Overview

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.

Features

• Digital RGB Color Sensing

• IR Proximity Emitter and Detector

• Built-in (switchable) white LED

• Supports Standard (100kHz) or High Speed (400kHz) I2C

Kit Contents

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.

Kit Contents

The REV Robotics Magnetic Limit Switch (REV-31-1462) 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.

Kit Contents

The REV Robotics Touch Sensor (REV-31-1425) 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)

Kit Contents

The REV Potentiometer (REV-31-1155) 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 Potentiometer has a 270° limit to rotation. The sensor detects how much rotational motion has occurred in a mechanism. A specific limit is set in code to ensure rotation stops at a certain point. This is helpful when building simple arm joints because if properly applied it can prevent a mechanism from damaging itself or other parts of the robot.

Kit Contents

Overview

The 9-Axis IMU, compatible with the REV DUO System, is a high-performance inertial measurement unit (IMU) featuring the Bosch BNO055 smart sensor with an integrated accelerometer, gyroscope, and magnetometer.

Features

• 9-axis IMU

• Supports Standard (100kHz) or High Speed (400kHz) I2C

• ESD Protection

Kit Contents

General Specifications

Electrical Specifications

Physical Specifications

Mechanical Drawing

Pinout

The 9-Axis IMU is configured similar to other I2C devices. First, navigate to the Control Hub Portal or Expansion Hub where it is connected in the configuration menu.

Next, scroll to find the option to add something to the I2C Bus. Note: The internal IMU appears in I2C Bus 0. For this example, we are adding the 9-Axis IMU to I2C Bus 1.

Once in the menu, click "Add". This will show the option to add a new sensor to this I2C Bus.

Scroll to select the REV 9-Axis IMU from the dropdown menu.

Name the IMU something relevant that will be easy to identify later. Remember the built-in IMU, if applicable, may also appear as an option while programming.

Finally, select "Done" and complete the remainder of your configuration process.

9-Axis IMU in Blocks

Once configured, the 9-Axis IMU will appear as an option under "Sensors" in the Blocks menu.

When calling the IMU, the configured 9-Axis IMU will appear as the assigned name in the dropdown option on the individual block.

9-Axis IMU in OnBot Java

When "Setup Code for Configured Hardware" is checked while creating a new OpMode in OnBot Java, the IMU will automatically be added to the hardwareMap using the assigned name from configuration.

An internal IMU, if applicable, will retain its default name based on the version of IMU (BNO055 or BHI260AP).

The Blinkin LED Driver (REV-11-1105) 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.

Frequently Used Resources

• LED Strip Pattern Table Spreadsheet

• Status LED Patterns

• Electrical Specifications

• FRC Application Examples

• FTC Application Examples

LED Strip Pattern Table Spreadsheet

Blinkin Factory Default Values

The REV Through Bore Encoder V2 provides precise, reliable shaft position measurement with both incremental (ABI quadrature) and absolute (pulse-width) outputs

The Through Bore Encoder V2 delivers higher measurement accuracy—up to ±0.5°—while maintaining strong performance in environments where dust or debris may affect optical encoders. The magnetic sensing design offers consistent feedback without the need for complex alignment or maintenance.

• Incremental and absolute magnetic encoder

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

• Incremental and absolute magnetic encoder

  • Built-in magnet

Specifications

General Specifications

Electrical Specifications

Mechanical Drawings

Pinout

The REV Robotics Color Sensor has two sensing elements: color and proximity.

Color measurements consist of Red, Green, Blue, and Alpha (clear) values. The white LED on the sensor has a slide switch to turn the LED on or off. Unlit targets are best illuminated with the build-in LED while bright or light-emitting targets may not require the build-in LED. Color data is best collected within 2cm of the target for the strongest color differentiation.

Proximity measurements are based on IR reflectance and can vary depending on lighting conditions and target reflectivity. The proximity sensor is ideally used to determine if something is in front of the sensor. While you can receive rough distance data, we recommend using the or similar time-of-flight sensor for accurate distance measurement.

