Refined Control

Expand upon your robot's capabilities with the REV ION Control System. This series of Hubs and Modules provide flexibility for the addition of new peripherals while delivering vital feedback back to the team. Seamlessly integrate a Hub into your CAN Bus alongside the SPARK MAX or SPARK Flex Motor Controllers.

Power Management

Power Distribution Hub

The REV Power Distribution Hub (PDH) is the latest evolution in power distribution for the FIRST Robotics Competition (FRC). With 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel, the PDH gives teams more flexibility for overall power delivery. The Power Distribution Hub features toolless latching WAGO terminals, an LED voltage display, and the ability to connect over CAN or USB-C to the REV Hardware Client for real-time telemetry, making it easier than ever to wire and debug your robot.

Radio Power Module

The REV Radio Power Module is designed to keep one of the most critical system components, the OpenMesh OM5P-AC WiFi radio, powered in the toughest moments of the competition. Traditional barrel jacks easily work themselves loose and often require hacks, like hot glue, to prevent intermittent power losses. The Radio Power Module eliminates the need for powering the radio through a traditional barrel power jack. Utilizing 18V Passive Power over Ethernet (PoE) with two socketed RJ45 connectors, the Radio Power Module passes signal between the radio and roboRIO while providing power directly to the radio. After connecting the radio and roboRIO, easily add power to the Radio Power Module by wiring it to the low-current channels on the Power Distribution Hub utilizing the color coded push button WAGO terminals.

Mini Power Module

The REV Mini Power Module (MPM) is a compact power distribution module that allows you to securely and quickly power peripheral devices to your robot. Need more low-current channels on your PDH? Wire the MPM to one of the high-current channels on the PDH to power more peripheral devices and custom circuits.

Pneumatics

Pneumatic Hub

The REV Pneumatic Hub is a standalone module that is capable of switching both 12V and 24V pneumatic solenoid valves. The Pneumatic Hub features 16 solenoid channels which allow for up to 16 single-acting solenoids, 8 double-acting solenoids, or a combination of the two types. The user-selectable output voltage is fully regulated, allowing even 12V solenoids to stay active when the robot battery drops as low as 4.75V.

Digital and analog pressure sensor ports are built into the device, increasing the flexibility and feedback functionality of the pneumatic system. The USB-C connection on the Hub works with the REV Hardware Client, allowing users to test pneumatic systems without a need for an additional robot controller.

Version 23.0.0

NOTE: Upgrading from v22.x.x to this version will clear sticky faults.

• Fixes issue where a hardware fault may be set when the device experiences a brownout

• Improves device brownout detection

• Improves breaker fault detection

• Improves CAN fault detection

• Improves robustness against soft-bricking

Version 22.0.3

• Fixes issue where PDH will sometimes fail to update downstream devices via CAN

Version 22.0.2

• Improves accuracy of battery voltage reading

• Improves hardware fault reporting

• Improves switchable channel LED behavior

• Blinks the status LED blue when sticky faults are successfully cleared via the MODE button

• Fixes issue where the device would hang after receiving a malformed CAN frame

Version 22.0.1

• Fixes certain faults that were incorrectly triggered when the device was only powered via USB

Version 21.1.7

• Persists sticky faults across power cycles

• Allows sticky faults to be cleared by holding down the MODE button

• Updates LED patterns

• Turns off the switchable channel LED when the switchable channel is turned off

• Reports to the REV Hardware Client whether a roboRIO is connected via the CAN network

General Status LED

Channel Status LED

Switched Channel LED

The most common Power Distribution Hub troubleshooting issues are listed below. After reading through, if you still have questions or need additional help, reach out to us at: support@revrobotics.com

General Troubleshooting

If you are experiencing issues with your Power Distribution Hub that you are struggling to diagnose, we recommend following the troubleshooting guides and steps listed below, both in the flowchart and in the following subsections.

