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  • Introduction
  • Getting Started with Control Hub
    • Connect to the Robot Controller Console
    • Updating Wi-Fi Settings
    • Connecting Driver Station to Control Hub
    • Wiring Diagram
    • Next Steps
  • Getting Started with Driver Hub
  • Adding More Motors
    • SPARKmini Motor Controller
    • Adding an Expansion Hub
  • Troubleshooting the Control System
    • General Troubleshooting
    • Control Hub Troubleshooting
    • Driver Hub Troubleshooting
      • Driver Hub Battery Troubleshooting
    • Expansion Hub Troubleshooting
    • Status LED Blink Codes
  • System Overview
    • Control Hub Specifications
    • Expansion Hub Specifications
    • Driver Hub Specifications
    • Port Pinouts
    • Protection Features
    • Cables and Connectors
      • XT-30 - Power Cable
      • JST VH - Motor Power
      • JST PH - Sensors and RS485
    • Integrated Sensors
    • Dimensions and Important Component Locations
  • Updating and Managing
    • Managing Wi-Fi on the Control Hub
    • REV Hardware Client
    • Updating Firmware
      • Firmware Changelog
    • Updating Operating System
      • Control Hub Operating System Changelog
    • Updating Robot Controller Application
      • Updating Robot Controller Application via Android Studio
    • Updating the Driver Hub
      • Driver Hub OS - Change Log
    • Accessing Log Files
    • Android Studio - Deploying Code Wirelessly
  • Hello Robot - Intro to Blocks Programming
    • Welcome to Hello Robot!
    • Where to Program - Client vs. Browser
      • What is an OpMode?
    • Setting up a Configuration
      • Common Errors in Configuration
    • Using a Gamepad
    • Part 1: Tackling the Basics
      • Tackling the Basics Directory - Blocks
      • Creating an OpMode - Blocks
      • Programming Essentials
      • Programming Servos
        • Programming Servo Basics
        • Using a Gamepad with a Servo
        • Programming Servo Telemetry
      • Programming Motors
        • Programming Motors Basics
        • Programming a Motor with a Gamepad
        • Programming Motor Telemetry
      • Programming Touch Sensors
      • Programming Color Sensors
        • Color Sensor Telemetry
        • Detecting Color
    • Part 2: Robot Control
      • Robot Control Blocks Directory
      • Programming Drivetrain Motors
      • Arcade Style TeleOp - Blocks
        • Establishing Variables in Blocks
        • Motor Power vs. Robot Movement
        • Programming Arcade Drive
      • Arm Control - Blocks
        • Adding a Limit Switch
      • Robot Control Full Program
    • Part 3: Autonomous and Encoders
      • ElapsedTime - Blocks
        • ElapsedTime Setup
        • ElapsedTime Logic
        • ElapsedTime - Multiple Movements
      • Encoder Basics
      • Drivetrain Encoders - Blocks
        • Converting Encoder Ticks to a Distance
        • Moving to a Target Distance
        • Setting Velocity
        • Turning the Drivetrain Using RUN_TO_POSITION
      • Arm Control with Encoders - Blocks
        • Estimating the Position of the Arm
        • Calculating Target Position
        • Using Limits to Control Range of Motion
    • Part 4: Going Beyond!
      • Exploring Functions
      • Programming Mecanum - Simplified
      • Programming Mecanum - Refined
  • Hello Robot - Intro to OnBot Java Programming
    • Welcome to Hello Robot!
    • Where to Program - Client vs. Browser
      • What is an OpMode?
    • Setting up a Configuration
      • Common Errors in Configuration
    • Using a Gamepad
    • Part 1: Tackling the Basics
      • Tackling the Basics Directory - OnBot
      • Creating an OpMode - OnBot
      • Programming Essentials
      • Programming Servos
        • Programming Servo Basics
        • Using a Gamepad with a Servo
        • Programming Servo Telemetry
      • Programming Motors
        • Programming Motor Basics
        • Programming a Motor with a Gamepad
        • Programming Motor Telemetry
      • Programming Touch Sensors
    • Part 2: Robot Control
      • Robot Control OnBot Java Directory
      • Programming Drivetrain Motors
      • Arcade Style TeleOp - OnBot Java
        • Establishing Variables in OnBot Java
        • Motor Power vs. Robot Movement
        • Programming Arcade Drive
      • Arm Control - OnBot Java
        • Adding a Limit Switch
      • Robot Control Full Program
    • Part 3: Autonomous and Encoders
      • ElapsedTime - OnBot Java
        • ElapsedTime Setup
        • ElapsedTime Logic
        • ElapsedTime - Multiple Movements
      • Encoder Basics
      • Drivetrain Encoders - OnBot Java
        • Converting Encoder Ticks to a Distance
        • Moving to a Target Distance
        • Setting Velocity
        • Turning the Drivetrain Using RUN_TO_POSITION
      • Arm Control with Encoders - OnBot Java
        • Estimating the Position of the Arm
        • Calculating Target Position
        • Using Limits to Control Range of Motion
  • Sensors
    • Introduction to Sensors
    • Digital
    • Analog
    • I2C
      • IMU
        • Orientating the IMU
      • Adding an External IMU to your Hub
    • Encoders
      • REV Motor Encoders
      • Through Bore Encoder
    • Using 3rd Party Sensors
      • Sensor Compatibility Chart
  • Useful Links
    • REV DUO Build System
  • Legacy Documentation
    • Configuring Your Android Devices
    • Expansion Hub with Android Device Robot Controller
      • Driver Station and Robot Controller Pairing
      • Wiring Diagram
      • Configuration
    • REV Hub Interface Software
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On this page
  • Wiring a Limit Switch or Micro Switch
  • Logic Level Converter
  • Connecting 5V Encoder
  • Connecting a 5V Sensor

