pwm1: left drive motor 1
pwm2: left drive motor 2
pwm3: right drive motor 1
pwm4: right drive motor 2
pwm5: Arm motor
pwm6: Lifting motor 1
pwm7: Lifting motor 2
pwm8: auto state
pwm9: 
pwm10:
pwm11:
pwm12:
pwm13:
pwm14:
pwm15:
pwm16:

Analog1: Arm Potentionometer

Dig1: Left Encoder A
Dig2: Right Encoder A 
Dig3: Floor Lifter - Limit Switch 
Dig4: Motor Lifter 1 - Limit Switch
Dig5: Motor Lifter 2 - Limit Switch
Dig6: Pneumatic Pressure Sitch
Dig7: 
Dig8:Limit Switch
Dig9: 
Dig10: 
Dig11: 
Dig11: Left Encoder B
Dig12: Right Encoder B 
Dig13: Auto switch 1
Dig14: Auto switch 2
Dig15: Auto switch 3
Dig16: Auto switch 4
Dig17: Auto switch 5
Dig18: Auto switch 6

Relay1: Claw
Relay2: Arm Extender 1
Relay3: Arm Extender 2
Relay4: Lifter Deployer
Relay5:
Relay6:
Relay7: 
Relay8: Air compressor