Sensors

Blinkin LED Driver

UltraPlanetary System

Servos & Accessories

Indicators

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.

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-position

  • 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

  • Hole spacing matches common FRC gearboxes and chassis

Kit Contents

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 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

Wiring Examples

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.

Control Hub (REV-31-1595)

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.

SPARK MAX (REV-11-2158)

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.

Brushed Motors

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.

Brushless Motors

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 roboRIO

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.

Quadrature Encoder (Relative)

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.

Duty Cycle Encoder (Absolute)

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

Shaft Options

1/2” Hex

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

3/8” Hex

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).

5mm Hex

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).

1/4" Round

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.

Switch Options

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.

AM14U KOP Chassis – Encoder Install

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 Resources

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

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.

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

API Documentation

REV Color Sensor V3 Example Code

Additional Resources

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

General Specifications

Electrical Specifications

Incremental Output

Absolute Pulse Output (Duty Cycle)

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.

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:

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

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.

Additional Resources

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

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

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

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 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:

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();
            }
    }
}

Frequently Used Resources

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.

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 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.

Electrical Specifications

Supported LED Strip Types

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

Mechanical Drawing

LED Strip Pattern Table Spreadsheet

Blinkin Factory Default Values

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.

FTC Applications

Configuring in the Control System

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

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

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.

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. 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.

Pattern 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

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

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.

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 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

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).

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.

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.

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.

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.

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.

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

Channel Power

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.

FTC SDK with Control Hub

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.

REVLib for FRC and other Controllers

REVLib provides complete runtime control over channel power.

• Enabled channels can be turned on or off at any time via the robot program.

• Disabled channels always adhere to their Disable Behavior configuration, regardless of runtime settings.

Disable Behavior

A program can dynamically control whether a channel is powered. However, some users may want a channel to supply power even when it’s disabled. To address this, the Disable Behavior configuration is provided. Each channel has its own Disable Behavior configuration, allowing fine-grained control.

• kSupplyPower: Power is provided to the servo while disabled, but no signal is sent.

  • Note: The kSupplyPower setting is most similar to the behavior of the REV Servo Power Module, while the kDoNotSupplyPower setting is closer to the behavior of the Control Hub's servo ports. However, neither of these configurations is an exact match to these devices.

• kDoNotSupplyPower: Power is not provided to the servo while disabled.

When to Use Each Disable Behavior

Selecting the appropriate Disable Behavior depends on your team's specific needs and the use case for each servo channel. Below are some scenarios where each behavior may be advantageous in FIRST Tech Challenge (FTC) or FIRST Robotics Competition (FRC).

By carefully choosing the appropriate Disable Behavior for each servo channel, teams can optimize their robot’s performance and ensure reliable operation under various conditions. Testing your configuration during practice is highly recommended to avoid surprises during competition.

kSupplyPower

When maintaining servo position is critical: Use this behavior if your servo must hold its position even when disabled. For example:

• Keeping a gripper closed around a game element while the robot is temporarily disabled.

• Ensuring a mechanism like an arm or elevator stays in place when the robot is disabled during testing or a match pause.

When transitioning from disabled to enabled needs to be seamless: If the servo should maintain a consistent state (e.g., avoid sudden movements) when re-enabled, supplying power ensures the servo remains stable.

When you know the servo behavior with no signal: Servos behave differently when powered without a signal. Some may hold their position, while others may drift or "go limp", and others may return to the center position. Ensure you test your servos and understand their behavior in this mode.

kDoNotSupplyPower

When the servo model exhibits undesirable behavior with power but no signal: Some servo models behave unpredictably when powered but not receiving a signal. For example, certain servos may jitter or drift uncontrollably in this state, and others return to center position. In such cases, using kDoNotSupplyPower ensures that the servo does not power on until a valid signal is present.

When servo movement while disabled is acceptable: If the mechanism attached to the servo does not require precise positioning or locking, removing power can reduce wear on the servo.

• Example: Allowing an intake arm to fall into a "neutral" position when not powered.

When protecting servos from overuse: In some cases, continually powering a servo when disabled may contribute to overheating or wear. Use this mode to prolong servo lifespan.

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.

