position control for autonomous

Shooter

• Flywheels: 2x NEO motor (SPARK Max) -- Needs RPM control, options for RPM based on general region (user selectable... not by vision... we think)
• Turret Azimuth: 1 NEO 550 motor (SPARK Max) -- Needs position control with homing / absolute position -- Soft limits for overtravel (0 to 270 degrees) -- Will be ultimately driven by vision targeting + user "nudge"

Intake

• (Future) Actuation up-down... unsure how
• 1x 775Pro (Talon) -- Dumb on/off, maybe tune speed, need reverse to un-jam
• 1x 775Pro (Talon) -- Position control with encoders (0 is fully up) -- Manual override for tests

Hopper

• Agitator wheel: 1 BAG Motor (Talon) -- Dumb on/off, maybe tune speed, may need reverse to un-jam

Ballevator

• Ballevator itself: 1 775Pro (Talon) -- The ballevator may need limit switches/photogates for ball position

WHEEL. OF. FORTUNE!

• Interaction wheel: 1x BAG motor (Talon) -- Dumb on/off in conjunction with the color sensor
• Need a color sensor, need to code it to act like an encoder

Climber

• One NEO motor (SPARK Max)
• Two limit switches (one to stop at top, one to stop at bottom)
• Up (runs until top limit switch goes)
• Down (runs until bottom limit switch goes)