Hardware IDs: CAN, analog, and Limelight assignments

All hardware CAN IDs, analog input ports, and peripheral names are centralized in Hardware.java. Changing a motor or sensor ID requires updating only that one file — no other source files reference raw integer IDs directly.

CAN ID table

IDs follow a deliberate grouping scheme so the CAN bus stays organized and easy to audit:

Group	Range
Swerve drive/steer/encoder	1–12
Power Distribution Hub	1
Intake motors	15–19
Launcher motors	20–29
Indexing motors	30–34
Climb motor	35–39
CANdle LED controller	40

Swerve devices (IDs 1–12) live on the "Drivebase" CAN bus defined in CompTunerConstants/AlphaTunerConstants. All other devices — including the PDH (ID 1) — are on the default RoboRIO CAN bus, so the overlapping ID 1 does not cause a conflict.

Constant	ID / Port	Type	Notes
`INTAKE_PIVOT_MOTOR_ID`	15	CAN	Intake arm pivot TalonFX
`INTAKE_MOTOR_ONE_ID`	16	CAN	First intake roller TalonFX
`INTAKE_MOTOR_TWO_ID`	17	CAN	Second intake roller TalonFX
`FLYWHEEL_ONE_ID`	20	CAN	Primary flywheel TalonFX
`FLYWHEEL_TWO_ID`	21	CAN	Secondary flywheel TalonFX
`HOOD_MOTOR_ID`	22	CAN	Hood angle TalonFX
`TURRET_MOTOR_ID`	23	CAN	Turret rotation TalonFX
`HALL_EFFECT_SENSOR_ID`	0	Analog input	Hall-effect limit switch for turret zero
`FEEDER_MOTOR_ID`	30	CAN	Feeder belt TalonFX
`SPINDEXER_MOTOR_ID`	31	CAN	Spindexer disc TalonFX
`CLIMB_MOTOR_ID`	35	CAN	Climb winch TalonFX
`CANDLE_ID`	40	CAN	CANdle RGB LED controller
`PDH_ID`	1	CAN	Power Distribution Hub

Vision: Limelight NetworkTable names

Each Limelight is referenced by its NT table name string rather than an IP or index. VisionSubsystem reads these constants directly from Hardware.

Constant	NT Table Name	Role
`LIMELIGHT_A`	`"limelight-a"`	Camera A (position TBD)
`LIMELIGHT_B`	`"limelight-b"`	Camera B (position TBD)
`LIMELIGHT_C`	`"limelight-c"`	Camera C (position TBD)

Descriptive position names (e.g., limelight-front) will be assigned once camera mounting locations are finalized. For now, letters A/B/C correspond to the physical cameras in the order they were installed.

Swerve module IDs

Swerve drive, steer, and CANcoder IDs occupy the 1–12 range and are defined in CompTunerConstants and AlphaTunerConstants rather than Hardware.java, because they are generated by Phoenix 6 Tuner X. See Tuner Constants for the full per-module breakdown.

Subsystem enable flags

Subsystems.java exposes a SubsystemConstants inner class with boolean flags that gate each subsystem at startup. Setting a flag to false causes Subsystems to assign null for that subsystem, and all command bindings that depend on it are skipped. Composite flags are derived automatically:

Flag	Default	Notes
`DRIVEBASE_ENABLED`	`true`	Swerve drivebase
`INTAKE_ROLLERS_ENABLED`	`true`	Intake roller motors
`INTAKE_ARM_ENABLED`	`true`	Intake pivot motor
`INTAKE_ENABLED`	derived	`INTAKE_ARM_ENABLED && INTAKE_ROLLERS_ENABLED`
`FLYWHEELS_ENABLED`	`true`	Flywheel motors
`HOOD_ENABLED`	`true`	Hood angle motor
`TURRET_ENABLED`	`true`	Turret rotation motor
`LAUNCHER_ENABLED`	derived	`HOOD_ENABLED && FLYWHEELS_ENABLED && TURRET_ENABLED`
`SPINDEXER_ENABLED`	`true`	Spindexer disc motor
`FEEDER_ENABLED`	`true`	Feeder belt motor
`INDEXER_ENABLED`	derived	`SPINDEXER_ENABLED && FEEDER_ENABLED`
`VISION_ENABLED`	`true`	Vision subsystem (requires `DRIVEBASE_ENABLED`)
`LEDS_ENABLED`	`true`	CANdle LED subsystem

Source reference

// Hardware.java
public class Hardware {
  // Intake Motors (15-19)
  public static final int INTAKE_PIVOT_MOTOR_ID = 15;
  public static final int INTAKE_MOTOR_ONE_ID = 16;
  public static final int INTAKE_MOTOR_TWO_ID = 17;

  // Launcher Motors (20-29)
  public static final int FLYWHEEL_ONE_ID = 20;
  public static final int FLYWHEEL_TWO_ID = 21;
  public static final int HOOD_MOTOR_ID = 22;
  public static final int TURRET_MOTOR_ID = 23;
  public static final int HALL_EFFECT_SENSOR_ID = 0; // Analog input

  // Indexing Motors (30-34)
  public static final int FEEDER_MOTOR_ID = 30;
  public static final int SPINDEXER_MOTOR_ID = 31;

  // Climb Motor (35-39)
  public static final int CLIMB_MOTOR_ID = 35;

  // CANdle
  public static final int CANDLE_ID = 40;

  public static final int PDH_ID = 1;
  // Swerve: 1-12 — Check CompTunerConstants

  // Vision
  public static final String LIMELIGHT_A = "limelight-a";
  public static final String LIMELIGHT_B = "limelight-b";
  public static final String LIMELIGHT_C = "limelight-c";
}

Changing any CAN ID on a live robot requires a full robot code redeploy and a matching change in the device’s Phoenix 6 configuration (either via Tuner X or through the device config API). Mismatched IDs will silently fail to communicate rather than throwing an obvious error.

Get Started

Subsystems

Autonomous

Simulation

Configuration & Tuning

Hardware IDs: CAN, analog, and Limelight assignments

CAN ID table

Vision: Limelight NetworkTable names

Swerve module IDs

Subsystem enable flags

Source reference

​CAN ID table

​Vision: Limelight NetworkTable names

​Swerve module IDs

​Subsystem enable flags

​Source reference

CAN ID table

Vision: Limelight NetworkTable names

Swerve module IDs

Subsystem enable flags

Source reference