== Training Robots

Team 2537 has several dedicated training robots built on the [https://www.andymark.com/products/peanut-chassis Andymark Peanut Chassis]:
   * Macadamia is a 2-wheel-drive robot with 
          * [https://www.amazon.com/Genius-120-degree-Conference-Webcam-WideCam/dp/B0080CE5M4 USB camera]
          * 2 [https://www.andymark.com/products/2-5-in-cim-motor CIM motors] each with a [https://firstwiki.github.io/wiki/talon-sr Talon SR] (obsolete) PWM motor controller connected to PWM0 and PWM1
          * 360-count [https://www.andymark.com/products/e4t-oem-miniature-optical-encoder-kit quadrature encoders] on each wheel connected to DIO0/1 and DIO2/3
          * Front and back [https://www.sparkfun.com/products/15569 ultrasonic sensors] connected to DIO8/9, DIO5/4
   * Hazelnut is a 2-wheel-drive robot with camera, encoders, and [http://www.ctr-electronics.com/talon-srx.html TalonSRX] CAN motor controllers
          * USB camera
          * 2 CIM motors each with a Talon SRX CAN (intelligent) motor controller (CAN addresses 3, 4)
          * 360-count quadrature encoders on each wheel (connected through SRX controllers)
          * Front and back ultrasonic sensors connected to DIO8/9 and DIO5/4 respectively
   * Walnut is a 4-wheel drive robot with encoders and TalonSRX CAN motor controllers
   * Almond is a 4-wheel drive robot with:
       * 4 CIM motors, each with a TalonSRX CAN (intelligent) motor controller and quadrature encoder
           * left front  = address 4
           * right front = address 3
           * left rear   = address 2
           * right rear  = address 1

All of these robots use the same control system as the competition robots, but the robots are smaller and lighter making them more suitable for classroom training and outreach.  Because each robot is different, when you use them, you may need to adapt your program for the specific hardware that's present on the robot you're using.  

To work with the training examples, it is best to connect devices as follows:
   * Front ultrasonic sensor: DIO 8, DIO9  (!Ping/Trig, Echo)
   * Rear ultrasonic sensor:  DIO 5, DIO4  (!Ping/Trig, Echo)
   * PWM Motor Controllers
        * Left !Talon/Spark: PWM0
        * Left Wheel Encoder: DIO 0, DIO1
        * Right !Talon/Spark: PWM1
        * Right Wheel Encoder: DIO 2, DIO3
   * CAN Motor Controllers
        * Left TalonSRX: CAN address 3
        * Left Wheel Encoder: connected to Left TalonSRX
        * Right TalonSRX: CAN address 4
        * Right Wheel Encoder: connected to Right TalonSRX
   * USB [https://www.amazon.com/Genius-120-degree-Conference-Webcam-WideCam/dp/B0080CE5M4 webcam]