When working with the Color Sensor V3 configure your robot to use the "REV Color Sensor V3" as shown in the image below.

In this example, the Color Sensor V3 is configured on I2C bus 1. The Color Sensor V3 can be configured on any of the I2C busses as long as a 2m Distance Sensor is not configured to the same bus.

The REV Robotics Color Sensor V2 is a combined color and proximity sensor with updated features from the original REV Color Sensor. From a single sensor you can measure colors and rough distances to various targets.

• Redesigned case

  • Better mounting

Specifications

General Specifications

Application Information

The REV Magnetic Limit Switch comes with two mountable magnets. Because this sensor does not require a contact interface, the magnet can also be soft-mounted almost anywhere with just tape or glue.

The strength of the magnetic field determines the maximum distance the magnet can be from the sensor and still be detected. Alternate (stronger or weaker) magnets can easily be used to change the trigger range of this sensor.

Hysteresis

When designing a system using the REV Magnetic Limit Switch, it is important to consider the impact of hysteresis. When the magnetic field approaches the Magnetic Limit Switch, the sensor triggers after the field strength increases enough to cross the rising trigger point (Bop). As the magnet is then moved away from the sensor, the magnetic field strength falls, but the sensor remains in the triggered state until the field falls below the falling trigger level (BRP). The difference between these two points is the hysteresis.

For a simple system like stopping an arm at the end of range of motion, the hysteresis might not play much of a role, but for creating one or more stop points on a linear elevator, this may factor into the software design.

FTC Applications

Configuring in the Control System

It is recommended that the Magnetic Limit Switch be configured as a "REV Touch Sensor" as shown below:

In this example, the Magnetic Limit Switch is configured on port 3 as a "REV Touch Sensor". It is touched on briefly in the that the Magnetic Limit Switch is capable of sending a signal to the Control Hub through the n+1 and n communication channels. The channel the sensor communicates through is decided by which port it is configured on. In this case, the Magnetic Limit Switch communicates through the n channel.

The code blocks below gives a basic example of how to use the Magnetic Limit Switch to limit the motion range of a motor using if/else logic. If the magnet is within range of the sensor, then the motor stops. Otherwise, the motor is allowed to move. When triggered by proximity to a magnet, the sensor is considered pressed.

Application Information

The REV Touch Sensor features an off-center button. Because this sensor requires a contact interface; the sensor must be mounted with regards to the location of the button and the object, or mechanism, intended to trigger the sensor.

Common applications for the Touch Sensor, such as limit switches, require consideration for unconstrained, or twisting motion. Limit switches limit the range of motion for a mechanism. If the mechanism is not properly constrained, there is a risk that the contact interface will not trigger the Touch Sensor.

FTC Applications

Configuring in the Control System

Configure the Touch Sensor as "REV Touch Sensor" as shown in the image below.

In this example, the Touch Sensor is configured on port one. It is touched on briefly in the Pinout Section that the Touch Sensor only sends a signal to the Control Hub through the n+1 communication channel. Because of this limitation, the Touch Sensor will only work when configured on the odd-numbered digital ports.

Programming Applications

The code blocks below give a basic example of how to use the Touch Sensor to limit the motion range of a motor using if/else logic. If the button is pressed then the motor stops. Otherwise, the motor is allowed to move.

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.TouchSensor;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;

@TeleOp

public class HelloRobot_TouchSensor extends LinearOpMode {
    TouchSensor test_touch;  // Touch sensor Object
    private DcMotor test_motor = null;
    private Servo test_servo = null;
    
    @Override
public void runOpMode() {
        test_motor = hardwareMap.get(DcMotor.class, "test_motor");
        test_touch = hardwareMap.get(TouchSensor.class, "test_touch");
        
        // Wait for the game to start (driver presses PLAY)
        waitForStart();
        
