# Motor Controllers

Published 2025-01-26

As of the 2025 competition, all IDs and naming are Field-Oriented. Swerve IDs are in the 10s
Elevator IDs are in the 20s

# Swerve Subsystem

Drive -> Odd, starting at 9
Turn -> Even, starting at 10
Goes from Front Left to Front Right, Back Left, Back Right

# Front Left:

Driving: 9
Turning: 10

# Front Right:

Driving: 11
Turning: 12

# Back Left:

Driving: 13
Turning: 14

# Back Right:

Driving: 15
Turning: 16

# Actuator Subsystems

Counting up from 20, with related components grouped together

# Elevator

Left: 20
Right: 21

# Pickup

Top: 22
Bottom: 23