Add Team 2890 swerve hardware specs
- SDS MK4i swerve module (L1/L2/L3 drive ratios, 150/7:1 steering) - NEO Vortex motor (565 Kv, 6784 RPM, 3.6 Nm stall) - SPARK Flex controller (60A continuous, CAN+PWM, dock interface)
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MrC
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sources/2890/neo-vortex-motor.md
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sources/2890/neo-vortex-motor.md
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---
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title: "NEO Vortex Brushless Motor — REV-21-1652"
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tags:
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- hardware
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- motor
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- brushless
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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-21-1652/"
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- "https://docs.revrobotics.com/brushless/neo/vortex"
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---
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# NEO Vortex Brushless Motor — REV-21-1652
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## Overview
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The **NEO Vortex** is Team 2890's standard drive motor for swerve modules. It's a high-power sensored brushless motor with integrated encoder memory and a dockable interface that connects directly to the SPARK Flex motor controller.
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## Key Specifications
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| Parameter | Value | Notes |
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|-----------|-------|-------|
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| Nominal Voltage | 12V | Standard FRC battery |
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| Motor Kv | 565 Kv | RPM per volt |
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| Free Speed | 6784 RPM | @ 12V no load |
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| Stall Current | 211A | Maximum starting current |
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| Stall Torque | 3.6 Nm | Maximum starting torque |
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| Peak Output Power | 640W | |
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| Typical Output (40A) | 375W | Sustained working power |
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| Weight | 447g (0.99 lbs) | |
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| Encoder Resolution (SPARK Flex) | 7168 CPR | With high-res firmware update |
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## Mechanical specs
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- **Shaft:** 1/2" hex through-bore with 7.5° taper
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- **Mounting:** #10-32 threaded holes on 2" bolt circle
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- **Docked body length:** 79.7mm (with SPARK Flex docked)
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- **Through-bore:** Compatible with hex shafts, 8mm keyed, Falcon spline, MAXSwerve key, 7-tooth 20DP gear
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## Features
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- High-resolution integrated encoder
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- Integrated motor parameter and calibration memory (auto-configures with SPARK Flex)
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- Dual sensor direct-contact winding temperature sensing
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- No motor wires — reliable dock connectors for phases and sensor
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- Through-hex bore for quick-change shaft system
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## Connection to Training
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**For students:** The NEO Vortex is the power plant. Understanding:
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- **Kv rating** (565 Kv) — at 12V, spins at ~6784 RPM under no load
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- **Stall vs. free speed** — torque is highest at stall, speed is highest at no load
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- **Current draw** — 211A stall means the battery and wiring must handle high current surges
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- **Temperature sensing** — dual sensors protect the motor from overheating
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This is a good bridge between physics (Pmec = τ × ω) and real hardware.
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## Related
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- [[swerving-modules]] — the MK4i modules this motor drives
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- [[spark-flex]] — the motor controller that drives this motor
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- [[motor-basics]] — fundamental motor physics (Kv, torque, power relationships)
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- [[2890-codebase-index]] — YAGSL configuration for NEO Vortex + SPARK Flex
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## Notes
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Chris and team use these with SPARK Flex controllers in the MK4i swerve modules. The dockable design eliminates external motor wiring — phases and sensor data pass through the dock connection. This is a significant reliability improvement over bullet-wire connections.
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sources/2890/spark-flex.md
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sources/2890/spark-flex.md
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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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61
sources/2890/swerve-modules.md
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sources/2890/swerve-modules.md
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---
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title: "Team 2890 Swerve Modules — SDS MK4i"
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tags:
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- hardware
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- drivetrain
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- swerve
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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.swervedrivespecialties.com/products/mk4i-swerve-module"
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- "https://andymark.com/products/sds-mk4i-swerve-modules"
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- "https://www.scribd.com/document/690437836/SDS-MK4i-Swerve-Modules-Assembly-Guide"
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---
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# SDS MK4i Swerve Module — Team 2890 Standard
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## Overview
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Team 2890 uses the **Swerve Drive Specialties MK4i** swerve module. This is the core drivetrain component — each robot has four modules, one per corner.
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## Key Features
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- **On-axis steering encoder** — zero backlash, module can be disassembled/reassembled without resetting encoder offset
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- **Corner bias** — compact 4" × 4" internal frame width (MK4i has same corner bias as MK4n, different from MK4)
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- **Full steering ratio:** 150/7:1 (passes through one gear pair, then a 64T belt pulley pair)
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- **Mounting hardware:** Updated June 2023 — changed from 8-32 to **10-32 screws**
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- **Wheel options:** Standard 4" wheel (can be replaced with 3" for weight savings)
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## Drive Ratios
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| Ratio | Best For | Notes |
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|-------|----------|-------|
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| **L1** | Standard full-weight competition robots | Most popular |
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| **L2** | Standard full-weight competition robots | Most popular |
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| **L3** | Lightweight robots | More aggressive, higher speed |
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L1 and L2 are recommended for standard FRC robots. L3 is for lightweight builds only.
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## Connection to Training
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**For students learning swerve:** This module uses a 1/2" hex output shaft. Understanding hex shafts and how they transfer torque is fundamental mechanical knowledge. Students should also understand:
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- Why steering ratio matters (fast steering vs. precision)
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- What "corner bias" means for turning radius
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- How the belt drive multiplies torque from motor to wheel
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**Related training modules:**
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- [[motor-basics]] — understandingKv, torque, current relationships
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- [[frc-drivetrain-training]] — swerve kinematics and control
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- [[2890-codebase-index]] — how the code configures these modules
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## Source Links
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- Product page: https://www.swervedrivespecialties.com/products/mk4i-swerve-module
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- Assembly guide (PDF): https://www.scribd.com/document/690437836/SDS-MK4i-Swerve-Modules-Assembly-Guide
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- AndyMark: https://andymark.com/products/sds-mk4i-swerve-modules
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## Notes for MrC
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Chris uses these modules with NEO Vortex motors and SPARK Flex controllers. The full stack is: **MK4i + NEO Vortex + SPARK Flex + YAGSL**. The YAGSL library (Yet Another Gyro Library) handles the swerve math and motor control in code.
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