fred2.yml

Version 1.5

---
Children:
- Children:
  - Children:
    - Children:
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: &id001 [Victor, Jaguar, Talon, VictorSP, TalonSRX]
            default: Talon
            name: Type
            validators: null
            value: Talon
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: &id002 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
              '11', '12', '13', '14', '15', '16', '17', '18', '19']
            default: '0'
            name: Output Channel (PWM)
            validators: &id003 [PWMOutput]
            value: '0'
        Base: Speed Controller
        Name: LeftFront
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: *id001
            default: Talon
            name: Type
            validators: null
            value: Talon
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: *id002
            default: '0'
            name: Output Channel (PWM)
            validators: *id003
            value: '1'
        Base: Speed Controller
        Name: LeftRear
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: *id001
            default: Talon
            name: Type
            validators: null
            value: Talon
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: *id002
            default: '0'
            name: Output Channel (PWM)
            validators: *id003
            value: '2'
        Base: Speed Controller
        Name: RightFront
      - Children: []
        Properties:
          Type: !!robotbuilder.data.properties.ChoicesProperty
            choices: *id001
            default: Talon
            name: Type
            validators: null
            value: Talon
          Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
            choices: *id002
            default: '0'
            name: Output Channel (PWM)
            validators: *id003
            value: '3'
        Base: Speed Controller
        Name: RightRear
      Properties:
        Sensitivity: !!robotbuilder.data.properties.DoubleProperty {default: 0.5,
          name: Sensitivity, validators: null, value: 0.5}
        Right Rear Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 3
          name: Right Rear Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive RightRear
        Right Front Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 2
          name: Right Front Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive RightFront
        Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1,
          name: Maximum Output, validators: null, value: 1.0}
        Left Front Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Left Front Motor Inverted, validators: null, value: false}
        Right Front Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Right Front Motor Inverted, validators: null, value: false}
        Left Rear Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 1
          name: Left Rear Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive LeftRear
        Right Rear Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Right Rear Motor Inverted, validators: null, value: false}
        Safety Expiration Time: !!robotbuilder.data.properties.DoubleProperty {default: 0.1,
          name: Safety Expiration Time, validators: null, value: 0.1}
        Left Rear Motor Inverted: !!robotbuilder.data.properties.BooleanProperty {
          default: false, name: Left Rear Motor Inverted, validators: null, value: false}
        Safety Enabled: !!robotbuilder.data.properties.BooleanProperty {default: true,
          name: Safety Enabled, validators: null, value: true}
        Left Front Motor: !!robotbuilder.data.properties.ChildSelectionProperty
          default: 0
          name: Left Front Motor
          type: PIDOutput
          validators: [RobotDrive4, ChildDropdownSelected]
          value: Drive LeftFront
      Base: Robot Drive 4
      Name: Drivetrain
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: Talon
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '4'
      Base: Speed Controller
      Name: Strafe
    - Children: []
      Properties:
        Sensitivity: !!robotbuilder.data.properties.DoubleProperty {default: 0.007,
          name: Sensitivity, validators: null, value: 0.007}
        Input Channel (Analog): !!robotbuilder.data.properties.ChoicesProperty
          choices: ['0', '1']
          default: '0'
          name: Input Channel (Analog)
          validators: [AnalogInput]
          value: '0'
      Base: Gyro
      Name: gyro
    - Children: []
      Properties:
        Channel A Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id004 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
            '11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22',
            '23', '24', '25']
          default: '0'
          name: Channel A Channel (Digital)
          validators: &id005 [DigitalChannel]
          value: '0'
        Distance Per Pulse: !!robotbuilder.data.properties.DoubleProperty {default: 1,
          name: Distance Per Pulse, validators: null, value: 0.05235987755982989}
        PID Source: !!robotbuilder.data.properties.ChoicesProperty
          choices: &id006 [kDistance, kRate]
          default: kRate
          name: PID Source
          validators: null
          value: kDistance
        Encoding Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: &id007 [k4X, k2X, k1X]
          default: k4X
          name: Encoding Type
          validators: null
          value: k4X
        Reverse Direction: !!robotbuilder.data.properties.BooleanProperty {default: false,
          name: Reverse Direction, validators: null, value: false}
        Channel B Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id008 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
            '11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22',
            '23', '24', '25']
          default: '0'
          name: Channel B Channel (Digital)
          validators: &id009 [DigitalChannel]
          value: '1'
      Base: Quadrature Encoder
      Name: LeftEncoder
    - Children: []
      Properties:
        Channel A Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id004
          default: '0'
          name: Channel A Channel (Digital)
          validators: *id005
          value: '2'
        Distance Per Pulse: !!robotbuilder.data.properties.DoubleProperty {default: 1,