See Firmware Change Log

Version 21.1.7

• Persists sticky faults across power cycles

• Allows sticky faults to be cleared by holding down the device's button

• Updates LED patterns

• Turns off the switchable channel LED when the switchable channel is turned off

• Reports to the REV Hardware Client whether a roboRIO is connected via the CAN network

3D Printed Breaker Extractor

Recovery Mode

When updating the firmware on the Power Distribution Hub, it is possible for the process to be interrupted or for the firmware to be corrupted by a bad download. In this state, the Status LED will be dark or dim and the Power Distribution Hub will fail to operate. There is a built-in recovery mode that can force it to accept new firmware even if the controller seems to be bricked and the procedure is outlined below:

1. With the Power Distribution Hub powered off, press and hold the Mode Button

2. While still holding the Mode Button, connect the Device to the computer using the USB-C cable - the Status LED will not illuminate - this is expected.

3. With the REV Hardware Client running on the computer, wait a few seconds for the audible tone or icon for the device to be recognized in recovery mode then release the Mode Button - no lights will be present on the Power Distribution Hub during this stage of the process, this is expected

4. Select the Power Distribution Hub in Recovery Mode from the REV Hardware Client window

5. From the "Choose a Device" type dropdown, choose - Power Distribution Hub

6. Choose the latest version of the firmware from the dropdown and then click update

7. Wait for the software update to complete

8. Power cycle unit (unplug and plug in USB-C) click on Power Distribution Hub icon, clear any sticky faults - the recovery should be complete.

The REV Power Distribution Hub (PDH) (REV-11-1850) is the latest evolution in power distribution for the FIRST Robotics Competition (FRC). With 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel, the PDH gives teams more flexibility for overall power delivery. The Power Distribution Hub features toolless latching WAGO terminals, an LED voltage display, and the ability to connect over CAN or USB-C to the REV Hardware Client for real-time telemetry, making it easier than ever to wire and debug your robot.

Features

• 20 High-current channels

  • All supporting up to 40A

  • Supports ATO size breakers and fuses

• 3 Low-current channels

  • Supports up to 15A continuous, 20A peak for approved pneumatic control devices.

  • Supports ATM/APM size breakers and fuses

• 1 Switchable low-current channel

  • On/off control useful for LEDs and other indicators

  • Supports up to 15A continuous

  • Supports ATM/APM size breakers and fuses

• Toolless and color-coded WAGO terminals for all main connections

  • Main power input - latching WAGO 2616 series

  • High-current channels - latching WAGO 2606 series

  • Low-current channels and CAN - push button WAGO 250 series

• Advanced debugging features

  • Channel status LEDs for breaker status and fault feedback

  • LED input voltage display

  • Higher resolution and refresh rate current and voltage monitoring

• CAN connectivity

  • Channel telemetry feedback to main robot controller

  • Configurable CAN termination on device

  • Firmware updating over CAN network

• USB-C connectivity

  • USB-to-CAN device allowing for monitoring and updating devices on the CAN bus

  • Update and diagnose faults with the REV Hardware Client

• ESD protection

Welcome to your new Power Distribution Hub from REV Robotics! This documentation is intended to answer any questions related to the Power Distribution Hub (PDH) used in the FIRST Robotics Competition. If there is a question that is not answered by this space, send our support team an email at support@revrobotics.com. We are happy to help point you in the right direction!

• Have a specific question? Feel free to head straight to it using the navigation bar to the left. Each section is grouped with other similar topics.

• Have trouble finding what you are looking for? Try the search bar in the upper right!

Before You Start

Install the REV Hardware Client before continuing with this guide. The REV Hardware Client is the best way to verify that the Power Distribution Hub is configured correctly and is required for using the CAN Interface.

Power Distribution Hub Wiring Diagram

Latching WAGO Terminals: Battery Input and High-Current Channels

• For Battery Input use 18 to 4 AWG Wire, Stripped back ~0.75” (20mm)

• For High-Current Channels use 24 to 8 AWG Wire, Stripped back ~0.5” (12mm)

• Flip open the lever with an upward motion.

  • You can open the lever all the way to have it stay open or you can open it half way for quick wire changes.

• Insert stripped wire into connector opening.

• Push down the lever.

• Test the wire by giving it a smart tug to ensure wire is connected securely.

• Visually inspect to make sure no stray wires are outside of the connector port.

