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REV Robotics Expansion Hub, Manual

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Expansion Hub Guide 

–

 Rev 4               

© REV Robotics, LLC 2017 

19 

4.4

 

Sensor  Compatability  Chart 

To determine  if your  existing sensors  can be used  with the Expansion  Hub  and  what additional  hardware  if any is 
required,  reference  Table  9.   

Table  9: Sensor Compatibility  Table 

Sensor 

Type  Compatible 

Adapters Needed 

Absolute  Orientation  IMU Fusion 

Breakout  - BNO055 

2472 

Adafruit 

I2C 

Yes 

3.3V  Compatible 

Custom  Wiring  Harness  Needed 

RGB Color  Sensor with IR filter 

and  White LED - TCS34725 

1334 

AdaFruit 

I2C 

Yes 

3.3V  Compatible 

Custom  Wiring  Harness  Needed 

Color

 

Sensor

 

45-2018 

Modern  Robotics 

I2C 

Yes 

 

Compass 

45-2003 

Modern  Robotics 

I2C 

Yes 

 

Integrating  Gyro 

45-2005 

Modern  Robotics 

I2C 

Yes 

 

IR Locator 360 

45-2009 

Modern  Robotics 

I2C 

Yes 

 

IR Seeker V3 

45-2017 

Modern  Robotics 

I2C 

Yes 

 

Ranger Sensor 

45-2008 

Modern  Robotics 

I2C 

Yes 

 

NeveRest Motor 

AM-3461,  AM-3102,  AM-2964a, 

AM-3103,  AM-3104 

AndyMark 

Quad 

Encoder 

Yes 

 

Summary of Contents for Expansion Hub

Page 1: ...Expansion Hub Guide Rev 4 REV Robotics LLC 2017 fg EXPANSION HUB GUIDE ...

Page 2: ... 1 4 3 JST PH Sensors and RS485 5 2 QUICK START 7 2 1 Required Materials 7 2 2 System Wiring Diagram 8 2 3 Driver Station and Robot Controller Pairing 8 2 4 Robot Configuration 8 2 5 Adding an Additional Expansion Hub 12 2 6 LED Blink Codes 15 3 INTEGRATED SENSORS 17 4 LEGACY SENSOR SUPPORT 17 4 1 Level Shifter 17 4 2 Connnecting a 5V Motor Encoder 18 4 3 Connecting a 5V Sensor 18 4 4 Sensor Compa...

Page 3: ... 3 3V Ports o 8x Digital I O 1A Source Max o 4x I2C 100kHz 400kHz Busses 500mA Max o 4x 12 bit Analog Inputs 500mA Max o 4x Quadrature Encoder Inputs 500mA Max 5V Ports o 5V Aux Power 2A Max o Servos 2A Maximum per Pair o USB 2 0 1 5A Max PORT QTY CONNECTOR DESCRIPTION Battery 2 XT30 Connect one 12V NiMh battery use the second connector to add another Expansion Hub Motor 4 JST VH 2 pin Motor power...

Page 4: ...Expansion Hub Guide Rev 4 REV Robotics LLC 2017 2 1 2 Port Pin Outs ...

Page 5: ...gether internally so it does not matter which is power in or out but the standard convention is that the male connector is the power in side Most teams will want to use premade cables which can be sources from the REV Robotics website directly Table 1 for convenience but teams can also make their own cables These connectors are solder cup style and do not require any crimping tools connectors are ...

Page 6: ... VH 2 pins 20cm REV 31 1411 JST VH JST VH 2 pins 30cm REV 31 1412 JST VH JST VH 2 pins 50cm REV 31 1413 JST VH Anderson Power Pole Type 2 pins 12cm REV 31 1381 JST VH Cable Extension Board 2 pins REV 31 1429 For teams which would like more information regarding the connectors or to try crimping their own cables Table 3 lists the appropriate part numbers Connector Specifications 10A Continuous Curr...

Page 7: ...al tooling These cables can be bought directly from the REV Robotics Website Table 4 and Table 5 or through other online vendors Table 4 Premade 4 pin JST PH Cables and Accessories Pins Length REV Robotics Part Number JST PH JST PH 4 pins 20cm REV 31 1406 JST PH JST PH 4 pins 30cm REV 31 1407 JST PH JST PH 4 pins 50cm REV 31 1408 JST PH Cable Extension Board 4 pins REV 31 1388 Table 5 Premade 3 pi...