          name: Distance Per Pulse, validators: null, value: 0.05235987755982989}
        PID Source: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id006
          default: kRate
          name: PID Source
          validators: null
          value: kDistance
        Encoding Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: k4X
          name: Encoding Type
          validators: null
          value: k4X
        Reverse Direction: !!robotbuilder.data.properties.BooleanProperty {default: false,
          name: Reverse Direction, validators: null, value: false}
        Channel B Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id008
          default: '0'
          name: Channel B Channel (Digital)
          validators: *id009
          value: '3'
      Base: Quadrature Encoder
      Name: RightEncoder
    Properties:
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: oi_HDrive}
    Base: Subsystem
    Name: Drive
  - Children:
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: Talon
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '5'
      Base: Speed Controller
      Name: Lift
    - Children: []
      Properties:
        Input Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id022 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
            '11', '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22',
            '23', '24', '25']
          default: '0'
          name: Input Channel (Digital)
          validators: &id023 [DigitalChannel]
          value: '4'
      Base: Limit Switch
      Name: TopLimit
    - Children: []
      Properties:
        Input Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16', '17', '18', '19', '20', '21', '22', '23',
            '24', '25']
          default: '0'
          name: Input Channel (Digital)
          validators: [DigitalChannel]
          value: '5'
      Base: Digital Input
      Name: BottomLimit
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: Talon
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '8'
      Base: Speed Controller
      Name: LiftCim
    - Children: []
      Properties:
        PID Source: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id006
          default: kRate
          name: PID Source
          validators: null
          value: kDistance
        Distance Per Pulse: !!robotbuilder.data.properties.DoubleProperty {default: 1,
          name: Distance Per Pulse, validators: null, value: 0.0114583333333333}
        Encoding Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id007
          default: k4X
          name: Encoding Type
          validators: null
          value: k4X
        Channel B Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id008
          default: '0'
          name: Channel B Channel (Digital)
          validators: *id009
          value: '7'
        Channel A Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id004
          default: '0'
          name: Channel A Channel (Digital)
          validators: *id005
          value: '6'
        Reverse Direction: !!robotbuilder.data.properties.BooleanProperty {default: false,
          name: Reverse Direction, validators: null, value: false}
      Base: Quadrature Encoder
      Name: LiftEncoder
    - Children: []
      Properties:
        Forward PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id014 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
            '11', '12', '13', '14', '15', '16', '17', '18', '19', '20']
          default: '0'
          name: Forward PCM (Solenoid)
          validators: &id015 [Solenoid]
          value: '0'
        Reverse PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id016 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
            '11', '12', '13', '14', '15', '16', '17', '18', '19', '20']
          default: '0'
          name: Reverse PCM (Solenoid)
          validators: &id017 [Solenoid]
          value: '0'
        Reverse Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id018 ['0', '1', '2', '3', '4', '5', '6', '7']
          default: '0'
          name: Reverse Channel (Solenoid)
          validators: &id019 [Solenoid]
          value: '5'
        Forward Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id020 ['0', '1', '2', '3', '4', '5', '6', '7']
          default: '0'
          name: Forward Channel (Solenoid)
          validators: &id021 [Solenoid]
          value: '4'
      Base: Double Solenoid
      Name: Stabilizer
    Properties:
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: oi_Lift}
    Base: Subsystem
    Name: Lift
  - Children:
    - Children: []
      Properties:
        Output Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id010 ['0', '1', '2', '3', '4', '5', '6', '7']
          default: '0'
          name: Output Channel (Solenoid)
          validators: &id011 [Solenoid]
          value: '6'
        Output PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: &id012 ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10',
            '11', '12', '13', '14', '15', '16', '17', '18', '19', '20']
          default: '0'
          name: Output PCM (Solenoid)
          validators: &id013 [Solenoid]
          value: '0'
      Base: Solenoid
      Name: PurpleTopLights
    - Children: []
      Properties:
        Output Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id010
          default: '0'
          name: Output Channel (Solenoid)
          validators: *id011
          value: '7'
        Output PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id012
          default: '0'
          name: Output PCM (Solenoid)
          validators: *id013
          value: '0'
      Base: Solenoid
      Name: GreenTopLight
    - Children: []
      Properties:
        Output Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id010
          default: '0'
          name: Output Channel (Solenoid)
          validators: *id011
          value: '2'
        Output PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id012
          default: '0'
          name: Output PCM (Solenoid)
          validators: *id013
          value: '0'
      Base: Solenoid
      Name: ToteGripper
    - Children: []
      Properties:
        Forward PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id014
          default: '0'
          name: Forward PCM (Solenoid)
          validators: *id015
          value: '0'
        Reverse PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id016