Push-Button WAGO Terminals: CAN and Low-Current Channels

• Use 24 to 18 AWG Wire, Stripped back ~0.35” (8mm)

• Press and hold down connector button.

• Insert stripped wire into connector opening.

• Release connector button.

• Test the wire by giving it a smart tug to ensure wire is connected securely.

• Visually inspect to make sure no stray wires are outside of the connector port.

Circuit Breakers

• Carefully insert the Circuit Breaker (CB) directly into the circuit breaker holder. Ensure that the blades of the circuit breaker slide into the circuit breaker holder.

• Circuit breakers should not be loose or move at all when inserted correctly.

  • If the circuit breaker is loose, remove the circuit breaker and make sure you can see the opening on the circuit breaker holder, then reinsert into the holder.

• New circuit breaker holders fit circuit breakers tightly. This can make it hard to pull out the circuit breaker.

• When removing a circuit breaker, make sure to rock the circuit breaker back and forth to make it easier to pull up on.

The Pneumatic Hub is powered off of one of the three Power Distribution Hub side channels (not the switchable side channel) and can be wired into the CAN bus using the yellow and green channel ports.

Wiring the Power Input (12 Volt Supply - Battery, Power Supply, etc.)

• Use 24-16 AWG Wire, Stripped back ~0.375” (9mm)

• Make sure that a red colored wire is connected to the red/positive ( + ) terminals and that the black colored wire is connected to the black/negative ( - ) terminals. Press and hold down connector button.

• Insert wire into connector opening

• Release connector button

• Test the wire by giving it a smart tug to ensure wire is connected securely.

• Visually inspect to make sure no stray wires are outside of the connector port

Wiring the Compressor

• Use 24-16 AWG Wire, Stripped back ~0.375” (9mm)

• Make sure that a red colored wire is connected to the red/positive ( + ) terminals and that the black colored wire is connected to the black/negative ( - ) terminals. Press and hold down connector button.

• Insert wire into connector opening

• Release connector button

• Test the wire by giving it a smart tug to ensure wire is connected securely.

• Visually inspect to make sure no stray wires are outside of the connector port

Wiring the Digital Pressure Switch

• The digital pressure switch should be wired to the Digital Sensor Port on the PH. The polarity of the digital switch does not matter and can be wired in either direction.

Wiring an Analog Pressure Sensor

• Most sensors that connect to analog input ports will have three wires - signal, power, and ground - corresponding precisely to the three pins of the analog input ports - see highlighted legend pic below

• Additionally, some sensors may need to connect to multiple analog input ports in order to function. In general, these sensors will only ever require a single power and a single ground pin - only the signal pin of the additional port(s) will be needed.

Wiring the Solenoids (please read caution below)

• Use 24 AWG wire, Stripped back ~0.375” (9mm) Press and hold down connector button.

• Insert wire into connector opening

• Release connector button

• Test the wire by giving it a smart tug to ensure wire is connected securely.

• Visually inspect to make sure no stray wires are outside of the connector port

• set single acting vs double acting

Wiring the CAN bus

• Use 24 AWG - 18 AWG Wire, Stripped back ~0.375” (9mm) Press and hold down connector button.

• Insert wire into connector opening

• Release connector button

• Test the wire by giving it a smart tug to ensure wire is connected securely.

• Visually inspect to make sure no stray wires are outside of the connector port

Building Pressure!

The complexity of your pneumatic system is dependent on your design and governed by the tightly defined FRC robot rules. Because of the number of variables inherent in these systems, we do not cover them within this documentation. There are, however, several references we can suggest!

The following tables provide the operating and mechanical specifications for the Pneumatic Hub.

Main Electrical Specifications

Compressor Output Specifications

Solenoid Channel Specifications

Digital Pressure Switch Port Specifications

Analog Pressure Sensor Port Specifications

Mechanical Specifications

Mechanical Drawings

The following tables provide the operating and mechanical specifications for the Power Distribution Hub (PDH).

Main Electrical Specifications

CAN Specifications

High Current Channel Specifications

Low Current Channel Specifications

Switched Channel Specifications

Power Distribution Hub Circuit Breakers

Within the FRC community, there is a common misconception that circuit breakers are designed to trip exactly at a specified current value to protect the devices connected to your Power Distribution Hub. However, a more accurate description would be that circuit breakers are designed to trip at a specific temperature after a set amount of time to protect the electrical system from fire or other electrical hazards.

