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12-26-2022 restore Return-to-Top function. Header-only link is no longer recognized, now requires full URL.

Westside Robotics
2022-12-26 11:00:00 -08:00
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FTC-Single-Hub.md

@ -16,7 +16,7 @@ The [**SPARKmini**](https://www.revrobotics.com/rev-31-1230/) needs **two inputs
_Reminder: only 8 DC motors are allowed on an FTC robot. So, don't add 6 SPARKmini units..._ _Reminder: only 8 DC motors are allowed on an FTC robot. So, don't add 6 SPARKmini units..._
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Power Input ## 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. See far below for other power connection options.
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Control Input ## 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. Does it matter **which port**? See far below for further discussion.
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Motor Output ## 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”. Note: the SPARKmini's small **C-B switch** will be discussed below, in the section called “Zero-Power Behavior”.
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Configure the Motor ## Configure the Motor
@ -74,7 +74,7 @@ Choose `REV SPARKmini Controller` and name the DC motor.
Save and activate that configuration. Done! Save and activate that configuration. Done!
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Programming with SPARKmini ## Programming with SPARKmini
@ -88,7 +88,7 @@ Likewise in **Java**, use all commands for CR Servo; do not use the `DcMotor` cl
<p align="center">[[/images/FTC-Single-Hub/110_Java_CRServo.png|Java code]] <p align="center">[[/images/FTC-Single-Hub/110_Java_CRServo.png|Java code]]
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Power Distribution ## 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. You may change or adapt the SPARKmini's yellow-orange XT-30 connector to PowerPole, if needed.
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Servo Port Management ## 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! 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!
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Servo Power Offload ## 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**. 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**.
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Motor Encoders ## 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). 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).
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Other Sensors ## 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. Use programming logic to determine what the DC motor should do, when these sensors report certain values.
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Zero-Power Behavior ## 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! 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!
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
## Summary ## 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! 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!
[<p align="right"><i>Return to Top</i>](#introduction)<p> <p align="right"><i>[[Return to Top|https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki/FTC-Single-Hub]]</i><p>
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