Powerplay
This controls the motors for the double reverse four-bar linkage system. Used for both the autonomous and TeleOp modes.
Connections: Motors in ports 4 (top) and 5 (bottom) for the left side and 6 (top) and 7 (bottom) for the right side. Also needs 2 connected controllers.
Controls: Controller 2: Hold the right trigger to move up or the left trigger to move down. If the right and left sides become misaligned, push the right stick up to move the right side up or down to move it down (same for the left side using the left stick).
You can also use gamepad buttons to automatically move the arm to the correct position. Use triangle for a high junction, circle for a medium junction, square for a low junction, cross for a ground junction, dpad left for a single cone, dpad right for a stack of 3 cones, dpad up for a stack of 5 cones, or dpad down to move to ground level. Press share to attempt to automatically level the arm.
Both controllers: Press any bumper to immediately cancel the auto-move.