diff --git a/source/docs/controls-overviews/control-system-hardware.rst b/source/docs/controls-overviews/control-system-hardware.rst index 93e070e26e..44bc1a08e8 100644 --- a/source/docs/controls-overviews/control-system-hardware.rst +++ b/source/docs/controls-overviews/control-system-hardware.rst @@ -68,6 +68,14 @@ The [CTRE Power Distribution Panel 2.0](https://store.ctr-electronics.com/produc The [REV Power Distribution Hub](https://docs.revrobotics.com/ion-control-system/pdh/overview) (PDH) is designed to distribute power from a 12VDC battery to various robot components. The PDH features 20 high-current (40A max) channels, 3 low-current (15A max), and 1 switchable low-current channel. The Power Distribution Hub features toolless latching WAGO terminals, an LED voltage display, and the ability to connect over CAN or USB-C to the REV Hardware Client for real-time telemetry. +## AndyMark Power Distribution Board + +.. image:: images/control-system-hardware/andymark-ampd.jpg + :alt: AndyMark Power Distribution Board + :width: 500 + +The [AndyMark Power Distribution Board](https://andymark.com/am-5754) (AMPD) is designed to distribute power from a 12VDC battery to various robot components. The AMPD features 24 fully insulated 40A ports that work with ATO/ATC breakers. With toolless lever connectors and 22.5 degree angled outputs for clean wiring, the AMPD is designed to simplify robot wiring. + ## CTRE Voltage Regulator Module .. image:: images/control-system-hardware/voltage-regulator-module.png @@ -108,6 +116,14 @@ The Snap Action circuit breakers, [MX5 series](https://www.snapaction.net/assets The [Rev ATO Circuit Breakers](https://www.revrobotics.com/content/docs/REV-11-1860-1863-DS.pdf) are used with the Power Distribution Panel, Power Distribution Hub and Power Distribution Panel 2.0 to limit current to branch circuits. They come in [40A](https://www.revrobotics.com/rev-11-1863/), [30A](https://www.revrobotics.com/rev-11-1862/), [20A](https://www.revrobotics.com/rev-11-1861/) and [10A](https://www.revrobotics.com/rev-11-1860/) variants. The ratings on these circuit breakers are for continuous current, temporary peak values can be considerably higher. +## CTRE Power Distribution Panel Breakers + +.. image:: images/control-system-hardware/ctre-pdp-breaker.png + :alt: CTRE Power Distribution Panel Breakers + :width: 500 + +The [CTRE Power Distribution Panel Breakers](https://store.ctr-electronics.com/products/auto-resetting-ato-breakers) are auto-reset circuit breakers designed for use with CTRE Power Distribution Panels. They come in 40A, 30A, 20A, and 10A variants. These custom ATO-sized breakers automatically reset after tripping, providing consistent performance even after hundreds of trips. + ## Robot Battery .. image:: images/control-system-hardware/robot-battery.png @@ -178,7 +194,7 @@ The [SPARK MAX Motor Controller](https://www.revrobotics.com/rev-11-2158/) is an :alt: TalonFX Motor Controller :width: 400 -The TalonFX Motor Controller is a brushless motor controller from Cross The Road Electronics which is integrated into the Falcon 500, Kraken X60 and Kraken X44 brushless motors. It features an integrated encoder and all of the smart features of the Talon SRX and more! For more information see the [TalonFX Hardware Reference](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/). +The TalonFX Motor Controller is a brushless motor controller from Cross The Road Electronics which is integrated into the Falcon 500, Kraken X60, and Kraken X44 brushless motors. It features an integrated encoder and all of the smart features of the Talon SRX and more! For more information see the [TalonFX Hardware Reference](https://v6.docs.ctr-electronics.com/en/stable/docs/hardware-reference/talonfx/). ### Victor SPX @@ -233,16 +249,6 @@ The [SPARK Flex Motor Controller](https://www.revrobotics.com/rev-11-2159/) is a The [Talon Motor Controller](https://files.andymark.com/Talon_User_Manual_1_3.pdf) from Cross the Road Electronics is a PWM controlled brushed DC motor controller with passive cooling. -### Victor 888 Motor Controller / Victor 884 Motor Controller - -.. image:: images/control-system-hardware/victor-888-motor-controller.png - :alt: Victor 888 Motor Controller - :width: 400 - -.. