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## Power Input @@ -30,7 +30,7 @@ Simply connect the SPARKmini **power input** to this yellow-orange port on the R See far below for other power connection options. -[
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## Control Input @@ -46,7 +46,7 @@ If using a servo extension cable, perhaps with different wire colors, make sure Does it matter **which port**? See far below for further discussion. -[
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## Motor Output @@ -56,7 +56,7 @@ That's it! Your SPARKmini is ready to configure and program. Note: the SPARKmini's small **C-B switch** will be discussed below, in the section called “Zero-Power Behavior”. -[
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## Configure the Motor @@ -74,7 +74,7 @@ Choose `REV SPARKmini Controller` and name the DC motor. Save and activate that configuration. Done! -[
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## Programming with SPARKmini @@ -88,7 +88,7 @@ Likewise in **Java**, use all commands for CR Servo; do not use the `DcMotor` cl
[[/images/FTC-Single-Hub/110_Java_CRServo.png|Java code]] -[
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## Power Distribution @@ -112,7 +112,7 @@ Other devices and arrangements are possible, but the robot must meet all FTC wir You may change or adapt the SPARKmini's yellow-orange XT-30 connector to PowerPole, if needed. -[
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## Servo Port Management @@ -129,7 +129,7 @@ How easy is it to **overload** the ports with high-performance servos? So, connect the SPARKmini to a lightly loaded port pair if possible. In general, it's wise to consider the **peak power demand** (and timing) for all devices, ports and the overall robot. Limits and problems may appear, far below the robot battery's 20A fuse protection! -[
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## Servo Power Offload @@ -149,7 +149,7 @@ If the robot electrical load is very high, the SPM may not eliminate temporary p Such issues have become more common in recent competitions, as FTC teams reach for extreme performance from new high-power devices. Before immediately blaming a "disconnect", check the **power consumption**. -[
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## Motor Encoders @@ -173,7 +173,7 @@ The [**OctoQuad**](https://www.tindie.com/products/digitalchickenlabs/octoquad-8 Use the SPARKmini for DC motors that **don't need encoders**. Reserve the standard REV Hub ports for each DC motor that **does need** an encoder and its associated features (RunModes and `isBusy` status). -[
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## Other Sensors @@ -190,7 +190,7 @@ _Tip: REV Hubs accept **two sensors** at each Analog and Digital sensor port._ Use programming logic to determine what the DC motor should do, when these sensors report certain values. -[
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## Zero-Power Behavior @@ -204,7 +204,7 @@ The letter "C" is for **Coast**, same as FLOAT. The letter "B" is for **Brake** Carefully slide each unit's switch to your preferred mode for its DC motor. Add a comment in your programming code, telling the reader which setting is selected for each motor. It might be difficult to find out later! -[
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## Summary @@ -212,7 +212,7 @@ This tutorial showed how to run **more than 4** DC motors on a single REV Contro Much of this information, and more, is presented in REV Robotics’ comprehensive [**documentation site**](https://docs.revrobotics.com/duo-control/adding-more-motors/sparkmini-motor-controller). Recommended reading! -[
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===========