        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {
        
            if (touchSensor.isPressed()){
                //Touch Sensor is pressed.
                test_motor.setPower(0);
                telemetry.addData("Touch Sensor", "Is Pressed");
            } else {
                //Touch Sensor is not pressed 
                test_motor.setPower(0.3);
                telemetry.addData("Touch Sensor", "Is Not Pressed");
                        }
        telemetry.update();
        }
    }
}

Specifications

General Specifications

Electrical Specifications

Mechanical Drawing

Pinout and Schematic

The Potentiometer only sends signal to the hub through the n port, which means during configuration the potentiometer will need to be assigned to port 0 or port 2. This limitation means that two potentiometers can not be hosted on the same physical port using the sensor splitter cable.

Potentiometers are most commonly used to measure the angle of an arm type joint. There are two different ways to utilize a potentiometer when using it in conjunction with an arm. One way to use the potentiometer is to directly place it on the shaft being used to pivot the arm. However, placing the potentiometer on an adjacent shaft that connects to the pivot-point shaft, via gears or chain, allows for more design flexibility.

Applying the concept of gear ratios (or sprocket ratios) to the potentiometer; it is possible to manipulate the accuracy/range of motion relationship. When the range of motion increases, through changes in gear ratio, accuracy decreases, and vice versa.

This Potentiometer has a 5mm female hex socket input and can be used with any 5mm hex axle, like the ones in the REV Building System. There are six M3 tapped holes around the input shaft on a 16mm circle which will mount to any of the REV Robotics Motion Brackets.

The REV Potentiometer has a linear* relationship between the output voltage and the angle of its shaft.

Assuming a 3.3V input voltage, the degrees per volt can be graphed and calculated as follows:

The REV UltraPlanetary System is a cartridge based modular gearbox designed to handle the rigors of the competition and the classroom. Users can configure a single-stage planetary using one of three different reduction cartridges, build multi-stage gearboxes through stacking individual cartridges together, and choose two different ways for transferring power through the output stage through face mounting to the stage or choosing the length of 5mm hex shaft best suited for the application.

The UltraPlanetary Gearbox Kit () includes an input stage and pinion gear pressed onto the REV HD Hex Motor. Building on the ability to iterate and adjust designs easily using the REV Building System, the UltraPlanetary System consists of pre-assembled and lubricated cartridges allowing for swapping gear ratios on the fly and with ease. The system also allows for the user to choose the length of 5mm shaft to fit their application or to face mount a sprocket, gear, wheel, or structure using the REV Motion Pattern on the output stage.

Using the UltraPlanetary Gearbox System with other 550 class motors, like the NEO 550 Brushless motor, requires pressing of an UltraPlanetary 550 Motor Pinion () onto the motor, use of the UltraPlanetary 550 Motor Plate (), along with use of individual cartridge reductions and an UltraPlanetary Female 5mm Hex Output ().

The UltraPlanetary has a variety of options for mounting with four different brackets available for mounting to REV Extrusion, REV C Channel, or REV U Channel.

REV UltraPlanetary Metal Motor Brackets are nominally 3mm thick and made from 5052 aluminum. Check individual CAD models or drawings for exact dimensions for each bracket. The table below shows all of the UltraPlanetary Mounting Brackets.

With an efficient right-angle configuration, the Ultra 90 Degree Gearbox () () offers a robust solution to building a more compact robot. The Ultra 90 Degree Gearbox allows you to connect the UltraPlanetary Gearbox and the HD Hex Motor in a 90-degree orientation for maximum flexibility and ease of use in tight spaces. This versatile gearbox can also be used to transfer power between two 5mm hex shafts that are at a right-angle configuration.

• Mounts directly to the output of the UltraPlanetary Gearbox

• Mounting holes compatible with the REV Motion Pattern

The exterior of the gearbox is completely symmetrical; however, it is NOT symmetrical internally. Depending on the orientation of the gearbox, the bevel gear on the output shaft could be on either side which will affect the rotation direction.

