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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..._
[<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
@ -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.
[<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
@ -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.
[<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
@ -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”.
[<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
@ -74,7 +74,7 @@ Choose `REV SPARKmini Controller` and name the DC motor.
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
@ -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="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
@ -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.
[<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
@ -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!
[<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
@ -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**.
[<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
@ -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).
[<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
@ -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.
[<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
@ -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!
[<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
@ -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!
[<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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