          default: '0'
          name: Reverse PCM (Solenoid)
          validators: *id017
          value: '0'
        Reverse Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id018
          default: '0'
          name: Reverse Channel (Solenoid)
          validators: *id019
          value: '1'
        Forward Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id020
          default: '0'
          name: Forward Channel (Solenoid)
          validators: *id021
          value: '0'
      Base: Double Solenoid
      Name: Pusher
    - Children: []
      Properties:
        Output Channel (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id010
          default: '0'
          name: Output Channel (Solenoid)
          validators: *id011
          value: '3'
        Output PCM (Solenoid): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id012
          default: '0'
          name: Output PCM (Solenoid)
          validators: *id013
          value: '0'
      Base: Solenoid
      Name: ContainerUpright
    Properties:
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: None}
    Base: Subsystem
    Name: Grabber
  - Children: []
    Properties:
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: None}
    Base: Subsystem
    Name: Lights
  - Children:
    - Children: []
      Properties:
        Input Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id022
          default: '0'
          name: Input Channel (Digital)
          validators: *id023
          value: '8'
      Base: Limit Switch
      Name: TopLimit
    - Children: []
      Properties:
        Input Channel (Digital): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id022
          default: '0'
          name: Input Channel (Digital)
          validators: *id023
          value: '9'
      Base: Limit Switch
      Name: BottomLimit
    - Children: []
      Properties:
        Type: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id001
          default: Talon
          name: Type
          validators: null
          value: Talon
        Output Channel (PWM): !!robotbuilder.data.properties.ChoicesProperty
          choices: *id002
          default: '0'
          name: Output Channel (PWM)
          validators: *id003
          value: '6'
      Base: Speed Controller
      Name: Reel
    Properties:
      Default Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Default Command, type: Command, validators: null, value: None}
    Base: Subsystem
    Name: CanGrabber
  Properties: {}
  Base: Subsystems
  Name: Subsystems
- Children:
  - Children:
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: Driver}
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: &id024 ['1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11',
            '12', '13', '14', '15', '16']
          default: '1'
          name: Button
          validators: null
          value: '3'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: &id025 [TypeDropdownSelected]
          value: oi_containerUprighter
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: &id026 [whileHeld, whenPressed, whenReleased]
          default: whileHeld
          name: When to Run
          validators: null
          value: whenPressed
      Base: Joystick Button
      Name: ContainerUprighter
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: Driver}
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id024
          default: '1'
          name: Button
          validators: null
          value: '4'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id025
          value: oi_Stabilizer
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id026
          default: whileHeld
          name: When to Run
          validators: null
          value: whenPressed
      Base: Joystick Button
      Name: Stabilizer
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: Driver}
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id024
          default: '1'
          name: Button
          validators: null
          value: '10'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id025
          value: oi_cangrabber_up
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id026
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: CanGrabberUp
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: Driver}
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id024
          default: '1'
          name: Button
          validators: null
          value: '9'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id025
          value: oi_cangrabber_down
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id026
          default: whileHeld
          name: When to Run
          validators: null
          value: whileHeld
      Base: Joystick Button
      Name: CanGrabberDown
    - Children: []
      Properties:
        Joystick: !!robotbuilder.data.properties.ParentProperty {default: parent,
          name: Joystick, validators: null, value: Driver}
        Button: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id024
          default: '1'
          name: Button
          validators: null
          value: '2'
        Command: !!robotbuilder.data.properties.TypeSelectionProperty
          default: None
          name: Command
          type: Command
          validators: *id025
          value: a_cangrabber_retract
        When to Run: !!robotbuilder.data.properties.ChoicesProperty
          choices: *id026
          default: whileHeld
          name: When to Run
          validators: null
          value: whenPressed
      Base: Joystick Button
      Name: CanGrabbersRetract
    Properties:
      Number: !!robotbuilder.data.properties.ChoicesProperty
        choices: &id027 ['0', '1', '2', '3', '4', '5']
        default: 1
        name: Number
        validators: &id028 [Joystick]
        value: '0'
    Base: Joystick
    Name: Driver
  - Children: []
    Properties:
      Number: !!robotbuilder.data.properties.ChoicesProperty
        choices: *id027
        default: 1
        name: Number
        validators: *id028
        value: '1'
    Base: Joystick
    Name: Aux
  Properties: {}
  Base: OI
  Name: Operator Interface
- Children:
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: oi_HDrive
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_3totes
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: a_lift_top