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

Wiring Diagrams

Cartridge Details

Actual Cartridge Gear Ratios

Final Gear Reduction For Two Stage Gearboxes

Final Gear Reduction For Three Stage Gearboxes

Servo Hub Overview

The REV Servo Hub is compatible with both the REV ION and REV DUO systems. Over a single communication interface it can provide advanced control of up to six (6) servos. This means that the Servo Hub needs no additional PWM cabling between it and your robot controller, greatly simplifying wiring.

Future firmware updates will unlock additional features like current measurements for each output channel, CAN communication, control individual channel power to enable powered-off servo states, and even adjustable output voltage to provide adaptability to a wide range of servo classes.

The Servo Hub is easy to update and configure over the USB-C connection utilizing the REV Hardware Client. With a total current output of 15A shared across all channels, the Servo Hub will give you the power you need to succeed on the field!

Features

• Connectivity

  • USB

  • RS485

  • CAN

• Advanced Servo Channels

  • Status LED indicates PWM signal status and faults

  • Individual channel current measurement†

  • Individually switchable channel output power†

• Configurable output voltage†

• Over-current protection

• Reverse polarity protection

• ESD protection

† - Features available after future software updates.

Main Electrical Specifications

About the Maximum Current Specifications

Each of the Servo Hub's individual port pins are rated for approximately 3 A. This rating, of the port itself, highly depends on the quality of the connection between the Servo Hub and the connector of the servo it is driving.

The Servo Hub has been designed with powerful servos in mind. Many of REV's customers' favorite servos have a stall current of 4 Amps or more. While we don't believe the 4 A stall current will produce enough heat to cause problems with a properly seated and quality connection, a poor connection can cause overheating and thermal runaway that can lead to damage.

The best way to ensure you are making the most of your Servo Power Module's output, is to check that all input and output connections are fully seated with no gaps.

Output Current Calculations

It is important to ensure that you do not exceed the maximum total output current of your Servo Power Module. To do this, add together the stall current of each servo being powered by the Servo Power Module. If the total stall current is higher than 15A, you risk triggering the overcurrent protection. Consider reducing the number of servos connected to prevent triggering the overcurrent protections.

Mechanical Specifications

Troubleshooting Guide

This troubleshooting guide helps diagnose and resolve issues with the REV Servo Hub.

Power Issues

If the Servo Hub is unresponsive (no lights):

1. Check Power Supply:

   • Verify the power supply provides sufficient voltage (6–12V recommended).

   • If using a REV PDH, check the breaker for the channel powering the Servo Hub.

2. Inspect Wiring:

   • Ensure all wires are securely connected.

   • Perform a tug test on the power connections.

3. Enter Recovery Mode:

   • If the Servo Hub has power but no LEDs light up, follow the recovery mode instructions below.

Overcurrent Faults

The Servo Hub protects itself and the connected servos from overcurrent conditions. There are two types of overcurrent faults:

Channel Overcurrent Fault

Condition: A channel exceeds 6A for a prolonged period or experiences short spikes above 7A.

Indicators: Channel LED blinks amber at a high frequency and/or power to the affected channel is removed.

Resolution:

1. Remove the load from the servo.

2. Allow the current to drop to clear the fault.

Total Device Overcurrent Fault

Condition: The total current across all six channels exceeds 15A.

Indicators: All channel LEDs blink amber at a high frequency and/or power to all channels is removed.

Resolution:

1. Disconnect servos and inspect for faults or excessive current draw.

2. Ensure no channel is shorted.

3. The fault will clear 1 second after the total current drops below 15A.

Common Causes:

• Overcurrent faults may indicate excessive load or a servo malfunction. Disconnect and test the servos individually.

• Stalled high-power servos (e.g., Axon Max with a stall current of ~4A).

• Shorts in servo wiring.43

Low Battery Warnings

The Servo Hub will alternate between blue and orange on the main status LED when the input voltage is low:

• Low Voltage Threshold: Below 5.5V.

• Clearing Voltage: Above 6.5V.

Resolution:

• Check the voltage of the battery powering the Servo Hub and recharge if needed.

• Ensure connections to the battery are secure.

• Low voltage can cause unexpected behavior.

