From 390609188b6576d6e7cebe8dbd320729aeb21111 Mon Sep 17 00:00:00 2001 From: MrC Date: Mon, 4 May 2026 00:58:37 +0000 Subject: [PATCH] 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) --- sources/2890/neo-vortex-motor.md | 71 ++++++++++++++++++++++++++++ sources/2890/spark-flex.md | 79 ++++++++++++++++++++++++++++++++ sources/2890/swerve-modules.md | 61 ++++++++++++++++++++++++ 3 files changed, 211 insertions(+) create mode 100644 sources/2890/neo-vortex-motor.md create mode 100644 sources/2890/spark-flex.md create mode 100644 sources/2890/swerve-modules.md diff --git a/sources/2890/neo-vortex-motor.md b/sources/2890/neo-vortex-motor.md new file mode 100644 index 0000000..b49af88 --- /dev/null +++ b/sources/2890/neo-vortex-motor.md @@ -0,0 +1,71 @@ +--- +title: "NEO Vortex Brushless Motor — REV-21-1652" +tags: + - hardware + - motor + - brushless + - REV + - 2890 +type: hardware-spec +owner: 2890 +status: active +sources: + - "https://www.revrobotics.com/rev-21-1652/" + - "https://docs.revrobotics.com/brushless/neo/vortex" +--- + +# NEO Vortex Brushless Motor — REV-21-1652 + +## Overview + +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. + +## Key Specifications + +| Parameter | Value | Notes | +|-----------|-------|-------| +| Nominal Voltage | 12V | Standard FRC battery | +| Motor Kv | 565 Kv | RPM per volt | +| Free Speed | 6784 RPM | @ 12V no load | +| Stall Current | 211A | Maximum starting current | +| Stall Torque | 3.6 Nm | Maximum starting torque | +| Peak Output Power | 640W | | +| Typical Output (40A) | 375W | Sustained working power | +| Weight | 447g (0.99 lbs) | | +| Encoder Resolution (SPARK Flex) | 7168 CPR | With high-res firmware update | + +## Mechanical specs + +- **Shaft:** 1/2" hex through-bore with 7.5° taper +- **Mounting:** #10-32 threaded holes on 2" bolt circle +- **Docked body length:** 79.7mm (with SPARK Flex docked) +- **Through-bore:** Compatible with hex shafts, 8mm keyed, Falcon spline, MAXSwerve key, 7-tooth 20DP gear + +## Features + +- High-resolution integrated encoder +- Integrated motor parameter and calibration memory (auto-configures with SPARK Flex) +- Dual sensor direct-contact winding temperature sensing +- No motor wires — reliable dock connectors for phases and sensor +- Through-hex bore for quick-change shaft system + +## Connection to Training + +**For students:** The NEO Vortex is the power plant. Understanding: +- **Kv rating** (565 Kv) — at 12V, spins at ~6784 RPM under no load +- **Stall vs. free speed** — torque is highest at stall, speed is highest at no load +- **Current draw** — 211A stall means the battery and wiring must handle high current surges +- **Temperature sensing** — dual sensors protect the motor from overheating + +This is a good bridge between physics (Pmec = τ × ω) and real hardware. + +## Related + +- [[swerving-modules]] — the MK4i modules this motor drives +- [[spark-flex]] — the motor controller that drives this motor +- [[motor-basics]] — fundamental motor physics (Kv, torque, power relationships) +- [[2890-codebase-index]] — YAGSL configuration for NEO Vortex + SPARK Flex + +## Notes + +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. \ No newline at end of file diff --git a/sources/2890/spark-flex.md b/sources/2890/spark-flex.md new file mode 100644 index 0000000..6af7d06 --- /dev/null +++ b/sources/2890/spark-flex.md @@ -0,0 +1,79 @@ +--- +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" +--- + +# 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. \ No newline at end of file diff --git a/sources/2890/swerve-modules.md b/sources/2890/swerve-modules.md new file mode 100644 index 0000000..2cf472a --- /dev/null +++ b/sources/2890/swerve-modules.md @@ -0,0 +1,61 @@ +--- +title: "Team 2890 Swerve Modules — SDS MK4i" +tags: + - hardware + - drivetrain + - swerve + - 2890 +type: hardware-spec +owner: 2890 +status: active +sources: + - "https://www.swervedrivespecialties.com/products/mk4i-swerve-module" + - "https://andymark.com/products/sds-mk4i-swerve-modules" + - "https://www.scribd.com/document/690437836/SDS-MK4i-Swerve-Modules-Assembly-Guide" +--- + +# SDS MK4i Swerve Module — Team 2890 Standard + +## Overview + +Team 2890 uses the **Swerve Drive Specialties MK4i** swerve module. This is the core drivetrain component — each robot has four modules, one per corner. + +## Key Features + +- **On-axis steering encoder** — zero backlash, module can be disassembled/reassembled without resetting encoder offset +- **Corner bias** — compact 4" × 4" internal frame width (MK4i has same corner bias as MK4n, different from MK4) +- **Full steering ratio:** 150/7:1 (passes through one gear pair, then a 64T belt pulley pair) +- **Mounting hardware:** Updated June 2023 — changed from 8-32 to **10-32 screws** +- **Wheel options:** Standard 4" wheel (can be replaced with 3" for weight savings) + +## Drive Ratios + +| Ratio | Best For | Notes | +|-------|----------|-------| +| **L1** | Standard full-weight competition robots | Most popular | +| **L2** | Standard full-weight competition robots | Most popular | +| **L3** | Lightweight robots | More aggressive, higher speed | + +L1 and L2 are recommended for standard FRC robots. L3 is for lightweight builds only. + +## Connection to Training + +**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: +- Why steering ratio matters (fast steering vs. precision) +- What "corner bias" means for turning radius +- How the belt drive multiplies torque from motor to wheel + +**Related training modules:** +- [[motor-basics]] — understandingKv, torque, current relationships +- [[frc-drivetrain-training]] — swerve kinematics and control +- [[2890-codebase-index]] — how the code configures these modules + +## Source Links + +- Product page: https://www.swervedrivespecialties.com/products/mk4i-swerve-module +- Assembly guide (PDF): https://www.scribd.com/document/690437836/SDS-MK4i-Swerve-Modules-Assembly-Guide +- AndyMark: https://andymark.com/products/sds-mk4i-swerve-modules + +## Notes for MrC + +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. \ No newline at end of file