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/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.