The encoders work with our motors and servos to keep track of our current position.

We use three digital inputs - two are used for the red/blue alliance color switch and front/back switch which help our auton know which values to move to. The touch sensor is part of our duck spinning - if we are spinning ducks and it is not touching the robot will drive itself forward to touch so ducks actually spin.

We use two different RGB LEDs - one tells us how much time is left before we should do something and one tells us if we picked up freight and which kind.

The distance sensors are used in auton to detect when we are close enough to the alliance hub to deliver freight.

The color sensor is used as a proximity sensor - our drive coach can wave their hand to make the duck spin start.

The analog input is used for our load cell which tells us if we have freight in our bucket.

The camera reads two of the three barcodes - if it doesn't see it that means it's in the other spot. So we can read all three barcodes that way.

The IMU helps us navigate the field when we need to rotate.

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