Orientation A

Orientation B

Wiring Diagrams

• Size: 40.2mm x 20mm x 38mm (1.58in x 0.79in x 1.5in)

• Gear Material: Steel

• Voltage Rating: 4.8V – 7.4V (6V nominal)

The Digital LED Indicator (REV-31-2010) is a LED signal module that is digitally controlled (active low) and offers three colors: red, green, and amber. The Digital LED Indicator is designed to directly interface with the DIO ports of the Control Hub and Expansion Hub.When using the Digital LED Indicator outside of the REV Hub environment, make sure to check that your device GPIO pins’ current sink rating can handle 20mA.

The REV Through Bore Encoder uses the Monolithic Power Systems MA600, a precision high-bandwidth magnetic angle sensor that detects the absolute angular position of a permanent magnet and geared to the through bore shaft hole. The MPS MA600 uses precision tunnel magnetoresistance technology to measure changes in the magnetic field as the shaft and magnet rotates.

A major benefit of the REV Through Bore Encoder is the flexibility of measuring any shaft in your system. Directly measuring the rotation of an output shaft allow users to read encoders without having to calculate gear ratios.

Cable Options

The Through Bore Encoder comes with several different cables making it easier to connect to different devices. Below are a few wiring examples for the more commonly used devices with the Through Bore Encoder.

To connect the Through Bore Encoder to a Control Hub, use the included JST PH 6-pin to JST PH 4-pin cable. The Through Bore Encoder plugs into the Encoder ports on the Control Hub.

Wiring of the Through Bore Encoder to a SPARK MAX changes depending on the motor type being used with the SPARK MAX. Both motor types use the included JST PH 6-pin cable.

When using a brushed motor with SPARK MAX, the Through Bore Encoder is connected directly to the Encoder Port on the front of the SPARK MAX.

When using a brushless motor with SPARK MAX, the Through Bore Encoder is used as an Alternate Encoder. Using the Alternate Encoder Adapter (REV-11-1881) with the SPARK MAX allows for the JST PH 6-pin cable to connect directly to the adapter and the Through Bore Encoder.

NI's roboRIO supports both quadrature and duty cycle encoders. There are slight differences in wiring depending on what mode is desired. Both wiring setups use the included JST PH 6-pin to 4 Channel PWM Cable.

When using the Through Bore Encoder as a quadrature encoder, plug the ENC A (blue) and ENC B (yellow) signal lines into the DIO ports on the roboRIO.

When using the Through Bore Encoder as a duty cycle encoder plug the ABS (white) signal line into a DIO port on the roboRIO.

This is the default shaft configuration that comes with the encoder out of the box.

When using the 3/8” Hex insert, press the insert into the 1/2” Hex hole.

If you are having difficulty pressing the insert into the encoder, try flipping the insert over and press it in. There is a slight taper in the insert, so it is recommended to press the insert with the smaller end first. When removing, it is recommended to push the insert out in the reverse order (larger end first).

When using the 5mm Hex insert, press the insert into the 1/2” Hex hole.

If you are having difficulty pressing the insert into the encoder, try flipping the insert over and press it in. There is a slight taper in the insert, so it is recommended to press the insert with the smaller end first. When removing, it is recommended to push the insert out in the reverse order (larger end first).

When using the 1/4” round insert, press the insert onto the shaft first and then place the encoder onto the insert.

This adapter fits the encoder shaft on common gearboxes like the Toughbox Mini, which is traditionally included in the FRC Kit of Parts Chassis.

There is a switch on the side of the encoder and with two options: ‘A’ and ‘S’. ‘A’ is the ABI encoder output mode which outputs the incremental and absolute encoder signals. ‘S’ is the SSI/SPI mode used in the manufacturing stage and potential future features. Currently, only the ‘A’ mode is supported. Make sure that the switch is in the ‘A’ position when using this encoder.

