79 lines
3.0 KiB
Markdown
79 lines
3.0 KiB
Markdown
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---
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title: "SPARK Flex Motor Controller — REV-11-2159"
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tags:
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- hardware
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- motor-controller
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- REV
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- 2890
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type: hardware-spec
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owner: 2890
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status: active
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sources:
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- "https://www.revrobotics.com/rev-11-2159/"
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- "https://docs.revrobotics.com/brushless/spark-flex/overview"
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---
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# SPARK Flex Motor Controller — REV-11-2159
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## Overview
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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.
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## Key Specifications
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| Parameter | Value | Notes |
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|-----------|-------|-------|
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| Nominal Input Voltage | 12V | Standard FRC battery |
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| Operating Voltage Range | 6–24V | |
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| Absolute Maximum | 30V | Do not exceed |
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| Continuous Output Current | 60A | Tested at 3 minutes |
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| Peak Current (2s surge) | 100A | |
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| Communication | CAN, PWM | |
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| Data Port | USB Type-C | Configuration and control |
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| Encoder Resolution (NEO Vortex) | 7168 CPR | With high-res firmware |
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## PWM Specifications
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| Parameter | Value |
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|-----------|-------|
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| Full-reverse pulse | 1000 μs |
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| Neutral pulse | 1500 μs |
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| Full-forward pulse | 2000 μs |
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| Valid pulse range | 500–2500 μs |
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| Input frequency | 50–200 Hz |
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| Input timeout | 50 ms |
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## Features
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- **Docking interface** — direct mount to NEO Vortex, no motor wires
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- **3-phase current sensing** — better motor monitoring than SPARK MAX
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- **Reverse polarity protection** — protects against wiring mistakes
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- **Expanded data port** — supports REV Through Bore Encoder, quadrature encoders, limit switches, additional serial interfaces
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- **Advanced control modes:** Velocity, Position, Current (more coming with firmware updates)
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- **Fits behind 2" rectangular tube** — compact mounting
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## Getting Started
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1. Install **REV Hardware Client** — required before using CAN interface
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2. Dock SPARK Flex to NEO Vortex
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3. Configure via Hardware Client
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4. Update firmware if needed
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**Important:** Configuration through Hardware Client is **required** before using CAN interface.
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## Connection to Training
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**For students:** The SPARK Flex is the "brain" that tells the motor how to move. Key concepts:
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- **PWM vs CAN** — PWM is simple (1000μs = full reverse, 1500μs = neutral, 2000μs = full forward). CAN is smarter (digital, multi-device, richer feedback).
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- **Current limiting** — the Flex can limit current to protect motors (60A continuous)
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- **Closed-loop control** — velocity mode, position mode, and current mode each close a feedback loop
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**Related training modules:**
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- [[neo-vortex-motor]] — the motor this controls
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- [[swerving-modules]] — MK4i modules that hold both
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- [[motor-basics]] — understanding how controllers drive motors
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- [[2890-codebase-index]] — YAGSL configuration for SPARK Flex + NEO Vortex
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## Notes
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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.
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