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  1. Sensors

Using 3rd Party Sensors

PreviousThrough Bore EncoderNextSensor Compatibility Chart

Last updated 9 months ago

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The Control Hub () and Expansion Hub () are 3.3V logic level devices. Many 3rd party sensors, including ones that teams have previously purchased through vendors such as Modern Robotics, are 5V logic level devices. Many of these legacy sensors are used with the REV system by using a logic level converter. REV Robotics offers a Logic Level Converter () and an optional Sensor Adapter Cable () so teams can more easily use their legacy sensors with the REV Control System.

Wiring a Limit Switch or Micro Switch

Limit switches are common 3rd Party sensor type used with the REV Control System and require a custom wiring harness. Each of the digital inputs on the Control and Expansion Hub have a pull-up resistor making the digital inputs pulled "high" by default. Incorrect wiring of a limit switch to a digital input can create a conflict making the Control or Expansion Hub unresponsive.

The recommended wiring is to connect the signal wire (n, n+1) to the common pin (COM), the ground wire to the normally closed (NC) pin, and not connect to the normally open pin (NO) of the limit switch. With this wiring when the switch is in its normal state (not pressed), the switch is closed connecting the signal to ground (reporting FALSEin code). When pressed, the switch is open and disconnects the signal from ground (reporting TRUEin code).

The power wire and the unused signal wire will not be used in this set up process.

If you need the opposite behavior (FALSEfor pressed, and TRUEfor not pressed) switch the ground (black) wire to the NO position instead of NC. Alternatively changing the logic in code will have a similar effect.

Logic Level Converter

The Logic Level Converter is only needed for the Digital and I2C senor ports on the Control or Expansion Hub when using a 5V device.

Connecting 5V Encoder

All REV Robotics Motors work directly with the REV Control and Expansion Hubs. No Logic Level Converter is needed for REV Motors.

Connecting a 5V Sensor

The REV Robotics Logic Level Converter is a circuit board which generates a 5V output from the 3.3V input and uses a MOSFET on each signal line to create a bidirectional communication appropriate for a variety of digital signals include I2C communication. For more information on how bidirectional level shifting communication is accomplished, please reference the .

The Logic Level Converter () pinout directly matches the encoder cable pin out for FTC legal 3rd party motors. Encoder cables plug directly into the Logic Level Converter board and then the 4-pin JST PH Cable (), which is included with the Logic Level Converter, is plugged into the appropriate Control Hub () Encoder Port. Motors which are terminated with Anderson Power Pole style connectors use the JST VH to Anderson Power Pole Style () cable to connect to the motor output port on the Control Hub.

A variety of 5V sensors are usable with the Control Hub () when used with a Logic Level Converter (). For some Modern Robotics I2C sensors a Logic Level Converter, and a change in wiring to match the pinout of the Control Hub are needed. Teams can either purchase a Sensor Cable as an add on to the Logic Level Converter Kit which will cross over the correct wires, or they can carefully rearrange the pin order on the sensor cable. If using the Sensor Cable, connect the sensor to the Control Hub as shown below. It is recommended to zip tie the connection between the sensor and the sensor cable to prevent accidental disconnects. See the for more information on hardware required for other sensors.

NXP Application Note AN10441
REV-31-1389
REV-31-1407
REV-31-1595
REV-31-1381
REV-31-1595
REV-31-1389
Sensor Compatibility Chart
REV-31-1595
REV-31-1153
REV-31-1389
REV-31-1384