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 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.

Features

• Incremental and absolute magnetic encoder

  • Built-in magnet

  • Quadrature output - A, B, and Index

  • Absolute output - Pulse Width (Duty Cycle)

  • Broadcom AEAT-8800

• Factory calibrated zero-positionb

  • Zero calibrated to notch in case

• Through-bore design

  • Easily mounted to any shaft

  • Bore inserts

    • 1/2" Hex (default)

    • 3/8" Hex

    • 5mm Hex

    • 1/4" Round

• Mounting holes

  • Holes spacing matches common FRC gearboxes and chassis

Kit Contents

Application Information

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 2m Distance Sensor or similar time-of-flight sensor for accurate distance measurement.

FTC Application

Configuring for the Control System

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.

Programming Example

This program shows a readout of values from the Color Sensor on your Driver Hub's screen while the program runs. "Light Detected" shows the amount of light detected between 0 and 1.

"Blue", "Red", and "Green" each show the amount of that "component" in the color the sensor is pointed at. If pointed at a red color, for example, it will likely have the highest amount shown.

package org.firstinspires.ftc.teamcode;
 
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.hardware.OpticalDistanceSensor;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
@TeleOp
public class TestColorSensor extends LinearOpMode {
    // Define a variable for our color sensor
    ColorSensor test_color;
    
    @Override
    public void runOpMode() {
        // Get the color sensor from hardwareMap
        test_color = hardwareMap.get(ColorSensor.class, "test_color");
        
        // Wait for the Play button to be pressed
        waitForStart();
 
        // While the OpMode is running, update the telemetry values.
        while (opModeIsActive()) {
            telemetry.addData("Light Detected", ((OpticalDistanceSensor) test_color).getLightDetected());
            telemetry.addData("Red", test_color.red());
            telemetry.addData("Green", test_color.green());
            telemetry.addData("Blue", test_color.blue());
            telemetry.update();
        }
    }
}

FRC Application

Software Libraries

• Latest REVLib Installation Information

API Documentation

• Online REVLib Java Documentation

• Online REVLib C++ Documentation

REV Color Sensor V3 Example Code

• C++ Examples

• Java Examples

• LabVIEW Examples

Additional Resources

Additional information about the APDS-9151, its capabilities, and its features can be found in the following datasheet:

• APDS-9151 Datasheet

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

General Specifications

Electrical Specifications

Mechanical Drawings

Pinout

Application Examples

Application Information

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.

FTC Application

Configuring for the Control System

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.

Programming Example

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.

package org.firstinspires.ftc.teamcode;
 
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.ColorSensor;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
@TeleOp
public class TestColorSensor extends LinearOpMode {
    // Define a variable for our color sensor
    ColorSensor color;
    
    @Override
    public void runOpMode() {
        // Get the color sensor from hardwareMap
        color = hardwareMap.get(ColorSensor.class, "Color");
        
        // Wait for the Play button to be pressed
        waitForStart();
 
        // While the Op Mode is running, update the telemetry values.
        while (opModeIsActive()) {
            telemetry.addData("Red", color.red());
            telemetry.addData("Green", color.green());
            telemetry.addData("Blue", color.blue());
            telemetry.update();
        }
    }
}

Additional Resources

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

• TMD37821 Datasheet

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.

Kit Contents

Color Sensor V2 Overview

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.

Features

• Redesigned case

  • Better mounting

  • Wider field of view

  • Better sensor protection

• Built-in white LED

  • LED power is switchable with new built-in switch

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

  • Supports auto-increment register reads

• Built-in IR Proximity Emitter and Detector

Kit Contents

Color Sensor V1 Overview

The REV Robotics Color Sensor V1 a single sensor you can measure colors and rough distances to various targets. The Color Sensor V1 has a built-in IR (optical) and Proximity Sensor and white LED for active target lighting. Using High Speed I2C Communication (400kHz), as well as auto increment register read, allows the user to return all the color register and status register data in one read command instead of 4 separate read commands.