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. Using the ¼” round insert allows teams to easily attach the Through Bore Encoder to the output shaft of the ToughBox Mini with the AM14U series kit of parts chassis. This guide is to show the process for attaching the Through Bore Encoder to the ToughBox Mini gearbox

Additional information about the MPS MA600, its capabilities, and its features can be found in the following datasheet:

The REV Through Bore Encoder uses the Broadcom AEAT-8800-Q24 magnetic rotary sensor to measure the rotation of a magnet embedded and geared to the through bore shaft hole. The AEAT-8800-Q24 uses hall effect technology to measure changes in the magnetic field as the shaft and magnet rotates.

A major benefit of the REV Through Bore Encoder is the flexibility of measuring any shaft in your system. Directly measuring the rotation of an output shaft allow users to read encoders without having to calculate gear ratios.

Cable Options

The Through Bore Encoder comes with several different cables making it easier to connect to different devices. Below are a few wiring examples for the more commonly used devices with the Through Bore Encoder.

To connect the Through Bore Encoder to a Control Hub, use the included JST PH 6-pin to JST PH 4-pin cable. The Through Bore Encoder plugs into the Encoder ports on the Control Hub.

Wiring of the Through Bore Encoder to a SPARK MAX changes depending on the motor type being used with the SPARK MAX. Both motor types use the included JST PH 6-pin cable.

When using a brushed motor with SPARK MAX, the Through Bore Encoder is connected directly to the Encoder Port on the front of the SPARK MAX.

When using a brushless motor with SPARK MAX, the Through Bore Encoder is used as an Alternate Encoder. Using the Alternate Encoder Adapter (REV-11-1881) with the SPARK MAX allows for the JST PH 6-pin cable to connect directly to the adapter and the Through Bore Encoder.

NI's roboRIO supports both quadrature and duty cycle encoders. There are slight differences in wiring depending on what mode is desired. Both wiring setups use the included JST PH 6-pin to 4 Channel PWM Cable.

When using the Through Bore Encoder as a quadrature encoder, plug the ENC A (blue) and ENC B (yellow) signal lines into the DIO ports on the roboRIO.

When using the Through Bore Encoder as a duty cycle encoder plug the ABS (white) signal line into a DIO port on the roboRIO.

This is the default shaft configuration that comes with the encoder out of the box.

When using the 3/8” Hex insert, press the insert into the 1/2” Hex hole.

If you are having difficulty pressing the insert into the encoder, try flipping the insert over and press it in. There is a slight taper in the insert, so it is recommended to press the insert with the smaller end first. When removing, it is recommended to push the insert out in the reverse order (larger end first).

When using the 5mm Hex insert, press the insert into the 1/2” Hex hole.

If you are having difficulty pressing the insert into the encoder, try flipping the insert over and press it in. There is a slight taper in the insert, so it is recommended to press the insert with the smaller end first. When removing, it is recommended to push the insert out in the reverse order (larger end first).

When using the 1/4” round insert, press the insert onto the shaft first and then place the encoder onto the insert.

This adapter fits the encoder shaft on common gearboxes like the Toughbox Mini, which is traditionally included in the FRC Kit of Parts Chassis.

There is a switch on the side of the encoder and with two options: ‘A’ and ‘S’. ‘A’ is the ABI encoder output mode which outputs the incremental and absolute encoder signals. ‘S’ is the SSI/SPI mode used in the manufacturing stage and potential future features. Currently, only the ‘A’ mode is supported. Make sure that the switch is in the ‘A’ position when using this encoder.

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. Using the ¼” round insert allows teams to easily attach the Through Bore Encoder to the output shaft of the ToughBox Mini with the AM14U series kit of parts chassis. This guide is to show the process for attaching the Through Bore Encoder to the ToughBox Mini gearbox

Additional information about the AEAT-8800-Q24, its capabilities, and its features can be found in the following datasheet:

General Specifications

The REV Robotics Color Sensor has two sensing elements, proximity and color.

Proximity measurements are based on IR reflectance and can vary depending on lighting conditions and target reflectivity.