The current rating on a circuit breaker is the specification of the maximum current at which the circuit breaker is guaranteed not to trip. It is theoretically possible to see a 200% overload for greater than 1 second before it trips. Datasheets for the two most common breakers used with motors in FRC, the 40A REV Robotics ATO Auto-resetting Breakers and the 40A Snap Action MX5 Breakers, show the 40A breakers can see 80A flow through for a short period before they trip.

Mechanical Specifications

Mechanical Drawings

The REV Pneumatic Hub (REV-11-1852) is a standalone module that is capable of switching both 12V and 24V pneumatic solenoid valves. The Pneumatic Hub features 16 solenoid channels which allow for up to 16 single-acting solenoids, 8 double-acting solenoids, or a combination of the two types. The user-selectable output voltage is fully regulated, allowing even 12V solenoids to stay active when the robot battery drops as low as 4.75V.

Digital and analog pressure sensor ports are built into the device, increasing the flexibility and feedback functionality of the pneumatic system. The USB-C connection on the Hub works with the REV Hardware Client, allowing users to test pneumatic systems without a need for an additional robot controller.

Features

• 16 solenoid channels

  • 16 single-acting or 8 double-acting channels

  • Fully integrated user-selectable 12V or 24V solenoid output

• Pressure sensor inputs

  • 1 Digital pressure switch input

  • 2 Analog pressure sensor inputs

• CAN connectivity

  • Channel telemetry feedback to the main robot controller

• USB-C connectivity

  • USB-to-CAN device allowing for monitoring and updating devices on the CAN bus

  • Update and diagnose faults with the REV Hardware Client

• Channel status LEDs indicate channel state and faults

• Reverse polarity protection

• Overcurrent protection

• ESD protection

Welcome to your new Pneumatic Hub from REV Robotics! This documentation is intended to answer any questions related to the Pneumatic Hub (PH) used in the FIRST Robotics Competition. If there is a question that is not answered by this space, send our support team an email at support@revrobotics.com. We are happy to help point you in the right direction!

• Have a specific question? Feel free to head straight to it using the navigation bar to the left. Each section is grouped with other similar topics.

• Have trouble finding what you are looking for? Try the search bar in the upper right!

Before You Start

Install the REV Hardware Client before continuing with this guide. The REV Hardware Client is the best way to verify that the Pneumatic Hub is configured correctly and is required for using the CAN Interface.

Utilizing 18V Passive PoE with two socketed RJ45 connectors, the Radio Power Module passes signal between the radio and roboRIO while providing power directly to the radio. Connect an ethernet cable into each end of the Radio Power Module, connect the NI roboRIO port to the roboRIO, then connected the WiFi Radio Power port to the radio. Once the Radio Power Module is connected, add power through the low-current channel on the Power Distribution Hub utilizing the WAGO 250 series push button connectors.

The REV Radio Power Module (REV-11-1856) is designed to keep one of the most critical system components, the OpenMesh OM5P-AC WiFi radio, powered in the toughest moments of the competition. Traditional barrel jacks easily work themselves loose and often require hacks, like hot glue, to prevent intermittent power losses. The Radio Power Module eliminates the need for powering the radio through a traditional barrel power jack. Utilizing 18V Passive Power over Ethernet (PoE) with two socketed RJ45 connectors, the Radio Power Module passes signal between the radio and roboRIO while providing power directly to the radio. After connecting the radio and roboRIO, easily add power to the Radio Power Module by wiring it to the low-current channels on the Power Distribution Hub utilizing the color coded push button WAGO terminals.

Features

• 18V Passive Power over Ethernet (PoE)

• Easy to wire

  • WAGO 250 series push button terminals for power

  • Two socketed RJ45 connectors accepting standard Ethernet cables

• Designed for use with the OpenMesh OM5P-AC

  • Compatible with other devices that accept 18V passive PoE

• ESD protection

• Overcurrent protection

General Troubleshooting

If you are experiencing issues with your Pneumatic Hub that you are struggling to diagnose, we recommend following the troubleshooting guides and steps listed below, both in the flowchart and in the following subsections.