Features

• M3 Mounting Hole

• Built-in white LED

  • LED power is switchable with new built-in switch

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

  • Supports auto-increment register reads

• Built-in IR Proximity Emitter and Detector

Kit Contents

Specifications

General Specifications

Electrical Specifications

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:

FTC Applications

Configuring in the Control System

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.

Programming Applications

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.

FRC Applications

• Example Code

Additional Resources

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

Sensors

Blinkin LED Driver

UltraPlanetary System

Servos & Accessories

Indicators

Specifications

General Specifications

Electrical Specifications

Mechanical Drawings

Pinout

General Specifications

Electrical Specifications

Mechanical Drawings

Pinout

Application Examples

Application Information

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.

FTC Application

Configuring for the Control System

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.

Programming Example

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 Resources

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

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 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

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.

Specifications

General Specifications

Electrical Specifications

Mechanical Drawings

Magnetic Limit Switch

Mountable Magnet

Pinout and Schematic

The Magnetic Limit Switch can send signal from either the n+1 or n ports.

Electrical Specifications

Supported LED Strip Types

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

Mechanical Drawing

General Specifications

Electrical Specifications

Output States

Mechanical Drawings

Pinout and Schematic

In the image below, is the key for the wired connection between the touch sensor and the robot controller. The touch sensor does not use or pick up a signal from the n (blue) wire. This is not a problem if there is one digital sensor per port. However, If you intend to connect more than one digital sensor to the same port using the sensor splitter cable, make sure that the n+1 (white) wire portion of the splitter cable is plugged into the touch sensor.

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 in the impact of hysteresis. When the magnetic field approaches the Magnetic Limit Switch, after the field strength increases enough that it crosses the rising trigger point (Bop) the sensor triggers. 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 is 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 Pinout Section 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.

Programming Applications

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.

package org.firstinspires.ftc.teamcode;
 
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.TouchSensor;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
 
@TeleOp
public class LimitSwitchTest extends LinearOpMode {
    // Define variables for our touch sensor and motor
    TouchSensor test_magnetic;
    DcMotor test_motor;
 
    @Override
    public void runOpMode() {
        // Get the touch sensor and motor from hardwareMap
        test_magnetic = hardwareMap.get(TouchSensor.class, "test_magnetic");
        test_motor = hardwareMap.get(DcMotor.class, "test_motor");
        
        // Wait for the play button to be pressed
        waitForStart();
 
        // Loop while the Op Mode is running
        while (opModeIsActive()) {
            // If the Magnetic Limit Swtch is pressed, stop the motor
            if (test_magnetic.isPressed()) {
                test_motor.setPower(0);
            } else { // Otherwise, run the motor
               test_motor.setPower(0.3);
            }
            
        telemetry.addData("Arm Motor Power:", test_motor.getPower());
        telemetry.update();
            }
    }
}

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

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();
        }
    }
}

Connections

Setup and Configuration

1. Connect 12V power to the Blinkin using an XT30 Cable

2. Select either a 12V or 5V Addressable LED strip and connect it to the 7-Pin JST PH Port using a Blinkin LED Cable Adapter (REV-11-1196)

3. If the LED output indicator for the 12V/5V strip which is connected is not lit, press and hold the Strip Select button until the corresponding strip indicator LED is lit. Your LED strip should now be displaying the default pattern (29 - Color Waves, Party Palette), or the user programmed default pattern.

1. With no input PWM active (blue blinking Status LED), clicking (short press) the Up (Mode) and Down (Strip Select) buttons will change the pattern being displayed (See LED Pattern Tables). This pattern will reset to the default after a power cycle unless the default is changed using the setup mode.

Setup Mode

In addition to the pre-programmed fixed color palette patterns, the Blinkin can be customized to use user selected colors and strip length to create more unique look. These settings can be saved in to permanent memory so they persist through power cycles.

Setup Mode Features

• Addressable Strip Length - Up to 240 WS2812 LEDs

• Team Colors - Select two of 22 different color options to represent your team

• Default No Signal Pattern - Select which pattern is displayed with there is not PWM input

Setup Mode Steps

1. Power up the Blinkin as described in Getting Started. The LED strip selected cannot be changed during setup mode, so ensure that the desired strip is connected and running before continuing.