Color measurements consist of Red, Green, Blue, and Alpha (clear) values. The white LED on the sensor has a slide switch to turn the LED on or off. Unlit targets are best illuminated with the build-in LED while bright or light-emitting targets may not require the build-in LED. Color data is best collected within 2cm of the target for the strongest color differentiation.

When working with the Color Sensor V2 configure your robot to use the "REV Color/Range Sensor" as shown in the image below.

In this example, the Color Sensor V2 is configured on I2C bus 2. The Color Sensor V2 can be configured on any of the I2C busses.

This program shows the values from the Color Sensor on your phone. Your team will need to figure out the logic to use this information in your program. Below there are three examples of different color modes and their readings. Light Detected mode will read the amount of light on the sensor from 0-1.0. Because the sensor is close to a surface, the LED in the sensor reads 1.0 in the examples.

Additional information about the TMD37821, its capabilities, and its features can be found in the following datasheet:

General Specifications

The REV Robotics Color Sensor has two sensing elements, proximity and color.

Proximity measurements are based on IR reflectance and can vary depending on lighting conditions and target reflectivity.

Color measurements consist of Red, Green, Blue, and Alpha (clear) values. The white LED on the sensor has a slide switch to turn the LED on or off. Unlit targets are best illuminated with the build-in LED while bright or light-emitting targets may not require the build-in LED. Color data is best collected within 2cm of the target for the strongest color differentiation.

When working with the Color Sensor V1 configure your robot to use the "REV Color/Range Sensor" as shown in the image below.

In this example, the Color Sensor V1 is configured on I2C bus 2. The Color Sensor V1 can be configured on any of the I2C busses.

This program shows the values from the Color Sensor on your phone. Your team will need to figure out the logic to use this information in your program. Below there are three examples of different color modes and their readings. Light Detected mode will read the amount of light on the sensor from 0-1.0. Because the sensor is close to a surface, the LED in the sensor reads 1.0 in the examples.

Additional information about the TMD37821, its capabilities, and its features can be found in the following datasheet:

Application Examples

While the REV 2m Distance Sensor produces a significantly more accurate and reliable measurement than other types of ranging sensors, the following tips will help minimize errors.

A major benefit to time-of-flight measurements is that the target’s surface reflectance does not significantly impact the calculated distance. However, the smallest errors and farthest measurements are achieved with more reflective targets. Similarly, larger targets are easier to detect because they fill more of the sensors 25° field of view.

Ambient infrared (IR) interference can also affect the measurement distance and quality. The sensor can produce accurate measurements in sunlit environments, but the maximum distance will be reduced. The following table outlines the typical ranging capabilities of the sensor:

Configure the 2m Distance Sensor as "REV 2M Distance Sensor," shown in the image below.

In this example, the 2m Distance Sensor is configured on I2C bus 1. The 2m Distance Sensor can be configured on any of the I2C busses as long as a Color Sensor V3 is not configured to the same bus.

This program moves a motor if there is an object less than 10 centimeters from the distance sensor, and stops it if there is no object within that range.

For use with WPILib and the roboRIO the . Utilize the roboRIO's I2C port and a 4-pin JST PH to 4-pin roboRIO I2C Cable () to easily connect the sensor to the roboRIO.

• Example Code

Additional information about the VL53L0X, its capabilities, and the ST Application Programming Interface (API) can be found through the ST website:

Electrical Specifications

The Blinkin can control either 12V RGB LEDs or 5V Addressable LED strips.

Version 26.1.3

• Fixes USB compatibility for Mac

Version 26.1.2

• Fixes bug preventing updating downstream SPARK devices

Version 26.1.1

• Improves performance of USB bridging

Version 26.1.0

• Fixes bug preventing proper communication with downstream SPARKs

• Updates the bootloader. This update must be done via DFU.

• Switches the USB CAN bridging to use SLCan

  • Note: Devices that use SLCan are NOT compatible with REV Hardware Client when used over USB. Devices running v26.x.x+ can only be used via REVUI, or downstream of a REV CAN device running v25.x.x or lower with RHC.

