Team 1540's code for our 2022 Bunnybot Boba Fett.

Fett uses a claw to pick up tubes and bunnies off the ground, and an elevator to place them into the bins

The claw subsystem is a pneumatics controlled claw that is used to grab tubes and bunnies.

The elevator subsystem is a motorized elevator using a Spark Max motor controller and a brushless Neo 550 motor.

Left stick: move left side of drivetrain forwards/backwards

Right stick: move right side of drivetrain forwards/backwards

A button: toggle brake mode

Left trigger: move robot backwards

Right trigger: move robot forwards

Stick forward: move elevator down

Stick backward: move elevator up

Trigger: hold to close claw

Button #2: elevator to bottom limit switch

Button #3: elevator to top limit switch

Button #4: elevator to setpoint #1

Button #5 elevator to setpoint #2