1. To enter Setup Mode, press and hold the Mode button for ~6 seconds, the Status LED will change from blue to yellow. The LED strip will automatically display pattern 75 (Color 1 and Color 2: no blending) which uses Color 1 and Color 2 to aid in configuration.

1. Use a small screwdriver, like the one included, to adjust the Color 1, Color 2, and Length potentiometers

   • Left: Color 1 – Primary Pattern Color

   • Middle: Color 2 – Secondary Pattern Color

   • Right: Addressable Strip Number of LEDs (1-240)

1. With no input PWM signal (yellow blinking Status LED), select the default no signal pattern by clicking (short press) the Up (Mode) and Down (Strip Select) buttons until the desired pattern is displayed.

Exiting Setup Mode

• Save and Exit: Press and hold the Mode and Strip Select buttons for ~6 seconds. colors, strip length and new default no signal pattern values are permanently saved in EEPROM and will persist between power cycles.

• Exit without Saving: press and hold the Mode button. Nothing is saved and Blinkin will return to its previously saved state after power cycle.

PWM Control

The Blinkin can be controlled via software using a standard servo-style PWM signal. The Blinkin measures the width of the incoming pulse from the PWM signal, and then based on that value selects a pattern from a corresponding pattern table. Valid input pulse widths are from 1000us to 2000us.

1.) Connect the Blinkin to a PWM control port on the robot controller, such as a Control Hub or roboRIO, using a standard PWM cable.

2.) Using the programming language of your choice, generate a PWM signal.

3.) In your main robot code where motor (or servo) output power is normally updated, set your output power to the value corresponding to the pattern desired (see The LED Pattern Tables).

Pattern Adjustments

All of the LED strips and patterns can have their overall brightness adjusted and many of the patterns can be adjusted to change the pattern density and speed. The LED Pattern Table details what patterns have which adjustments.

1. While your Blinkin is not in Setup Mode, select a pattern which is adjustable

2. Use a small screwdriver, like the one included, to adjust the Adj. 1, Adj. 2, and Brightness potentiometers

Application Information

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.

Calculating the relationship between voltage and angle

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:

Therefore, given a measured output voltage V in volts, you can easily calculate the corresponding angle θ in degrees:

FTC Applications

Even though the Potentiometer is a linear taper potentiometer, the analog circuitry on the Control/Expansion Hubs can change the linearity so that the above equations are not as accurate. Therefore, it is recommended to move your robot mechanisms to specific positions of interest and record the Potentiometer voltage at those positions to use in your code.

Calculating the output voltage for a specific angle θ between 0 and 270° is still possible, but the equation is no longer linear:

Configuring in the Control System

Configure the Potentiometer as "Analog Input" as shown in the image below.

In this example, the Potentiometer is configured on port 0. It is touched on briefly in the Pinout Section that the Potentiometer only sends a signal to the Control Hub through the n communication channel. Because of this limitation, the Potentiometer will only work when configured port 0 and port 2.

Programming Applications

This program has a variable called CurrentVoltage that is used to store the current voltage. CurrentVoltage is updated using the AnalogInput block every time that the program loops. When CurrentVoltage less than the midpoint of 1.65 volts, the motor stops. When the voltage is higher than the midpoint, the motor moves. The potentiometer voltage is also displayed via telemetry.

package org.firstinspires.ftc.teamcode;
 
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.hardware.AnalogInput;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DcMotor;
 
@TeleOp
public class PotentiometerTest extends LinearOpMode {
    // Define variables for our potentiometer and motor
    AnalogInput potentiometer;
    DcMotor test_motor;
 
    // Define variable for the current voltage
    double currentVoltage;
 
    @Override
    public void runOpMode() {
        // Get the potentiometer and motor from hardwareMap
        potentiometer = hardwareMap.get(AnalogInput.class, "potentiometer");
        test_motor = hardwareMap.get(DcMotor.class, "test_motor");
        