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_lift_bottom
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_lift_move_dist
  - Children: []
    Properties:
      D: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D, validators: null,
        value: 0.0}
      Period: !!robotbuilder.data.properties.DoubleProperty {default: 0.02, name: Period,
        validators: null, value: 0.02}
      Input: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Input
        type: PIDSource
        validators: &id029 [TypeDropdownSelected]
        value: Drive gyro
      Limit Output: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Output, validators: null, value: false}
      Tolerance: !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
        validators: null, value: 0.2}
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Continuous: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Continuous, validators: null, value: false}
      Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
        validators: null, value: 1.0}
      Limit Input: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Input, validators: null, value: false}
      Output: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Output
        type: PIDOutput
        validators: &id030 [TypeDropdownSelected]
        value: Drive LeftFront
      Minimum Input: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
        validators: null, value: 0.0}
      Minimum Output: !!robotbuilder.data.properties.DoubleProperty {default: -1,
        name: Minimum Output, validators: null, value: -1.0}
      I: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I, validators: null,
        value: 0.0}
      P: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P, validators: null,
        value: 1.0}
      Maximum Input: !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
        validators: null, value: 5.0}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: PID Command
    Name: a_drive_turn_angle
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_lift_move_time
  - Children: []
    Properties:
      D: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D, validators: null,
        value: 0.0}
      Period: !!robotbuilder.data.properties.DoubleProperty {default: 0.02, name: Period,
        validators: null, value: 0.02}
      Input: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Input
        type: PIDSource
        validators: *id029
        value: Drive LeftEncoder
      Limit Output: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Output, validators: null, value: false}
      Tolerance: !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
        validators: null, value: 0.2}
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Continuous: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Continuous, validators: null, value: false}
      Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
        validators: null, value: 0.75}
      Limit Input: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Input, validators: null, value: false}
      Output: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Output
        type: PIDOutput
        validators: *id030
        value: Drive LeftFront
      Minimum Input: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
        validators: null, value: 0.0}
      Minimum Output: !!robotbuilder.data.properties.DoubleProperty {default: -1,
        name: Minimum Output, validators: null, value: -1.0}
      I: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I, validators: null,
        value: 0.0}
      P: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P, validators: null,
        value: 0.11}
      Maximum Input: !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
        validators: null, value: 5.0}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: PID Command
    Name: a_drive_move_dist
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_debug
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_grabber_ungrab
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_grabber_grab
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_drive_move_time
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Grabber}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: oi_Grabber
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: oi_Lift
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: sd_move_dist
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: sd_lift_dist
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: sd_drive_turn_angle
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: sd_strafe_dist
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Grabber}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_grabber_push
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_3totes_norc
  - Children: []
    Properties:
      Limit Output: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Output, validators: null, value: false}
      D: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D, validators: null,
        value: 0.0}
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Continuous: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Continuous, validators: null, value: false}
      Tolerance: !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
        validators: null, value: 0.2}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
      I: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I, validators: null,
        value: 0.0}
      Period: !!robotbuilder.data.properties.DoubleProperty {default: 0.02, name: Period,
        validators: null, value: 0.01}
      Minimum Input: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
        validators: null, value: 0.0}
      Limit Input: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Input, validators: null, value: false}
      Minimum Output: !!robotbuilder.data.properties.DoubleProperty {default: -1,
        name: Minimum Output, validators: null, value: -1.0}
      P: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P, validators: null,
        value: 0.03}
      Input: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Input
        type: PIDSource
        validators: *id029
        value: Drive gyro
      Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
        validators: null, value: 1.0}
      Output: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Output
        type: PIDOutput