Checking for Faults

Clearing Sticky Faults

Sticky faults are cleared when the mode button on the Power Distribution Hub is pressed or can be cleared using the REV Hardware Client. It is also possible to clear sticky faults using WPILib.

Compressor Test Mode

To activate Compressor Test Mode, please follow these steps:

1. Turn on and enable your robot, or connect your Pneumatics Hub to the REV Hardware Client.

2. Hold down the mode button for 7 seconds.

3. Compressor will start, continue holding the mode button to keep the compressor on.

4. When done with Compressor Test Mode, release the mode button to stop the compressor.

Fuse consistently pops during use

Your Pneumatic Hub is drawing more current than the fuse can handle. If you’re using a 15A fuse, try a 20A fuse.

If you’re using a 20A fuse, we recommend moving your Pneumatic Hub to be powered by a High Current Channel and a 20A breaker.

You should also check your logs to see how much current the PH is pulling. Please note that the PH will draw more current at lower battery voltages.

Recovery Mode

When updating the firmware on the Pneumatic Hub, it is possible for the process to be interrupted or for the firmware to be corrupted by a bad download. In this state, the Status LED will be dark and the Pneumatic Hub will fail to operate. There is a built-in recovery mode that can force it to accept new firmware even if the controller seems to be bricked and the procedure is outlined below:

1. With the Pneumatic Hub powered off, press and hold the Mode Button

2. While still holding the Mode Button, connect the Pneumatic Hub to the computer using the USB-C cable - the Status LED will not illuminate, this is expected

3. With the REV Hardware Client running on the computer, wait a few seconds for the audible tone or icon for the device to be recognized in recovery mode then release the Mode Button -no lights will be present on the Pneumatic Hub during this stage of the process, this is expected

4. Select the Pneumatic Hub in Recovery Mode from the REV Hardware Client window

5. From the "Choose a Device" type dropdown, choose - Pneumatic Hub

6. Choose the latest version of the firmware from the dropdown and then click update

7. Wait for the software update to complete

8. Power cycle unit (unplug and plug in USB-C) click on Pneumatic Hub icon, clear any sticky faults - the recovery should be complete.

Other Common Issues

General Status LED

Compressor Status LED

Solenoid Status LED

Software

Power

Motion Control

Pneumatics

Input Status LED

Output Status LED

The REV Robotics 2m Distance Sensor (REV-31-1505) uses the ST Microelectronics VL53L0X Time-of-Flight (ToF) laser-ranging module to measure distances up to 2m with millimeter resolution.

Unlike other ranging sensors that rely on the intensity of reflected light, this sensor can measure how long it takes for the light to bounce back, the “time of flight.” This results in much more accurate measurements that are independent of the target’s reflectance.

This page contains a wiring diagram for the Radio Power Module with the Vivid Hosting VH-109 FRC radio, along with a few crucial notes to consider for the electrical protection of the radio.

FRC Radio Wiring Diagram

The following tables provide the operating and mechanical specifications for the Mini Power Module (MPM).

Main Electrical Specifications

Output Channel Specifications

The REV Mini Power Module (MPM) (REV-11-1956) is a compact power distribution module that allows you to securely and quickly power peripheral devices to your robot. Need more low-current channels on your PDH? Wire the MPM to one of the high-current channels on the PDH to power more peripheral devices and custom circuits.

Features

• 6 Output Channels

  • ATM Fuse Protection

• Channel Status LEDs

  • Channel status LEDs for Fuse-Tripped/No Fuse Feedback

  • Power On Status LED

The following tables provide the operating and mechanical specifications for the Radio Power Module.

Main Electrical Specifications

Mechanical Specifications

Mechanical Drawings

The REV Through Bore Encoder is specifically designed with the end user in mind, allowing teams to place sensors in the locations closest to the rotation that they wish to measure. This rotary sensor measures both relative and absolute position through its ABI quadrature output and its absolute position pulse output.