        // Loop while the Op Mode is running
        waitForStart();
        while (opModeIsActive()) {
            // Update currentVoltage from the potentiometer
            currentVoltage = potentiometer.getVoltage();
            
            // Turn the motor on or off based on the potentiometer’s position
            if (currentVoltage < 1.65) {
                test_motor.setPower(0);
            } else {
                test_motor.setPower(0.3);
            }
 
            // Show the potentiometer’s voltage in telemetry
            telemetry.addData("Potentiometer voltage", currentVoltage);
            telemetry.update();
        }
    }
}

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

LED Strip Pattern Table Spreadsheet

Blinkin Factory Default Values

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 (REV-41-1600) 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 (REV-41-1608) onto the motor, use of the UltraPlanetary 550 Motor Plate (REV-41-1607), along with use of individual cartridge reductions and an UltraPlanetary Female 5mm Hex Output (REV-41-1604).

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-41-1600 Kit Contents

The REV Robotics UltraPlanetary Gearbox Kit (REV-41-1600) comes with the following:

• REV-41-1291 - HD Hex Motor – QTY 1

• REV-41-1608 – UltraPlanetary Pinion Gear (pressed onto REV-41-1291) – QTY 1

• REV-41-1607 – UltraPlanetary Mounting Plate – QTY 1

• REV-41-1601 – UltraPlanetary Cartridge 3:1 – QTY 1

• REV-41-1602 – UltraPlanetary Cartridge 4:1 – QTY 1

• REV-41-1603 – UltraPlanetary Cartridge 5:1 – QTY 1

• REV-41-1604 – UltraPlanetary Output Stage – QTY 1

• REV-41-1609 – UltraPlanetary Hardware Pack – QTY 1

• REV-41-1347 – 5mm x 75mm Hex Shaft – QTY 1

Individual stages, hardware, and pinions can be purchased separately to optimize the gearbox for the application. For more information on optimizing gear ratios check the REV DUO Motor Guide.

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.

Cartridge Features

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 Cartridge Details.

Output Stage Features

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.

Wiring with the FIRST Robotics Competition Control System

The BLINKIN LED Driver comes with the 36” PWM Cable (REV-11-1130), that can be used to connect the BLINKIN to the NI roboRIO’s PWM ports for communication. To power the BLINKIN you need an XT30 Cable with one male connector and bare wire on the opposing end. Plug the male connector into the BLINKIN and the bare wire ends into the appropriate Power Distribution Hub channel.

The BLINKIN is capable of driving either a 5V Addressable LED Strip (REV-11-1198) or a 12V RGB LED Strip (REV-11-1197). The image below shows how both types of LED strips connect to the BLINKIN using the BLINKIN LED Cable Adapter (REV-11-1105).

After wiring your Blinkin into your robot, follow the setup instructions and follow the instructions on PWM control as desired.

FIRST Robotics Competition Programming Example

In the FRC Control System, motor outputs range varies depending on which type of motor controller is initialized. The output pulse range is scaled from the user requested output power of -1 to 1 to the range defined for each type of Motor controller.

The SPARK motor controller type output directly matches the input to the Blinkin, which makes the math to convert the -1 to 1 code range to the 1000-2000us Blinkin input range the simplest. Other control types, including servo, from the roboRIO can also be used, but the user will need to scale input range correctly to ensure they are sending only a valid PWM range and that they can select the desired LED pattern.

As an example, referencing the Excerpt from the LED Pattern Tables includes an excerpt from the LED Pattern Tables, and includes the correct SPARK motor output value for each pattern. The table below lists motor control values associated with specific patterns:

Example Spark Control Values based on the LED Pattern Table

Excerpt from the LED Pattern Tables

Competition Robotics Application Ideas

Adding LEDs to your robot (or other project) can do more than just make them look cool, you can use LEDs to provide critical visual feedback. Here are some examples:

• Program a controller button to change the LED output pattern (e.g. 85 – Solid Yellow) and the drive can use the LEDs to communicate to the human player at a portal station across the field that the robot is ready to receive a game object.

