47a8b40fdb
TREE(74): training modules, entity profiles, 2890 references, keyword indices SPROUT(42): knowledge pages, project docs, curated source material SEED(164): daily notes, raw session logs, unprocessed material Updated AUDIT_MANIFEST.json with growth classifications.
80 lines
3.0 KiB
Markdown
80 lines
3.0 KiB
Markdown
---
|
||
title: "SPARK Flex Motor Controller — REV-11-2159"
|
||
tags:
|
||
- hardware
|
||
- motor-controller
|
||
- REV
|
||
- 2890
|
||
type: hardware-spec
|
||
owner: 2890
|
||
status: active
|
||
sources:
|
||
- "https://www.revrobotics.com/rev-11-2159/"
|
||
- "https://docs.revrobotics.com/brushless/spark-flex/overview"
|
||
growth: tree
|
||
---
|
||
|
||
# SPARK Flex Motor Controller — REV-11-2159
|
||
|
||
## Overview
|
||
|
||
The **SPARK Flex** is Team 2890's standard motor controller for NEO Vortex motors. It docks directly onto the NEO Vortex, eliminating external motor wires and creating an integrated motor-controller unit.
|
||
|
||
## Key Specifications
|
||
|
||
| Parameter | Value | Notes |
|
||
|-----------|-------|-------|
|
||
| Nominal Input Voltage | 12V | Standard FRC battery |
|
||
| Operating Voltage Range | 6–24V | |
|
||
| Absolute Maximum | 30V | Do not exceed |
|
||
| Continuous Output Current | 60A | Tested at 3 minutes |
|
||
| Peak Current (2s surge) | 100A | |
|
||
| Communication | CAN, PWM | |
|
||
| Data Port | USB Type-C | Configuration and control |
|
||
| Encoder Resolution (NEO Vortex) | 7168 CPR | With high-res firmware |
|
||
|
||
## PWM Specifications
|
||
|
||
| Parameter | Value |
|
||
|-----------|-------|
|
||
| Full-reverse pulse | 1000 μs |
|
||
| Neutral pulse | 1500 μs |
|
||
| Full-forward pulse | 2000 μs |
|
||
| Valid pulse range | 500–2500 μs |
|
||
| Input frequency | 50–200 Hz |
|
||
| Input timeout | 50 ms |
|
||
|
||
## Features
|
||
|
||
- **Docking interface** — direct mount to NEO Vortex, no motor wires
|
||
- **3-phase current sensing** — better motor monitoring than SPARK MAX
|
||
- **Reverse polarity protection** — protects against wiring mistakes
|
||
- **Expanded data port** — supports REV Through Bore Encoder, quadrature encoders, limit switches, additional serial interfaces
|
||
- **Advanced control modes:** Velocity, Position, Current (more coming with firmware updates)
|
||
- **Fits behind 2" rectangular tube** — compact mounting
|
||
|
||
## Getting Started
|
||
|
||
1. Install **REV Hardware Client** — required before using CAN interface
|
||
2. Dock SPARK Flex to NEO Vortex
|
||
3. Configure via Hardware Client
|
||
4. Update firmware if needed
|
||
|
||
**Important:** Configuration through Hardware Client is **required** before using CAN interface.
|
||
|
||
## Connection to Training
|
||
|
||
**For students:** The SPARK Flex is the "brain" that tells the motor how to move. Key concepts:
|
||
- **PWM vs CAN** — PWM is simple (1000μs = full reverse, 1500μs = neutral, 2000μs = full forward). CAN is smarter (digital, multi-device, richer feedback).
|
||
- **Current limiting** — the Flex can limit current to protect motors (60A continuous)
|
||
- **Closed-loop control** — velocity mode, position mode, and current mode each close a feedback loop
|
||
|
||
**Related training modules:**
|
||
- [[neo-vortex-motor]] — the motor this controls
|
||
- [[swerving-modules]] — MK4i modules that hold both
|
||
- [[motor-basics]] — understanding how controllers drive motors
|
||
- [[2890-codebase-index]] — YAGSL configuration for SPARK Flex + NEO Vortex
|
||
|
||
## Notes
|
||
|
||
Team 2890 uses SPARK Flex controllers docked to NEO Vortex motors in their MK4i swerve modules. The dock design is a significant reliability improvement — no bullet wires to come loose, no separate sensor cables. One compact unit per wheel. |