Updated Configuring Your Hardware (markdown)
FTC Engineering
@ -35,50 +35,50 @@ Now that you've created a file, you will need to add a DC Motor to the configura
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| Configuring a DC Motor |
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| 1. Touch the word **Motors ** on the screen to display the Motor Configuration screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareMotorStep1.jpg" width="400"></p> |
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| 1. Touch the word **Motors** on the screen to display the Motor Configuration screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareMotorStep1.jpg" width="400"></p> |
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| 2. Since we installed our motor onto port #0 of the Expansion Hub, use the dropdown control for port 0 to select the motor type (Tetrix Motor for this example).<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareMotorStep2.jpg" width="175"></p> |
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| 3. Use the touch screen keypad to specify a name for your motor (“motorTest” in this example).<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareMotorStep3.jpg" width="175"></p> |
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| 4. Press the Done button to complete the motor configuration. The app should return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareMotorStep4.jpg" width="175"></p> |
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| 4. Press the **Done** button to complete the motor configuration. The app should return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareMotorStep4.jpg" width="175"></p> |
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### Configuring a Servo
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You will also want to add a servo to the configuration file. In this example, you are using a standard 180-degree servo.
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| Configuring a Servo |
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| ---- |
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| 1. Touch on the word Servos on the screen to display the Servo Configuration screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareServoStep1.jpg" width="400"></p><br/> |
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| 1. Touch on the word **Servos** on the screen to display the **Servo Configuration** screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareServoStep1.jpg" width="400"></p><br/> |
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| 2. Use the dropdown control to select “Servo” as the servo type for port #0.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareServoStep2.jpg" width="175"></p> |
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| 3. Use the touch pad to specify the name of the servo (“servoTest” for this example) for port #0.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareServoStep3.jpg" width="175"></p> |
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| 4. Press the Done button to complete the servo configuration. The app should return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareServoStep4.jpg" width="175"></p> |
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| 4. Press the **Done** button to complete the servo configuration. The app should return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareServoStep4.jpg" width="175"></p> |
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### Configuring a Color Distance Sensor
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The REV Robotics Color Distance Sensor is an I2C sensor. It actually combines two sensor functions into a single device. It is a color sensor, that can determine the color of an object. It is also a distance or range sensor, that can be used to measure short range distances. Note that in this tutorial, the word "distance" is used interchangeably with the word "range".
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| Configuring a Color Distance Sensor |
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| ---- |
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| 1. Touch the words I2C Bus 0 on the screen to launch the I2C configuration screen for this I2C bus.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep1.jpg" width="400"></p><br/>The Expansion Hub has four independent I2C buses, labeled “0” through “3”. In this example, since you connected the Color Sensor to the port labeled “0”, it resides on I2C Bus 0. |
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| 2. Look at the I2C Bus 0 screen. There should already be a sensor configured for this bus. The Expansion Hub has its own built-in inertial measurement unit (IMU) sensor. This sensor can be used to determine the orientation of a robot, as well as measure the accelerations on a robot.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep2.jpg" width="175"></p>The built-in IMU is internally connected to I2C Bus 0 on each Expansion Hub. Whenever you configure an Expansion Hub using the Robot Controller, the app automatically configures the IMU for I2C Bus 0. You will need to add another I2C device for this bus to be able to configure the color sensor. |
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| 3. Press the Add button to add another I2C device to this bus.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep3.jpg" width="175"></p> |
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| 1. Touch the words **I2C Bus 0** on the screen to launch the I2C configuration screen for this I2C bus.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep1.jpg" width="400"></p><br/>The Expansion Hub has four independent I2C buses, labeled “0” through “3”. In this example, since you connected the Color Sensor to the port labeled “0”, it resides on I2C Bus 0. |
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| 2. Look at the **I2C Bus 0** screen. There should already be a sensor configured for this bus. The Expansion Hub has its own built-in inertial measurement unit (IMU) sensor. This sensor can be used to determine the orientation of a robot, as well as measure the accelerations on a robot.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep2.jpg" width="175"></p>The built-in IMU is internally connected to I2C Bus 0 on each Expansion Hub. Whenever you configure an Expansion Hub using the Robot Controller, the app automatically configures the IMU for I2C Bus 0. You will need to add another I2C device for this bus to be able to configure the color sensor. |
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| 3. Press the **Add** button to add another I2C device to this bus.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep3.jpg" width="175"></p> |
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| 4. Select “REV Color/Range Sensor” from the dropdown selector for this new device. Use the touchscreen keyboard to name this device “sensorColorRange”.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep4.jpg" width="175"></p> |
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| 5. Press the Done button to complete the I2C sensor configuration. The app should return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep5.jpg" width="175"></p> |
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| 5. Press the **Done** button to complete the I2C sensor configuration. The app should return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareColorDistanceStep5.jpg" width="175"></p> |
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### Configuring a Digital Touch Sensor
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The REV Robotics Touch Sensor is a digital sensor. An Op Mode can query the Touch Sensor to see if its button is being pressed or not.
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| Configuring a Digital Touch Sensor |
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| ---- |
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| 1. Touch the words Digital Devices on the screen to launch the Digital I/O configuration screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareTouchStep1.jpg" width="400"></p><br/> |
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| 1. Touch the words **Digital Devices** on the screen to launch the Digital I/O configuration screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareTouchStep1.jpg" width="400"></p><br/> |
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| 2. Use the touch screen to add a “REV Touch Sensor” for port #1 and name the device “testTouch”.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareTouchNewStep2.jpg" width="175"></p>Notice that we are configuring the Touch Sensor on port #1 instead of port #0. This is because when the REV Robotics Touch Sensor is connected to a digital port using a standard 4-wire JST sensor cable, it is the second digital pin that is connected. The first pin remains disconnected. |
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| 3. Press the Done button to return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareTouchNewStep3.jpg" width="175"></p> |
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| 3. Press the **Done** button to return to the previous screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/ConfiguringHardwareTouchNewStep3.jpg" width="175"></p> |
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### Saving the Configuration Information
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Once you have configured your hardware, you must save the information to the configuration file. If you do not save this information, it will be lost and the robot controller will be unable to communicate with your hardware.
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| Saving the Configuration Information |
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| ---- |
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| 1. Press the Done button to go up one level in the configuration screens.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep1.jpg" width="175"></p> |
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| 2. Press the Done button again to return to the highest level in the configuration screens.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep2.jpg" width="175"></p> |
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| 3. Press the Save button.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep3.jpg" width="175"></p> |
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| 1. Press the **Done** button to go up one level in the configuration screens.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep1.jpg" width="175"></p> |
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| 2. Press the **Done** button again to return to the highest level in the configuration screens.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep2.jpg" width="175"></p> |
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| 3. Press the **Save** button.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep3.jpg" width="175"></p> |
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| 4. When prompted, specify a configuration file name using the touchscreen’s keypad (use “TestConfig” for this example).<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationStep4.jpg" width="175"></p> |
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| 5. Press the OK button to save your configuration information using that file name.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationNewStep5.jpg" width="175"></p> |
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| 5. Press the **OK** button to save your configuration information using that file name.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationNewStep5.jpg" width="175"></p> |
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| 6. After the configuration file has been saved, touch the Android back-arrow button to return to the main screen of the app.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationNewStep6.jpg" width="175"></p> |
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| 7. Verify that the configuration file is the active configuration file on the main Driver Station screen.<br/><br/><p align="center"><img src="https://github.com/FIRST-Tech-Challenge/WikiSupport/blob/master/ftc_app/images/SavingConfigurationInformationNewStep7.jpg" width="350"></p> |
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