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product. - -The [Victor 884](https://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf) and [Victor 888](https://content.vexrobotics.com/docs/217-2769-Victor888UserManual.pdf) motor controllers from VEX Robotics are variable speed PWM motor controllers for use in FRC. The Victor 888 replaces the Victor 884, which is also usable in FRC. - ### Venom Motor Controller .. image:: images/control-system-hardware/venom.jpg @@ -251,36 +257,6 @@ The [Victor 884](https://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25 The [Venom Motor Controller](https://www.playingwithfusion.com/productview.php?pdid=99) from Playing With Fusion is integrated into a motor based on the original :term:`CIM`. Speed, current, temperature, and position are all measured onboard, enabling advanced control modes without complicated sensing and wiring schemes. -### DMC-60 and DMC-60C Motor Controller - -.. image:: images/control-system-hardware/dmc-60c-motor-controller.png - :alt: DMC-60C Motor Controller - :width: 500 - -.. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product. - -The DMC-60 is a PWM motor controller from Digilent. The DMC-60 features integrated thermal sensing and protection including current-foldback to prevent overheating and damage, and four multi-color LEDs to indicate speed, direction, and status for easier debugging. For more information, see the [DMC-60 reference manual](https://reference.digilentinc.com/_media/dmc-60/dmc60_rm.pdf) - -The DMC-60C adds CAN smart controller capabilities to the DMC-60 controller. Due to the manufacturer discontinuing this product, the DMC-60C is only usable with PWM. For more information see the [DMC-60C Product Page](https://reference.digilentinc.com/dmc-60c/start/) - -### Jaguar Motor Controller - -.. image:: images/control-system-hardware/jaguar-motor-controller.png - :alt: Jaguar Motor Controller - :width: 500 - -.. warning:: While this motor controller is still legal for FRC use, the manufacturer has discontinued this product. - -The [Jaguar Motor Controller](https://www.ti.com/lit/an/spma033a/spma033a.pdf?ts=1607574399581) from VEX Robotics (formerly made by Luminary Micro and Texas Instruments) is a variable speed motor controller for use in FRC. For FRC, the Jaguar may only be controlled using the PWM interface. - -### Nidec Dynamo BLDC Motor with Controller - -.. image:: images/control-system-hardware/nidec-dynamo.jpg - :alt: Nidec Dynamo BLDC Motor with Controller - :width: 500 - -The [Nidec Dynamo BLDC Motor with Controller](https://www.andymark.com/products/dynamo-brushless-motor-controller) is the first brushless motor and controller legal in FRC. This motor's controller is integrated into the back of the motor. The [motor data sheet](https://cdn.andymark.com/media/W1siZiIsIjIwMTkvMDUvMDkvMDkvNTEvNDQvZjQwYjliZDctYzdkOC00MWFlLWIzZmYtZTQyNTJhYjRkNmIyL2FtLTM3NDAgTmlkZWMgRHluYW1vIERNMzAxMi0xMDYzLUIgU3BlYy5wZGYiXV0/am-3740%20Nidec%20Dynamo%20DM3012-1063-B%20Spec.pdf?sha=eb03d3f578fe782e) provides more device specifics. - ### Thrifty Nova Motor Controller .. image:: images/control-system-hardware/nova.png @@ -305,14 +281,6 @@ The [Talon FXS Motor Controller](https://store.ctr-electronics.com/products/talo The [Koors 40 Brushed DC Motor Controller](https://www.andymark.com/products/koors-40-brushed-dc-motor-controller) is an inexpensive PWM brushed DC motor controller from AndyMark with features such as Ground Loss Protection for PWM, Thermal, and Overcurrent Protection, and Reverse Polarity Protection. -### SD540B and SD540C Motor Controllers - -.. image:: images/control-system-hardware/sd540b-pwm.png - :alt: SD540B Motor Controller - :width: 500 - -The SD540B and SD540C Motor Controllers from Mindsensors are controlled using PWM. CAN control is no longer available for the SD540C due to lack of manufacturer support. Limit switches may be wired directly to the SD540 to limit motor travel in one or both directions. For more information see the [Mindsensors FRC page](http://www.mindsensors.com/68-frc) - ## Spike H-Bridge Relay .. image:: images/control-system-hardware/spike-relay.png @@ -349,4 +317,4 @@ The Microsoft Lifecam HD3000 is a USB webcam that can be plugged directly into t ## Image Credits -Image of roboRIO courtesy of National Instruments. Image of DMC-60 courtesy of Digilent. Image of SD540 courtesy of Mindsensors. Images of Jaguar Motor Controller, Talon SRX, Victor 888, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, SPARK Flex, Servo Hub, ATO Breakers, Power Distribution Hub, and Pneumatic Hub courtesy of REV Robotics. Images of TalonFX, TalonFXS, and Power Distribution Panel 2.0 courtesy of Cross The Road Electronics, LLC. Image of Thrifty Nova courtesy of The Thrifty Bot. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of *FIRST*\ |reg|. Image of the VH-109 radio courtesy of Vivid-Hosting. All other photos courtesy of AndyMark Inc. +Image of roboRIO courtesy of National Instruments. Images of Talon SRX, Victor SP, Victor SPX, and Spike H-Bridge Relay courtesy of VEX Robotics, Inc. Image of SPARK MAX, SPARK Flex, Servo Hub, ATO Breakers, Power Distribution Hub, and Pneumatic Hub courtesy of REV Robotics. Images of TalonFX, TalonFXS, Power Distribution Panel 2.0, and Power Distribution Panel Breakers courtesy of Cross The Road Electronics, LLC. Image of Thrifty Nova courtesy of The Thrifty Bot. Lifecam, PDP, PCM, SPARK, and VRM photos courtesy of *FIRST*\ |reg|. Image of the VH-109 radio courtesy of Vivid-Hosting. All other photos courtesy of AndyMark Inc. diff --git a/source/docs/controls-overviews/images/control-system-hardware/andymark-ampd.jpg b/source/docs/controls-overviews/images/control-system-hardware/andymark-ampd.jpg new file mode 100644 index 0000000000..32363b4f4b Binary files /dev/null and b/source/docs/controls-overviews/images/control-system-hardware/andymark-ampd.jpg differ diff --git a/source/docs/controls-overviews/images/control-system-hardware/ctre-pdp-breaker.png b/source/docs/controls-overviews/images/control-system-hardware/ctre-pdp-breaker.png new file mode 100644 index 0000000000..238f1c0632 Binary files /dev/null and b/source/docs/controls-overviews/images/control-system-hardware/ctre-pdp-breaker.png differ diff --git a/source/docs/hardware/hardware-basics/status-lights-ref.rst b/source/docs/hardware/hardware-basics/status-lights-ref.rst index 5a89cbc3c8..29d427bba7 100644 --- a/source/docs/hardware/hardware-basics/status-lights-ref.rst +++ b/source/docs/hardware/hardware-basics/status-lights-ref.rst @@ -399,181 +399,11 @@ Brake/Coast/Cal Button/LED - Red if the controller is in brake mode, off if the | | | calibration, and red several times indicates unsuccessful calibration. | +-----------+----------+------------------------------------------------------------------------+ -## Victor888 Motor Controller - -.. image:: images/status-lights/victor888-status-light.svg - :alt: Victor888 motor controller with a single multicolor LED in the bottom right corner. - :width: 600 - -+-----------+----------+--------------------------+ -| Green | Solid | Full forward output | -| +----------+--------------------------+ -| | Blinking | Successful calibration | -+-----------+----------+--------------------------+ -| Red | Solid | Full reverse output | -| +----------+--------------------------+ -| | Blinking | Unsuccessful calibration | -+-----------+----------+--------------------------+ -| Orange | Solid | Neutral/brake | -+-----------+----------+--------------------------+ -| Red/Green | Blinking | Calibration mode | -+-----------+----------+--------------------------+ - -## Jaguar Motor Controller - -.. image:: images/status-lights/jaguar-status-light.png - :alt: Jaguar motor controller with a single multicolor LED in the bottom center. - :width: 400 - -+------------------------------+------------------------------------------------+ -| LED State | Module Status | -+==============================+================================================+ -| Normal Operating Conditions | -+------------------------------+------------------------------------------------+ -| Solid Yellow | Neutral (speed set to 0) | -+------------------------------+------------------------------------------------+ -| Fast Flashing Green | Forward | -+------------------------------+------------------------------------------------+ -| Fast Flashing Red | Reverse | -+------------------------------+------------------------------------------------+ -| Solid Green | Full-speed forward | -+------------------------------+------------------------------------------------+ -| Solid Red | Full-speed reverse | -+------------------------------+------------------------------------------------+ -| Fault Conditions | -+------------------------------+------------------------------------------------+ -| Slow Flashing Yellow | Loss of servo or Network link | -+------------------------------+------------------------------------------------+ -| Fast Flashing Yellow | Invalid