• If the driver has poor visibility to see if the robot has acquired a game object, add a sensor to the intake and the LED strip can be programmed to automatically display a new pattern when the object is acquired. The driver never has to take their eyes off the robot to check the dashboard because the robot will clearly display its status.

• Using the match time value available in software, the LEDs can be changes to a time warning pattern (e.g. – Solid Red) with X seconds left in a match.

• The robot can display a different pattern when enabled vs disabled which provides a more visible indicator of the state of the robot than the RSL.

Cartridge Details

Actual Cartridge Gear Ratios

Final Gear Reduction For Two Stage Gearboxes

Nominal gear ratios are used to reference the product name for ease of use for the following chart. For actual gear ratios please reference the .

Final Gear Reduction For Three Stage Gearboxes

UltraPlanetary Brackets

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.

Using Mounting Brackets

Mounting to REV Extrusion Profile

The UltraPlanetary Bent Mounting Bracket and the UltraPlanetary Flat Mounting Bracket are designed for use with the REV Extrusion Profile located on the REV 15mm Extrusion and REV Channel.

Mounting on Channel

The UltraPlanetary Outside Mounting Bracket is designed for use with the REV Extended Motion Pattern present on REV Channel. Using the slotted holes of the Extended Motion Pattern allows for a centered location of the hex shaft. Consider using a 5mm Hex Bearing Block when using the U Channel to provide extra support for the shaft.

FIRST Tech Challenge Programming

One of the most common requests from Control Hub users is how to use the Blinkin to signal to a driver different actions the robot is performing. The basic code below walks through how to use the SDK to code the Blinkin to different actions. When a certain gamepad button is pressed the LED turns a solid color, if no buttons are pressed the LED defaults to the Beats Per Minute pattern with a Forest Pallette.

package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.util.ElapsedTime;


@TeleOp

public class BlinkInTest extends LinearOpMode {
    RevBlinkinLedDriver blinkinLedDriver;
    RevBlinkinLedDriver.BlinkinPattern pattern;

    @Override
    public void runOpMode() {
        blinkinLedDriver = hardwareMap.get(RevBlinkinLedDriver.class, "blinkin");
        waitForStart();


        while (opModeIsActive()) {
            if(gamepad1.x){
                pattern = RevBlinkinLedDriver.BlinkinPattern.BLUE;
                blinkinLedDriver.setPattern(pattern);
            }
            else if(gamepad1.y){
                pattern = RevBlinkinLedDriver.BlinkinPattern.ORANGE;
                blinkinLedDriver.setPattern(pattern);
            }
            else if (gamepad1.b){
                pattern = RevBlinkinLedDriver.BlinkinPattern.WHITE;
                blinkinLedDriver.setPattern(pattern);
            }
            else if (gamepad1.a){
                pattern = RevBlinkinLedDriver.BlinkinPattern.VIOLET;
                blinkinLedDriver.setPattern(pattern);
            }
            else{
                pattern = RevBlinkinLedDriver.BlinkinPattern.BEATS_PER_MINUTE_FOREST_PALETTE;
                blinkinLedDriver.setPattern(pattern);
            }
            
            
        }
    }
}

Stand-Alone Wiring

The Blinkin can run in a stand-alone operation mode when there is no way to generate a PWM signal, or a single output pattern is all that is needed. In this mode the Blinkin will be operating in Normal Mode with no input signal (blue blinking LED) and will default to the programmed no input signal pattern (factory setting is pattern 29 – Color Waves, Party Palette).

The currently displayed pattern can be changed at any time by pressing the up and down buttons to scroll through the pattern list. Unless a new default no signal test pattern is saved in memory by completing the setup mode process, the Blinkin will default back to the last saved pattern after a power cycle.

1. Connect to a 12V power source which can supply up to 5amps.

2. Select either a 12V or 5V LED strip.

3. Follow through Setup and Configuration to program to a default pattern.

Competition Robotics Application Ideas

Adding LEDs to your robot (or other project) can do more than just make them look cool, you can use LEDs to provide critical visual feedback. Here are some examples:

• Program a controller button to change the LED output pattern (e.g. 85 – Solid Yellow) and the drive can use the LEDs to communicate to the human player at a portal station across the field that the robot is ready to receive a game object.