        validators: *id030
        value: Drive LeftFront
      Maximum Input: !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
        validators: null, value: 5.0}
    Base: PID Command
    Name: a_drive_move_stra
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Lift}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_lift_setup
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_1tote_pos3
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_1tote_pos2
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_1tote_pos1
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_1tote_pos1_lm2
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_2tote_pos1
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: oi_containerUprighter
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: oi_Stabilizer
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_liftup
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_robotset
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_1rc_bump
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_1tote_bump
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: b_zero_yaw
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_drive_turn_angle1
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_drive_move_dist_straight
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command
    Name: a_drive_move_time_straight
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_liftup_2
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: CanGrabber}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: oi_cangrabber_up
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: CanGrabber}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: oi_cangrabber_down
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: CanGrabber}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: a_cangrabber_deploy
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: CanGrabber}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: a_cangrabber_retract
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command Group
    Name: auto_canGraabber
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_3tote_piston
  - Children: []
    Properties:
      Limit Output: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Output, validators: null, value: false}
      D: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: D, validators: null,
        value: 0.0}
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Continuous: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Continuous, validators: null, value: false}
      Tolerance: !!robotbuilder.data.properties.DoubleProperty {default: 0.2, name: Tolerance,
        validators: null, value: 0.2}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
      I: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: I, validators: null,
        value: 0.0}
      Period: !!robotbuilder.data.properties.DoubleProperty {default: 0.02, name: Period,
        validators: null, value: 0.02}
      Minimum Input: !!robotbuilder.data.properties.DoubleProperty {default: 0, name: Minimum Input,
        validators: null, value: 0.0}
      Limit Input: !!robotbuilder.data.properties.BooleanProperty {default: false,
        name: Limit Input, validators: null, value: false}
      Minimum Output: !!robotbuilder.data.properties.DoubleProperty {default: -1,
        name: Minimum Output, validators: null, value: -1.0}
      P: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: P, validators: null,
        value: 1.0}
      Input: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Input
        type: PIDSource
        validators: *id029
        value: Drive LeftEncoder
      Maximum Output: !!robotbuilder.data.properties.DoubleProperty {default: 1, name: Maximum Output,
        validators: null, value: 1.0}
      Output: !!robotbuilder.data.properties.TypeSelectionProperty
        default: None
        name: Output
        type: PIDOutput
        validators: *id030
        value: Drive LeftFront
      Maximum Input: !!robotbuilder.data.properties.DoubleProperty {default: 5, name: Maximum Input,
        validators: null, value: 5.0}
    Base: PID Command
    Name: a_drive_turn_enc
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: None}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: sd_turn_enc
  - Children: []
    Properties:
      Requires: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
        name: Requires, type: Subsystem, validators: null, value: Drive}
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: true}
    Base: Command
    Name: a_drive_turn_lisa
  - Children: []
    Properties:
      Button on SmartDashboard: !!robotbuilder.data.properties.BooleanProperty {default: true,
        name: Button on SmartDashboard, validators: null, value: false}
    Base: Command Group
    Name: auto_3tote_rc
  Properties: {}
  Base: Commands
  Name: Commands
Properties:
  Eclipse Workspace: !!robotbuilder.data.properties.FileProperty {default: 'C:\Users\R2D2\workspace',
    extension: null, folder: true, name: Eclipse Workspace, validators: null, value: ./}
  Export Commands: !!robotbuilder.data.properties.BooleanProperty {default: true,
    name: Export Commands, validators: null, value: true}
  Java Package: !!robotbuilder.data.properties.StringProperty {default: org.usfirst.frc0000,
    name: Java Package, validators: null, value: org.usfirst.frc0000}
  Use Default Java Package: !!robotbuilder.data.properties.BooleanProperty {default: true,
    name: Use Default Java Package, validators: null, value: true}
  Team Number: !!robotbuilder.data.properties.IntegerProperty {default: 0, name: Team Number,
    validators: null, value: 5122}
  Export Subsystems: !!robotbuilder.data.properties.BooleanProperty {default: true,
    name: Export Subsystems, validators: null, value: true}
  Wiring File: !!robotbuilder.data.properties.FileProperty {default: '', extension: html,
    folder: false, name: Wiring File, validators: null, value: wiring.html}
  Simulation World File: !!robotbuilder.data.properties.StringProperty {default: /usr/share/frcsim/worlds/GearsBotDemo.world,
    name: Simulation World File, validators: null, value: /usr/share/frcsim/worlds/GearsBotDemo.world}
  Autonomous Command: !!robotbuilder.data.properties.TypeSelectionProperty {default: None,
    name: Autonomous Command, type: Command, validators: null, value: None}
Base: Robot
Name: Fred2