The REV Robotics Magnetic Limit Switch () is a three-sided digital hall effect switch. The three internal hall effect elements (one on top, two on the sides) are connected in parallel so if any one of them is triggered the sensor will report as triggered.

Hall effect sensors detect the presence of a magnetic fields. The REV Magnetic Limit Switch is an omnipolar momentary switch; it will trigger when there is sufficient field strength of either magnetic pole detected.

The REV Robotics Touch Sensor () is a digital sensor that can be used as a button input or as a basic mechanical limit switch. The touch sensor is similar to a keyboard button, when the button is pressed the touch sensor notifies the Robot Controller and an action in the code is triggered. Sometimes this action may stop the motors or reset the encoder angle, depending on the use case.

Like all digital sensors, the Touch Sensor acts on a binary. When the button is not pressed, the LED light remains unlit and the value read by the Expansion Hub is 3.3V (high) and when the button is pressed the LED will light and the Expansion Hub will read 0V (Low)

The REV Robotics Color Sensor V3 is a combined color and proximity sensor. From a single sensor you can measure colors and rough distances to various targets. Version 3 introduces a new sensor chip from Broadcom due to the end-of-life of the V1/V2 color sensor chip.

The REV Potentiometer () converts the angular position of a shaft into an analog voltage signal. A potentiometer acts as an adjustable resistor, fluctuating resistance as the shaft is turned. As the wiper (the knob) moves up and down along the coils of the resistor and the resistance and voltage output change proportionally at each new position.‌

The is a compact, all-in-one solution that can control LEDs in a stand-alone mode with just a 12V power source or in a dynamic mode, changing patterns by supplying a standard servo-style PWM signal.

Version 22.0.3

• Fixes issue where PDH will sometimes fail to update downstream devices via CAN

Version 22.0.2

• Improves accuracy of battery voltage reading

• Improves hardware fault reporting

• Improves switchable channel LED behavior

• Blinks the status LED blue when sticky faults are successfully cleared via the MODE button

• Fixes issue where the device would hang after receiving a malformed CAN frame

Version 22.0.1

• Fixes certain faults that were incorrectly triggered when the device was only powered via USB

Version 21.1.7

• Persists sticky faults across power cycles

• Allows sticky faults to be cleared by holding down the device's button

• Updates LED patterns

• Turns off the switchable channel LED when the switchable channel is turned off

• Reports to the REV Hardware Client whether a roboRIO is connected via the CAN network

Version2024.2.4

Changes to C++ and Java

• Increases the default timeout to wait for a periodic status from 2*framePeriodMs to 500ms.

  • Reduces possibility of large, inaccurate jumps in data occurring when retrieving from status frames.

  • Reduces amount of "timed out while waiting for periodic status X" errors in driver station.

  • Adds setPeriodicFrameTimeout() to configure the CAN timeout for periodic status frames. See code docs for more information.

• Improves reliability of RTR CAN frames such as setting parameters and other commands that expect a response from the device.

  • Adds mechanism to retry requests if sending the request or receiving the response failed. The default value for maximum number of retries is 5.

  • Adds setCANMaxRetries() to configure the value for maximum number of retries. See code docs for more information.

• Fixes undefined behavior when SPARK motor controller information cannot be retrieved during initialization.

Version 2024.2.3

Changes to Java

• Fixes issue introduced in v2024.2.2 where calling getEncoder() multiple times can cause a fatal exception in certain circumstances.

Changes to C++ and Java

• Removes dynamic check for SPARK model when calling getEncoder(), causing unnecessary CAN traffic.

• Moves zero argument CANSparkBase.getEncoder() to CANSparkMax and CANSparkFlex subclasses to determine default encoder values.

Version 2024.2.2

Changes to C++ and Java

• Fixes issue where configuring the velocity filter for the default relative encoder of a SPARK Flex would not set the correct parameters.

Changes to Java

• Improves memory allocation performance.

Version 2024.2.1

Changes to C++ and Java

• Changes behavior of SPARK Flex and MAX initialization errors to throw exceptions rather than terminating the robot program.

• Fixes issue where initializing a SPARK Flex or MAX in brushed mode while the device is disconnected from the CAN bus causes the robot program to terminate.