• If the driver has poor visibility to see if the robot has acquired a game object, add a sensor to the intake and the LED strip can be programmed to automatically display a new pattern when the object is acquired. The driver never has to take their eyes off the robot to check the dashboard because the robot will clearly display its status.

• Using the match time value available in software, the LEDs can be changes to a time warning pattern (e.g. – Solid Red) with X seconds left in a match.

• The robot can display a different pattern when enabled vs disabled which provides a more visible indicator of the state of the robot than the RSL.

Status LED Patterns

General Troubleshooting

LEDs near the end of a strip are dimmer, off color, or behaving erratically.

Possible Cause: LEDs are exceeding Blinkin current supply.

Solution: Turn down the strip brightness, shorten the strip, or use a pattern with less LEDs lit at the same time.

Possible Cause: There is too much voltage drop over the length of the strip so LEDs near the end don’t have enough voltage to operate properly.

Solution: Shorten the LED strip or if more LEDs are needed shorten the strip and run the remaining strip in parallel to the other strip

Programmed pattern changing on robot start up/temporary power loss

Possible Cause: A spurious pulse when some robots start up or shut down matching a command code used when factory testing the Blinkin.

Solution:

1. Send the pulse (listed below) for the necessary strip type. The Status LED should turn to solid magenta and the Strip Select LED will remain the same as it was before the command was sent.

   • 5V Strip = 2125 μs

   • 12V Strip = 2145 μs

2. Send the pulse for a pattern different than the pattern that the Blinkin was originally displaying. At this time the LEDs should change to the new strip and be set with the pattern you chose. The Status LED will go back to solid blue and the Strip Select LED will switch to the strip type you selected in Step 1.

3. Send the pulse for the original desired pattern to your Blinkin.

Unable to Control via PWM

If a Blinkin LED Driver is able to run the pre-installed light sequences and is unable to be controlled via a standard PWM Signal, like those that control a Servo Motor, make sure the Blinkin and your Control Hub or roboRIO both share a power source or have a shared electrical ground. Most of the time, fixing the power input for your Blinkin will resolve this issue!

Factory Reset

The Blinkin can store custom user settings in its Memory so that they persist through power cycles. To restore the Blinkin to factory default settings using the following procedure:

1. Power off the Blinkin

2. Press and hold the Mode and Strip Select buttons

1. Power on the Blinkin

1. Wait for ~2 Seconds

2. Release the Mode and Strip Select buttons

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

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 Actual Cartridge Gear Ratios Table. The final actual gear ratios are indicated in the cells.

HD Hex Motor Load Ratings

Load Rating for Two-Stage Gearboxes

Load Rating for Three-Stage Gearboxes

Load Rating for Four-Stage Gearboxes

NEO 550 Load Ratings

Load Rating for Two-Stage Gearboxes

Load Rating for Three-Stage Gearboxes

Load Rating for Four-Stage Gearboxes

Out of the box, the SRS operates as a 270° servo. However, the REV SRS Programmer can reconfigure the SRS to set angular limits or switch it into a continuous rotation mode. The SRS Programmer has several operating modes for configuring and testing the REV Smart Robot Servo. The following sections describe each operating mode in detail.

Switching Operation Modes

Default Operation

The default range for the SRS is 270°. This range is mapped to an input pulse range of 500μs to 2500μs with 1500μs as the center point. The image below describes the pulse-to-angle relationship.

Continuous Rotation

The SRS can be configured with the SRS Programmer to operate in a continuous rotation mode. In this mode, the same input pulse range is mapped to direction and speed. The table below lists the pulse mapping for direction and speed.

Switching Modes

Follow the steps below to switch a REV Smart Robot Servo between Continuous Mode and Servo Mode. The figure below shows the process to select Continuous Mode.