• Fixes 'Servo Hub x reported temporary power loss' reported when a battery is charged above 13.5V

• Fixes bug causing some servo hub boards to read channel current more slowly

• Fixes case where Servo Hub doesn't report being in the primary lock state

• Improves robustness of overcurrent handling

• Tracking for whether any CAN message came from hardware CAN

• Recovery task to detect when the short-circuit is removed

• Turn off the Buck Regulator when PGood falls

Initial Servo Hub Release

• Control servos via RS-485 or CAN

• Channels can be enabled/disabled individually

• Channels can be powered on/off individually

• Status LEDs show the current state of each channel

SRS Programmer Overview

The REV Robotics SRS Programmer is the key to unlocking all the smart features of the Smart Robot Servo (SRS).

Switching between continuous rotation, standard servo, and custom angular modes is easy as pressing a button. The SRS Programmer can not only program the SRS, but it is also acts as a standalone servo tester for any standard RC servo.

Features

The REV Robotics SRS Programmer includes the following features:

• 3 programming modes

  • Continuous rotation

  • Angular limits

  • Reset to factory defaults

• Test modes

  • Automatic sweep

  • Manual position/direction

• Intuitive operation with LED feedback

• Self-powered

• Power-off reminder

Mechanical Specifications

The REV Robotics SRS comes with the following:

• REV SRS Programmer

If the SRS Programmer is left on for an extended period of inactivity, it will blink every LED as a reminder to shut off power.

The Digital LED Indicator produces light that is usable as visual feedback for a human user. Using the Digital LED Indicator to show what state the robot is in is useful for debugging autonomous and teleoperated programs. Other sensors used with the LED Indicator can let robot operators know a variety of things, from if the robot has game elements to the robot being blocked from completing an action.

FIRST Tech Challenge

Configuring in the Control System

Configure the green LED on port 0 as "green." Configure the red LED on port 1 as "red."

Each digital port on the Control (or Expansion) Hub is capable of acting as two separate ports, thanks to the two channels of communication. This is why the ports are marked as 0-1, 2-3, etc. The n+1 channel operates on odd-numbered ports 1-7 and the n channel operates on the even number ports 0-6. Due to the two channels of communication, the green and red LED must be configured on the ports that correspond with their respective channel of communication.

Programming Examples

The sample code below changes the color of the Digital LED Indicator based on the state of a Touch Sensor (REV-31-1425).

Load Ratings

Ratings are based on testing conducted by REV Robotics on the UltraPlanetary system. All load ratings are based on a safety factor of 1.2 to accommodate manufacturing tolerances. The torques listed are for the output of the stage.

Cartridge configuration tables for UltraPlanetary use a red rating system. If the motor and gear ratio combination is highlighted in red, the torque created by the motor can damage the gearbox. Non-highlighted combinations are within acceptable torque ranges.

Nominal gear ratios are used to reference the cartridge for ease of use in the following charts. For actual gear ratios for an individual cartridge, please reference the The final actual gear ratios are indicated in the cells.

Servo Pulse Width Control

Servo Motors are controlled using a technique called Pulse Width Modulation (PWM), where the width of a pulse determines the servo's behavior. The pulse is typically sent to the servo every 20 milliseconds, and the duration of the pulse (measured in microseconds) communicates the desired position or speed.

Angular Servos

For angular servo motors, the pulse width directly corresponds to the target position of the servo arm. The Servo Hub allows users to customize the pulse width range to suit their specific servo with a configurable minimum, maximum, and center position. Users can adjust these values to match the servo's capabilities or desired behavior.

• A shorter pulse width, typically either 1,000 µs (1 ms), or 500 µs (0.5ms), moves the servo to its minimum position (e.g., fully counterclockwise).

• A longer pulse width, typically either 2,000 µs (2 ms), or 2500 µs (2.5ms), moves the servo to its maximum position (e.g., fully clockwise).