• Fixes issue where initializing a SPARK Flex or MAX in brushed mode causes robot simulation to terminate.

• Fixes warning about using the wrong class for a SPARK Flex or MAX during robot simulation.

Changes to C++

• Fixes ambiguous overload error when no parameters are supplied when calling GetAnalogSensor().

• Fixes ambiguous overload error when no parameters are supplied when calling GetEncoder().

Version 2024.2.0

Official 2024 FRC kickoff release for REVLib, with full support for SPARK Flex. Requires WPILib 2024 and SPARK Flex/SPARK MAX firmware 24.x.x.

Changes to C++, Java, and LabVIEW

• Throws an error if firmware version is less than 24.0.0

• Throws an error if the motor type is set to Brushed on a SPARK Flex while a SPARK Flex Dock is not connected

• Gets main encoder position with enhanced precision

Changes to C++ and Java

• Sends a warning to the Driver Station if the wrong class is used for the type of SPARK that is connected

• Adds CanSparkBase class that exposes functionality that is common to both the SPARK MAX and the SPARK Flex

• Adds CanSparkFlex class that exposes all functionality of the SPARK Flex

  • CanSparkFlex has a getExternalEncoder() method that returns a SparkFlexExternalEncoder instead of a getAlternateEncoder() method that returns a SparkMaxAlternateEncoder.

  • This is because Alternate Encoder Mode is not necessary for SPARK Flex, and has been replaced by the External Encoder Data Port feature:

    • Can be used simultaneously with the internal encoders in NEO class motors

    • Can be used simultaneously with an absolute encoder and limit switches

    • Virtually no RPM limit

    • No special configuration

• The following items have been deprecated in favor of new equivalents:

  • Instead of CANSparkMaxLowLevel, use CANSparkLowLevel

  • Instead of SparkMaxAbsoluteEncoder, use SparkAbsoluteEncoder

  • Instead of SparkMaxAnalogSensor, use SparkAnalogSensor

  • Instead of SparkMaxLimitSwitch, use SparkLimitSwitch

  • Instead of SparkMaxPIDController, use SparkPIDController

  • Instead of SparkMaxRelativeEncoder, use SparkRelativeEncoder

  • Instead of ExternalFollower.kFollowerSparkMax, use ExternalFollower.kFollowerSpark

    • The ExternalFollower enum can be accessed at CANSparkMax.ExternalFollower, CANSparkFlex.ExternalFollower, or CANSparkBase.ExternalFollower

• Adds a CANSparkBase.getSparkModel() method that returns a SparkModel enum

Changes to LabVIEW

• Deprecates old VIs that are prefixed with "Spark MAX" and replaces them with VIs prefixed with "SPARK"

  • Deprecated icons are "grayed out"

  • Help context (documentation) for deprecated VIs point the user to the equivalent new VI

  • New icons say "SPARK" instead of "REV MAX"

• Adds SPARK Get Model.vi

• Fixes SPARK Get Analog Sensor Voltage.vi when used with a SPARK Flex

• Updates SPARK Get I Accum.vi to get I Accum from status 7 instead of status 2

• Updates "Alternate Encoder" VIs to be "Alternate or External Encoder"

  • Only throw the data port config warnings when the device is a SPARK MAX

Version 2023.1.3

This version of REVLib requires SPARK MAX Firmware v1.6.3. Please update your SPARK MAX through the REV Hardware Client.

• Improves documentation for the setZeroOffset() and getZeroOffset() methods on Absolute Encoder objects

• Fixes issue where reading an absolute encoder’s zero offset could return an incorrect value in certain conditions

Version 2023.1.2

This version of REVLib requires SPARK MAX Firmware v1.6.2. Please update your SPARK MAX through the REV Hardware Client.

• Adds support to configure the hall sensor's velocity measurement

  • C++/Java: Updates SetMeasurementPeriod() and SetAverageDepth() in the SparkMaxRelativeEncoder class to be used when the relative encoder is configured to be of type kHallSensor.

  • LabVIEW: Adds SPARK MAX Configure Hall Sensor.vi and SPARK MAX Get Hall Sensor Config.vi to set and get the hall sensor's measurement period and average depth.