CAN Bus Faults

A CAN fault occurs when the Servo Hub detects unreliable communication on the CAN bus. The main status LED will alternate between yellow and orange.

Troubleshooting Steps:

1. Inspect Wiring:

   • Perform a tug test to ensure connections are secure.

   • Verify there’s enough bare wire in the Wago connectors.

2. Check Termination Resistors:

   • Ensure proper termination at both ends of the CAN bus.

3. Test for Shorts:

   • Inspect for shorts in the CAN wiring.

No Connection Detected

When the Servo Hub cannot detect a connection to a controller or the REV Hardware Client, the main status LED will flash magenta.

Troubleshooting Steps:

1. Check the Hardware Client:

   • Open the REV Hardware Client and ensure it recognizes the Servo Hub.

2. Check CAN Connection:

   • Verify the CAN bus wiring.

   • Use the Hardware Client to check if other devices on the CAN bus are visible.

3. Inspect roboRIO:

   • Ensure the roboRIO has power.

   • Verify the roboRIO configuration and connections.

Servo and Channel Issues

Servo Not Responding

• Ensure the channel is enabled (LED is not blinking amber).

• Check the servo wiring for loose connections or damage.

• Verify the servo is compatible with the configured pulse width range.

Erratic or Unstable Servo Movement

• Inspect the Disable Behavior configuration:

• Some servos may jitter or misbehave when powered but not receiving a signal. Consider using kDoNotSupplyPower.

• Test with another servo to rule out hardware issues.

Channel LED Does Not Light Up

• If the channel LED is off, verify the channel is properly configured in the program.

• Check wiring and servo functionality.

• Test with another servo to confirm channel operation.

Software Issues

Unable to Configure Multiple Servo Hubs to use with a Control Hub

• Servo Hubs must have a different ID than an Expansion Hub. Expansion Hubs default to ID 1 or 2

Servo Hub is not Appearing in the Configuration Menu

• Check first that the Servo Hub is receiving proper power and that the RS485 cable is secure

• Servo Hubs must have a different ID than an Expansion Hub. Expansion Hubs default to ID 1 or 2

Unable to set the CAN ID/CAN ID not Saving on the Servo Hub

When a Servo Hub is connected to a Control Hub, directly or through another Hub, it will be set to a "read-only" mode when interacting with the REV Hardware Client. This means the Client cannot update the ID or firmware, and features, such as the ability to run servos, will not be available.

• Power down the robot or disconnect the RS845 cable leading to the Servo Hub

• Power cycle the Servo Hub

• You should now be able to connect the Servo Hub via USB-C to the REV Hardware Client to set the ID or use the Client features

Driver Hub Showing "Servo Hub not currently responding to commands" Error

This error appears if the Control Hub has lost communication with a Servo Hub that was previously established in the configuration file

• Double check the Servo Hub is receiving proper and securely wired

• If the Servo Hub ID has been changed or a different Servo Hub with a different ID has been connected as a substitute:

  • Create a new configuration file with the updated ID

If you are removing the Servo Hub completely, create a new configuration file.

Driver Hub showing "Addresses higher than 10 are reserved for system use" warning

Servo Hub Appearing as an Expansion Hub in the REV Hardware Client

When connecting over USB-C to a Control Hub with a Servo Hub connected it will appear as an Expansion Hub within the Client as seen below:

This is expected behavior as of RHC Version 1.7.0. To update the Servo Hub, disconnect it from the Control Hub and power cycle it before connecting only the Servo Hub via USB-C.

Firmware Recovery Mode

If the Servo Hub is unresponsive, use recovery mode to restore functionality.

Steps to Enter Recovery Mode:

1. Power off the Servo Hub.

2. Press and hold the mode button on the Servo Hub.

3. While holding the button, power on the Servo Hub.

4. Release the button once the channel 4 red LED and channel 5 green LED are on.

The Servo Hub will now be ready to recover via the REV Hardware Client.

By following this guide, users can diagnose and resolve most common issues with the REV Servo Hub. If problems persist, contact REV Robotics support for further assistance.

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.

Example Range:

Continuous Rotation Servos

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.

Example Range (Typical):

Tips and Tricks

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.

Features

• 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