• A pulse width near the midpoint, typically 1,500 µs (1.5 ms), positions the servo arm at the center.

For continuous rotation servos, the pulse width determines the direction and speed of rotation rather than position. The Servo Hub's configurable minimum, maximum, and center settings can also help calibrate continuous rotation servos. Fine adjustments can be made to the center pulse width to ensure the servo stops accurately at the neutral point.

• A pulse width of 1,500 µs (1.5 ms) typically stops the servo (no movement).

• Shorter pulse widths (e.g., 1,000 µs) cause the servo to rotate in one direction, with speed increasing as the pulse width decreases.

• Longer pulse widths (e.g., 2,000 µs) cause the servo to rotate in the opposite direction, with speed increasing as the pulse width increases.

Understanding how pulse width controls your servo and leveraging the REV Servo Hub's features can help optimize your servo’s performance for your robot. Test each servo to confirm its behavior and supported pulse width range before integrating it into your system. We suggest the following as a good place to start understanding your servo motors:

• Servo Variations: Always check the documentation for your specific servo, as pulse width ranges and behavior may vary.

• Signal Integrity: Ensure the PWM signal is clean and consistent to avoid jittering or erratic behavior.

The REV Robotics UltraPlanetary System includes the following features:

• Three different gear ratio cartridges providing twenty-seven gear ratios ranging nominally from 3:1 to 125:1.

• Pre-assembled cartridges for superior performance and ease of use.

• Flexible output allowing for the designer to choose shaft length or mounting driven parts directly to the output stage.

The REV Robotics UltraPlanetary Cartridges are nominally 10mm thick and made of a plastic (reinforced nylon) molded ring gear with hardened steel planet and sun gears. Cartridges are pre-assembled and lubricated allowing for more time for iterating designs rather than assembling individual stages of gearbox. Check individual CAD Models for exact dimensions for each cartridge.

Alignment Ribs: Protrusions on the input side of the cartridge to help seat stages of the system together.

Assembly Holes: M3 assembly holes for attaching cartridges to input and output stages.

Input Gear: Sun Gear with a sliding fit for a 13 tooth, M0.55, gear.

Output Gear: 13 tooth, M0.55, carrier gear.

Each cartridge was designed with reliability, durability, and ease of use in mind while having a variety of output ratios when used in combination. Cartridges are referred to at the gear ratio of their closest whole number. For exact gear ratios of individual stages see .

The REV Robotics UltraPlanetary Output Stage V2 (REV-41-1615) is nominally 17mm thick with 6mm protruding from the casing for output motion. The Output Stage is pre-assembled and made of a plastic (reinforced nylon) molded body with a ball bearing carrying the load of the Female Output Gear. Check the CAD Model for exact dimensions of the Output Stage.

Alignment Ribs: Protrusions on the input side of the output stage to help seat stages of the system together.

Assembly Holes: M3 assembly holes for attaching the output stage to cartridge and input stages.

Input Gear: Piece with sliding fit for a 13 tooth, M0.55, gear.

Female Output Gear: Female 5mm hex output for custom length shafts. Motion pattern present for directly attaching sprockets, gears, structure, and wheels.

By default, the Servo Hub's ID should be set to 3. This can be changed by connecting the Servo Hub directly to the REV Hardware Client using a USB-C cable. The Servo Hub will appear in the Hardware List as shown below:

The "CAN ID" is the individual ID for the Servo Hub.

The CAN ID can be set between 1-10 for FTC. After choosing the ID, click "Set CAN ID".

The new Servo Hub ID is not set!

The REV Servo Hub allows each servo channel to be powered individually. This lets users power only the channels they need at any given time. A channel can have power without a signal, or vice versa, depending on the configuration.

The FTC SDK does not currently support runtime control of channel power.

• Channels are always powered when enabled.

• When disabled, channels follow the configured Disable Behavior.

Before the M1 and M2 buttons are mapped, they default to the following functions: