# Adding More Motors

The Control Hub ([REV-31-1595](https://www.revrobotics.com/rev-31-1595/)) and Expansion Hub ([REV-31-1153](https://www.revrobotics.com/rev-31-1153/)) can each drive up to four DC brushed motors. As mechanisms are added to the robot the number of motor ports may not be sufficient. There are two ways to add more motors to the Control System, either the SPARKmini Motor Controller ([REV-31-1230](https://www.revrobotics.com/rev-31-1230/)) or adding an Expansion Hub. The Following two rules give a general idea of when to choose one method over another: 

* If one or two motors are needed, consider using the SPARKmini Motor Controller.
* If three to four additional motors are needed, consider adding an Expansion Hub.

For additional information on [how to use a SPARKmini](/duo-control/menu/adding-more-motors/sparkmini-motor-controller.md) or [how to add an Expansion Hub](/duo-control/menu/adding-more-motors/adding-an-expansion-hub.md), visit the linked pages!

{% content-ref url="/pages/-M7xOQRxgRRUNxzhuorv" %}
[SPARKmini Motor Controller](/duo-control/menu/adding-more-motors/sparkmini-motor-controller.md)
{% endcontent-ref %}

{% content-ref url="/pages/-M7xORUD4MFEsDMrF9CT" %}
[Adding an Expansion Hub](/duo-control/menu/adding-more-motors/adding-an-expansion-hub.md)
{% endcontent-ref %}


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.revrobotics.com/duo-control/menu/adding-more-motors.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.