CAN ID | -+------------------------------+------------------------------------------------+ -| Slow Flashing Red | Voltage, Temperature, or | -| | Limit Switch fault condition | -+------------------------------+------------------------------------------------+ -| Slow Flashing Red and Yellow | Current fault condition | -+------------------------------+------------------------------------------------+ -| Calibration or CAN Conditions | -+------------------------------+------------------------------------------------+ -| Flashing Red and Green | Calibration mode active | -+------------------------------+------------------------------------------------+ -| Flashing Red and Yellow | Calibration mode failure | -+------------------------------+------------------------------------------------+ -| Flashing Green and Yellow | Calibration mode success | -+------------------------------+------------------------------------------------+ -| Slow Flashing Green | CAN ID assignment mode | -+------------------------------+------------------------------------------------+ -| Fast Flashing Yellow | Current CAN ID (count flashes to determine ID) | -+------------------------------+------------------------------------------------+ -| Flashing Yellow | CAN ID invalid (that is, Set to 0) | -| | awaiting valid ID assignment | -+------------------------------+------------------------------------------------+ - -## Digilent DMC-60 - -.. image:: images/status-lights/dmc60c-status-lights.png - :alt: The 5 LEDs in each of the corners plus the center. - -The DMC60C contains four RGB (Red, Green, and Blue) LEDs and one Brake/Coast CAL LED. The four RGB LEDs are located in the corners and are used to indicate status during normal operation, as well as when a fault occurs. The Brake/Coast CAL LED is located in the center of the triangle, which is located at the center of the housing, and is used to indicate the current Brake/Coast setting. When the center LED is off, the device is operating in coast mode. When the center LED is illuminated, the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle, and then releasing the button. - -At power-on, the RGB LEDs illuminate Blue, continually getting brighter. This lasts for approximately five seconds. During this time, the motor controller will not respond to an input signal, nor will the output drivers be enabled. After the initial power-on has completed, the device begins normal operation and what gets displayed on the RGB LEDs is a function of the input signal being applied, as well as the current fault state. Assuming that no faults have occurred, the RGB LEDs function as follows: - -+----------------------------+---------------------------------------------------------------------------------------------------------------+ -| PWM Signal Applied | LED State | -+============================+===============================================================================================================+ -| No Input Signal or | Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and Off. | -| Invalid Input Pulse Width | | -+----------------------------+---------------------------------------------------------------------------------------------------------------+ -| Neutral Input Pulse Width | All 4 LEDs illuminated Orange. | -+----------------------------+---------------------------------------------------------------------------------------------------------------+ -| | LEDs blink Green in a clockwise circular pattern (LED1 → LED2 → LED3 → LED4 → LED1). | -| Positive Input Pulse Width | The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. | -| | At 100% duty cycle, all 4 LEDs are illuminated Green. | -+----------------------------+---------------------------------------------------------------------------------------------------------------+ -| | LEDs blink Red in a counter-clockwise circular pattern (LED1 → LED4 → LED3 → LED2 → LED1). | -| Negative Input Pulse Width | The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. | -| | At 100% duty cycle, all 4 LEDs are illuminated Red. | -+----------------------------+---------------------------------------------------------------------------------------------------------------+ - -+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+ -| CAN Bus Control State | LED State | -+===========================================================================================+====================================================================================================================================================================+ -| No Input Signal or CAN bus error detected | Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and Off. | -+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+ -| No CAN Control Frame received within the last 100ms or | Alternate between top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Orange and Off. | -| the last control frame specified modeNoDrive (Output Disabled) | | -+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+ -| Valid CAN Control Frame received within the last 100ms. | All 4 LEDs illuminated solid Orange. | -| The specified control mode resulted in a Neutral Duty Cycle being applied to Motor Output | | -+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+ -| Valid CAN Control Frame received within the last 100ms. | LEDs blink Green in a clockwise circular pattern (LED1 → LED2 → LED3 → LED4 → LED1). | -| The specified control mode resulted in a Positive Duty Cycle being Motor Output | The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Green. | -+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+ -| Valid CAN Control Frame received within the last 100ms. | LEDs blink Red in a counter-clockwise circular pattern (LED1 → LED4 → LED3 → LED2 → LED1). | -| The specified control mode resulted in a Negative Duty Cycle being Motor Output | The LED update rate is proportional to the duty cycle of the output and increases with increased duty cycle. At 100% duty cycle, all 4 LEDs are illuminated Red. | -+-------------------------------------------------------------------------------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------------------+ - -### Fault Color Indicators - -When a fault condition is detected, the output duty cycle is reduced to 0% and a fault is signaled. The output then remains disabled for 3 seconds. During this time the onboard LEDs (LED1-4) are used to indicate the fault condition. The fault condition is indicated by toggling between the top (LED1 and LED2) and bottom (LED3 and LED4) LEDs being illuminated Red and off. The color of the bottom LEDs depends on which faults are presently active. The table below describes how the color of the bottom LEDs maps to the presently active faults. - -+-------------+------------------+---------------+ -| Color | Over Temperature | Under Voltage | -+=============+==================+===============+ -| Green | On | Off | -+-------------+------------------+---------------+ -| Blue | Off | On | -+-------------+------------------+---------------+ -| Cyan / Aqua | On | On | -+-------------+------------------+---------------+ - -### Break/Coast Mode - -When the center LED is off the device is operating in coast mode. When the center LED is illuminated the device is operating in brake mode. The Brake/Coast mode can be toggled by pressing down on the center of the triangle and then releasing the button. - ## Venom Motor Controller .. image:: images/status-lights/venom.png :alt: The LED blink codes for the Venom. -## Mindsensors SD540B (PWM) - -.. image:: images/status-lights/sd540b-status-lights.png - :alt: The two LEDs on the top one at each end and the LED on the side next to the connector. - :width: 600 - -+----------------+-------+---------------------------------+ -| Power LED | Off | Power is not supplied | -| +-------+---------------------------------+ -| | Red | Power is supplied | -+----------------+-------+---------------------------------+ -| Motor LED | Red | Forward direction | -| +-------+---------------------------------+ -| | Green | Reverse direction | -+----------------+-------+---------------------------------+ -| PWM Signal LED | Red | No valid PWM signal is detected | -| +-------+---------------------------------+ -| | Green | Valid PWM signal is detected | -+----------------+-------+---------------------------------+ - -## Mindsensors SD540C (CAN Bus) - -.. image:: images/status-lights/sd540c-status-lights.png - :alt: The two LEDs on the top one at each end and the LED on the side next to the connector. - :width: 600 - -+----------------+------------------+---------------------------------------------------------+ -| Power LED | Off | Power is not supplied | -| +------------------+---------------------------------------------------------+ -| | Red | Power is supplied | -+----------------+------------------+---------------------------------------------------------+ -| Motor LED | Red | Forward direction | -| +------------------+---------------------------------------------------------+ -| | Green | Reverse direction | -+----------------+------------------+---------------------------------------------------------+ -| CAN Signal LED | Blinking quickly | No CAN devices are connected | -| +------------------+---------------------------------------------------------+ -| | Off | Connected to the roboRIO and the driver station is open | -+----------------+------------------+---------------------------------------------------------+ - ## REV Robotics Servo Power Module .. image:: images/status-lights/rev-robotics-servo-power-module.png diff --git a/source/docs/software/can-devices/can-addressing.rst b/source/docs/software/can-devices/can-addressing.rst index 07bd88de7b..f77c7c7722 100644 --- a/source/docs/software/can-devices/can-addressing.rst +++ b/source/docs/software/can-devices/can-addressing.rst @@ -89,7 +89,7 @@ The Message identifier is further broken down into 2 sub-fields: the The API Class is a 6-bit identifier for an API grouping. Similar messages are grouped into a single API Class. An example of the API -Classes for the Jaguar Motor Controller is shown in the table below. +Classes for a CAN Motor Controller is shown in the table below. ========================= = API Class @@ -108,7 +108,7 @@ Ack 8 #### API Index The API Index is a 4-bit identifier for a particular message within an -API Class. An example of the API Index values for the Jaguar Motor +API Class. An example of the API Index values for a CAN Motor Controller Speed Control API Class is shown in the table below. =========================== == diff --git a/source/docs/software/can-devices/third-party-devices.rst b/source/docs/software/can-devices/third-party-devices.rst index 616df485f0..f6b1be02a7 100644 --- a/source/docs/software/can-devices/third-party-devices.rst +++ b/source/docs/software/can-devices/third-party-devices.rst @@ -93,20 +93,6 @@ Playing With Fusion (PWF) offers the Venom integrated motor/controller as well a - API Documentation ([Java](https://www.playingwithfusion.com/frc/2020/javadoc/com/playingwithfusion/package-summary.html), [C++](https://www.playingwithfusion.com/frc/2020/cppdoc/html/annotated.html)) - [Technical Manual](https://www.playingwithfusion.com/include/getfile.php?fileid=7091) -## Redux Robotics - -Redux Robotics currently offers the HELIUM Canandmag :term:`CAN` + :term:`PWM` magnetic encoder and the BORON Canandgyro :term:`CAN`-enabled gyro. - -### Redux Sensors - -- **HELIUM Canandmag** - - API Documentation ([Java](https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandmag/package-summary), [C++](https://apidocs.reduxrobotics.com/current/cpp/namespaceredux_1_1sensors_1_1canandmag)) - - [Technical Manual](https://docs.reduxrobotics.com/canandmag) - -- **BORON Canandgyro** - - API Documentation ([Java](https://apidocs.reduxrobotics.com/current/java/com/reduxrobotics/sensors/canandgyro/package-summary), [C++](https://apidocs.reduxrobotics.com/current/cpp/namespaceredux_1_1sensors_1_1canandgyro)) - - [Technical Manual](https://docs.reduxrobotics.com/canandgyro/) - ## Grapple Robotics Grapple Robotics currently offers the LaserCAN :term:`CAN`-enabled range finding sensor diff --git a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst index 4ece393c33..26833e95c4 100644 --- a/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst +++ b/source/docs/software/dashboards/smartdashboard/test-mode-and-live-window/displaying-LiveWindow-values.rst @@ -11,29 +11,29 @@ For each sensor or actuator that is created, set the subsystem name and display ```java Ultrasonic ultrasonic = new Ultrasonic(1, 2); SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic"); - Jaguar elbow = new Jaguar(1); + Spark elbow = new Spark(1); SendableRegistry.setName(elbow, "Arm", "Elbow"); - Victor wrist = new Victor(2); + VictorSP wrist = new VictorSP(2); SendableRegistry.setName(wrist, "Arm", "Wrist"); ``` ```c++ frc::Ultrasonic ultrasonic{1, 2}; SendableRegistry::SetName(ultrasonic, "Arm", "Ultrasonic"); - frc::Jaguar elbow{1}; + frc::Spark elbow{1}; SendableRegistry::SetName(elbow, "Arm", "Elbow"); - frc::Victor wrist{2}; + frc::VictorSP wrist{2}; SendableRegistry::SetName(wrist, "Arm", "Wrist"); ``` ```python - from wpilib import Jaguar, Ultrasonic, Victor + from wpilib import Spark, Ultrasonic, VictorSP from wpiutil import SendableRegistry ultrasonic = Ultrasonic(1, 2) SendableRegistry.setName(ultrasonic, "Arm", "Ultrasonic") - elbow = Jaguar(1) + elbow = Spark(1) SendableRegistry.setName(elbow, "Arm", "Elbow") - wrist = Victor(2) + wrist = VictorSP(2) SendableRegistry.setName(wrist, "Arm", "Wrist") ``` @@ -44,29 +44,29 @@ If your objects are in a ``Subsystem``, this can be simplified using the addChil ```java Ultrasonic ultrasonic = new Ultrasonic(1, 2); addChild("Ultrasonic", ultrasonic); - Jaguar elbow = new Jaguar(1); + Spark elbow = new Spark(1); addChild("Elbow", elbow); - Victor wrist = new Victor(2); + VictorSP wrist = new VictorSP(2); addChild("Wrist", wrist); ``` ```c++ frc::Ultrasonic ultrasonic{1, 2}; AddChild("Ultrasonic", ultrasonic); - frc::Jaguar elbow{1}; + frc::Spark elbow{1}; AddChild("Elbow", elbow); - frc::Victor wrist{2}; + frc::VictorSP wrist{2}; AddChild("Wrist", wrist); ``` ```python - from wpilib import Jaguar, Ultrasonic, Victor + from wpilib import Spark, Ultrasonic, VictorSP from commands2 import SubsystemBase ultrasonic = Ultrasonic(1, 2) SubsystemBase.addChild("Ultrasonic", ultrasonic) - elbow = Jaguar(1) + elbow = Spark(1) SubsystemBase.addChild("Elbow", elbow) - wrist = Victor(2) + wrist = VictorSP(2) SubsystemBase.addChild("Wrist", wrist) ``` diff --git a/source/docs/software/hardware-apis/index.rst b/source/docs/software/hardware-apis/index.rst index dbe27ca828..d35faa3098 100644 --- a/source/docs/software/hardware-apis/index.rst +++ b/source/docs/software/hardware-apis/index.rst @@ -24,24 +24,18 @@ A motor controller is responsible on your robot for making motors move. For brus ### FRC Legal Motor Controllers -Motor controllers come in lots of shapes, sizes, and feature sets. This is the full list of FRC\ |reg| Legal motor controllers as of 2025: +Motor controllers come in lots of shapes, sizes, and feature sets. This is the full list of FRC\ |reg| Legal motor controllers as of 2026: -- DMC 60/DMC 60c Motor Controller (P/N: 410-334-1, 410-334-2) -- Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367) connected to :term:`PWM` only - Koors40 Motor Controller (P/N am-5600) -- Nidec Dynamo BLDC Motor with Controller to control integral actuator only (P/N 840205-000, am-3740) -- SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2, SD540Bx4, SD540C) - Spark Flex Motor Controller (P/N REV-11-2159, am-5276) - Spark Motor Controller (P/N: REV-11-1200, am-4260) - Spark MAX Motor Controller (P/N: REV-11-2158, am-4261) -- Talon FX Motor Controller (P/N 217-6515, 19-708850, am-6515, am-6515_Short, WCP-0940) for controlling integral Falcon 500 or Kraken X60 only, +- Talon FX Motor Controller (P/N 217-6515, 19-708850, am-6515, am-6515_Short, WCP-0940) for controlling integral Falcon 500, Kraken X60, or Kraken X44 only - Talon FXS Motor Controller (P/N 24-708883, WCP-1692) - Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195) - Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288) - Thrifty Nova (P/N TTB-0100) - Venom Motor with Controller (P/N BDC-10001) for controlling integral motor only​ -- Victor 884 Motor Controller (P/N: VICTOR-884-12/12) -- Victor 888 Motor Controller (P/N: 217-2769) - Victor SP Motor Controller (P/N: 217-9090, am-2855, 14-868380) - Victor SPX Motor Controller (P/N: 217-9191, 17-868388, am-3748) diff --git a/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst b/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst index f22f8d2a5d..0fefbe2216 100644 --- a/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst +++ b/source/docs/software/labview/creating-robot-programs/tank-drive-tutorial.rst @@ -30,9 +30,9 @@ 7. The first thing to confirm in this VI is that your left and right motors are connected to the same PWM lines in LabVIEW as they are on your PDP (Power Distribution Panel). -8. The second thing to confirm in this VI is that the "Open 2 Motor.vi" has the correct motor controller selected (Talon, Jaguar, Victor, etc.). +8. The second thing to confirm in this VI is that the "Open 2 Motor.vi" has the correct motor controller selected (Talon, Victor, Spark, etc.). -For example, I am using Jaguar motor controllers and my motors are wired into PWM 8 and 9. The image below shows the changes I need to make: +For example, the image below shows motors wired into PWM 8 and 9: .. image:: images/tank-drive-tutorial/block-diagram-3.png