@@ -0,0 +1,2632 @@
+package edu.afs.robot;%0D%0A%0D%0A%0D%0A/**%0D%0A * The RobotMap is a mapping from the ports sensors and actuators are wired into%0D%0A * to a variable name. This provides flexibility changing wiring, makes checking%0D%0A * the wiring easier and significantly reduces the number of magic numbers%0D%0A * floating around.%0D%0A */%0D%0Apublic class RobotMap %7B%0D%0A    // For example to map the left and right motors, you could define the%0D%0A    // following variables to use with your drivetrain subsystem.%0D%0A    // public static final int leftMotor = 1;%0D%0A    // public static final int rightMotor = 2;%0D%0A    %0D%0A    // If you are using multiple modules, make sure to define both the port%0D%0A    // number and the module. For example you with a rangefinder:%0D%0A    // public static final int rangefinderPort = 1;%0D%0A    // public static final int rangefinderModule = 1;%0D%0A    %0D%0A    // Drive Subsystem%0D%0A    // Digital Sidecar PWM outputs%0D%0A    public static final int DRIVE_LEFT_MOTOR_CHANNEL = 1;%0D%0A    public static final int DRIVE_RIGHT_MOTOR_CHANNEL = 2;%0D%0A   %0D%0A    // Analog Breakout%0D%0A    public static final int GYRO_CHANNEL = 1;%0D%0A    // Driver Station%0D%0A    public static final int JOYSTICK_PORT = 1;%0D%0A////////////////////////////////////////////////////////////////////////////////%0D%0A    %0D%0A    // Auto-Ranger Subsystem%0D%0A    // Analog Breakout%0D%0A    public static final int ULTRASONIC_RANGER_CHANNEL = 2;%0D%0A////////////////////////////////////////////////////////////////////////////////%0D%0A    %0D%0A    // Launcher Subsystem%0D%0A    // Digital Sidecar PWM outputs%0D%0A    public static final int LAUNCHER_LEFT_MOTOR_CHANNEL = 5;%0D%0A    public static final int LAUNCHER_RIGHT_MOTOR_CHANNEL = 6;%0D%0A    // Digital Sidecar GPIO Inputs%0D%0A    public static final int LAUNCHER_ENCODER_A_CHANNEL = 1;%0D%0A    public static final int LAUNCHER_ENCODER_B_CHANNEL = 2;%0D%0A    public static final int LAUNCHER_ENCODER_MODULE = 1;%0D%0A//////////////////////////////////////////////////////////////////////////////// %0D%0A    %0D%0A    // Forklift Subsystem%0D%0A    // Digital Sidecar PWM outputs%0D%0A    public static final int CLAMPER_MOTOR_CHANNEL = 7;%0D%0A    public static final int FORKLIFT_MOTOR_CHANNEL = 8;%0D%0A    // Digital Sidecar GPIO Inputs%0D%0A    public static final int CLAMPER_ENCODER_A_CHANNEL = 3;%0D%0A    public static final int CLAMPER_ENCODER_B_CHANNEL = 4;%0D%0A    public static final int CLAMPER_ENCODER_MODULE = 2;%0D%0A    public static final int FORKLIFT_ENCODER_A_CHANNEL = 5;%0D%0A    public static final int FORKLIFT_ENCODER_B_CHANNEL = 6;%0D%0A    public static final int FORKLIFT_ENCODER_MODULE = 3;%0D%0A////////////////////////////////////////////////////////////////////////////////%0D%0A    %0D%0A%0D%0A    %0D%0A    %0D%0A    %0D%0A    %0D%0A    %0D%0A    %0D%0A%7D%0D%0A

Revise drive system to use two motor controllers.