1. Connect the SRS to the programmer.

2. Turn on the programmer.

3. Slide the mode switch to the desired mode: C - Continuous, S - Servo.

4. Press and release the PROGRAM button once.

5. The PROGRAM LED should blink and then stay solid indicating success.

Angular Limits

The SRS can be easily configured with the SRS Programmer to limit right and left motion at two user-defined angles. Input pulses that occur past the limits will be ignored and the SRS will hold the limit angle. Any two angles can be set as limits as long as the left limit is left of the center dead band and the right limit is to the right of the center dead band. The table below shows the valid regions for left and right limits.

Once valid limits are programmed, the SRS will ignore any pulses that exceed the limits and hold the limit angle. For example, the image below exhibits what would happen a left limit of -30° and a right limit of +60° was set.

Setting Angular Limits

Follow the steps below to set the angular limits for the Servo Mode. The figure below shows an example of setting a left and right limits at -54° and +81° respectively.

Start with the SRS already configured in Servo Mode, see section Switching Modes for instructions.

1. Connect the SRS to the programmer.

2. Turn on the programmer.

3. Slide the mode switch to S position.

4. This step is optional, but recommended to make it easier to see the valid limit ranges. Please refer to the SRS User's Manual for more information about the valid limit ranges.

   1. Press and release the TEST button twice to enter Manual Test Mode (see Test Modes for more information).

   2. Press the PROGRAM button to center the servo at 0°.

   3. Press and release the TEST button once to leave the test mode.

5. Manually rotate the servo to the desired left limit position.

6. Press and release the LEFT button. The LEFT LED will illuminate if the position is valid.

7. Manually rotate the servo to the desired right limit position.

8. Press and release the RIGHT button. The RIGHT LED will illuminate if the position is valid.

9. After both limits are set, press and release the PROGRAM button. The PROGRAM LED should blink and then stay solid indicating success.

Resetting to Default

Follow the steps below to reset the Smart Robot Servo to its default mode and limits. The figure below shows the process to reset to defaults.

1. Connect SRS to the programmer.

2. Turn on the programmer.

3. Slide the mode switch to S position.

4. Press and hold the PROGRAM button for at least 5 seconds.

5. The LEDs will blink and then the PROGRAM LED will stay solid indicating success.

Test Modes

In either Continuous or Servo Modes, pressing and releasing the TEST button cycles through the two test modes:

• 1st press - Automatic Sweep Mode

• 2nd press - Manual Test Mode

• 3rd press - Return to default state

The section below will cover the two different test modes.

Power-off Reminder

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.

How to Video

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

Specifications

Mechanical Specifications

Electrical Specifications

Kit Contents

The REV Robotics SRS comes with the following:

• REV SRS Programmer

Power Off Reminder

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.

Hardware Kit Information

Assembly Instructions

For adding a Ultra 90 Degree Gearbox you will need all of the parts in the Hardware Kit, a 1.5mm Allen Wrench, and a 2mm Allen Wrench.

Mounting Thread Engagement

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

Digital LED Indicator - Overview

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.

REV-31-2010 Kit Contents

Features

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

• Affix between pieces of channel in a channel drivetrain for a more compact design

• Through-bore hex on the output allows positioning the gearbox in the middle of a shaft or using a very long shaft without needing to cut it

• Blind socket hex input allows shafts of varying length and also captures the shaft when mounted to the output of an UltraPlanetary Gearbox

• Ball bearings located on the input and output for a smooth performance

Electrical Specifications

Output Modes

Pinout

Mechanical Drawing

The Smart Robot Servo is a metal-geared servo with the ability to replace the metal-gears it they become damaged during use. Damage to the gear set can occur if the servo receives a shock load to the system. This guide explains the process of removing and replacing the gears in the REV Smart Robot Servo () using the Replacement Gear Set ().

TOOLS NEEDED

To replace the gear set in the Smart Robot Servo you will need the following items:

• Smart Robot Servo () – QTY 1

• Replacement Gear Set () – QTY 1

• Phillips Head Screwdriver (PH0) – QTY 1

Replacing the Gears Walkthrough