Version 2023.1.1

• Adds support for WPILib 2023

• Adds support for using a duty cycle absolute encoder as a feedback device for the SPARK MAX

  • C++/Java: Adds SparkMaxAbsoluteEncoder class

  • LabVIEW: Adds VIs for configuring and getting the values from a duty cycle absolute encoder

• Adds Position PID Wrapping to allow continuous input for the SPARK MAX PID controller

  • C++/Java: Adds PositionPIDWrapping methods to the SparkMaxPIDController class

  • LabVIEW: Adds VIs for setting and getting the Position PID Wrapping configuration

• Allows configuring the periodic frame rates for status frames 4-6

Version 2022.1.2

Breaking Changes

• LabVIEW: The version of NI Package Manager bundled with the FRC LabVIEW offline installer will no longer work when installing the REVLib package. NIPM must be updated to the latest version or installed from the FRC LabVIEW online installer to be able to install this package of REVLib for LabVIEW

Version 2022.0.0

Breaking changes

• C++/Java: CANError has been renamed to REVLibError.

• Java: ColorMatch.makeColor() and the ColorShim class have been removed. Use the WPILib Color class instead.

• C++/Java: Deleted deprecated constructors, methods, and types

  • Replace deprecated constructors with CANSparkMax.getX() functions.

  • Replace CANEncoder.getCPR() with getCountsPerRevolution().

  • Remove all usages of CANDigitalInput.LimitSwitch.

  • Replace CANSparkMax.getAlternateEncoder() with CANSparkMax.getAlternateEncoder(int countsPerRev).

  • Remove all usages of CANSparkMax.setMotorType(). You can only set the motor type in the constructor now.

  • Replace SparkMax with PWMSparkMax, which is built into WPILib.

• Java: CANSparkMax.get() now returns the velocity setpoint set by set(double speed) rather than the actual velocity, in accordance with the WPILib MotorController API contract.

• C++/Java: CANPIDController.getSmartMotionAccelStrategy() now returns SparkMaxPIDController.AccelStrategy.

• C++/Java: Trying to do the following things will now throw an exception:

  • Creating a CANSparkMax object for a device that already has one

  • Specifying an incorrect countsPerRev value for a NEO hall sensor

  • Java: Calling a CANSparkMax.getX() method using different settings than were used previously in the program

  • Java: Trying to use a CANSparkMax (or another object retrieved from it) after close() has been called

  • C++: Calling a CANSparkMax.getX() method more than once for a single device

• C++/Java: Deprecated classes in favor of renamed versions

  • C++ users will get cannot declare field to be of abstract type errors until they replace their object declarations with ones for the new classes. Java users will be able to continue to use the old classes through the 2022 season.

  • AlternateEncoderType is replaced by SparkMaxAlternateEncoder.Type.

  • CANAnalog is replaced by SparkMaxAnalogSensor.

  • CANDigitalInput is replaced by SparkMaxLimitSwitch.

  • Java: CANEncoder is replaced by RelativeEncoder.

  • C++: CANEncoder is replaced by SparkMaxRelativeEncoderandSparkMaxAlternateEncoder`.

  • CANPIDController is replaced by SparkMaxPIDController.

  • CANSensor is replaced by MotorFeedbackSensor.

  • ControlType is replaced by CANSparkMax.ControlType.

  • EncoderType is replaced by SparkMaxRelativeEncoder.Type.

Enhancements:

• C++/Java: Added the ability to set the rate of periodic frame 3

Fixes:

• C++/Java: CANSparkMax.getMotorType() no longer uses the Get Parameter API, which means that it is safe to call frequently

• Java: The CANSparkMax.getX() methods no longer create a new object on every call

Known issues:

• SparkMaxPIDController.setIAccum() only works while the control mode is active

Version 23.0.1

• Fixes issue where compressor channel does not turn on after updating to v23.0.0 without explicitly setting a compressor mode

Version 23.0.0

• Improves device brownout detection

• Improves CAN fault detection

• Improves robustness against soft-bricking

Version 22.0.5

• Reduces stutters in compressor and solenoids with high CAN utilization

Version 22.0.4