Page 8: ...t JST PH 28 24AWG SPH 002T P0 5L 455 2148 1 ND Housing JST PH 4 pin PHR 4 455 1164 ND Header JST PH 4 pin Top Entry B4B PH K S 455 1706 ND Header JST PH 4 pin Side Entry S4B PH K S 455 1721 ND Housing JST PH 3 pin PHR 3 455 1126 ND Header JST PH 3 pin Top Entry B3B PH K S 455 1705 ND Header JST PH 3 pin Side Entry S3B PH K S 455 1720 ND Connector Datasheet http www jst mfg com product pdf eng ePH ...

Page 9: ...m Battery REV 31 1302 Properly Configured Driver Station DS and Robot Controller RC Phones USB Game Pad USB A Female to Micro USB REV 31 1426 Other FTC legal part numbers exist Optional Additional Materials needed to Connect an Additional Expansion Hub Expansion Hub REV 31 1153 XT30 Extension Cable Communication Cable RS 485 ...

Page 10: ...nected to the Expansion Hub will need to be added to the Robot Configuration file before you can use the device in your program The Robot Configuration will allow you to give your sensors and actuators meaningful names that you can reference while programming For this example we will configure a simple two motor robot drivetrain Figure 4 Figure 4 The miniBot is a Simple 2 Motor Robot NOTE You shou...

Page 11: ...nnect your Robot Controller Phone via USB to the Expansion Hub s mini USB port It s also recommended to connect a battery 2 4 2 Select the menu on either the Driver Station or Robot Controller Then select Configure Robot 2 4 3 Select New in the top left hand corner 2 4 4 Select Expansion Hub Portal 1 ...

Page 12: ...tor type attached to the port In the case of the Minibot in Figure 4 select the Rev Robotics Core Hex Motor 2 4 8 Press Enter motor name here and name the motor left_drive This is the name that you will use when you are programming your robot to control this motor Always use descriptive names so that you can remember what a device does when you are programming ...

Page 13: ...e process for Port 1 and name the motor right_drive 2 4 10 Press done once to go back to the list of device port and then select I2C Bus 0 2 4 11 Add the built in REV Expansion Hub IMU Name it imu 2 4 12 Press the Done button at the top left corner of the page 3 times ...

Page 14: ... your robot An Expansion Hub can be added to another Expansion Hub or to a Control Hub The Expansion Hub has all of the same ports as the Control Hub but without the wireless capability Control Hub vs Expansion Hub in FIRST FIRST Tech Challenge FIRST Global Teams in FTC can use up to two 2 Expansion Hubs and an Android Phone in their robots starting in the 2017 2018 season Read the official FTC Ga...

Page 15: ...xpansion Hub and no other Expansion Hubs Connected select the menu on either the Driver Station or Robot Controller Then select Settings and Advanced Settings 2 5 2 In Advanced Settings select Expansion Hub Address Change 2 5 3 Use the drop down Menu to change the address Select a number other than 2 and then back out of the menu using the triangle button Once you are back at the main app screen P...

Page 16: ...able to connect power between the two Expansion Hubs 2 5 5 Use the 3 pin JST PH cable and the RS485 port to connect communication between the two Expansion Hubs 2 5 6 From the Driver Station or Robot Controller app choose Configure Robot 2 5 7 Select New in the top left hand corner ...

Page 17: ... LED Codes Firmware Version 1_06_00 LED Status LED Description When Hub Status Solid Blue At Boot Expansion Hub has power either 12V from the battery or 5V sourced from the phone and is waiting to initialize communications Solid Blue Anytime Hub is waiting for communication with the Driver Station Host Expansion Hub has power either 12V from the battery or 5V sourced from the phone Solid Green wit...

Page 18: ...olid Green with one or more blue blinks every 5 Seconds Anytime Hub has power and active communication with the Android Platform The number of blue blinks is the same as the Hub s address The factory default address is 2 Blinking Blue Anytime Keep alive has timed out Fault will clear when communication resumes Blinking Orange Anytime Battery Voltage is lower than 7V Either the 12V battery needs to...

Page 19: ...vailable in Ver 3 1 4 LEGACY SENSOR SUPPORT 4 1 Level Shifter The Expansion Hub is a 3 3V logic level device but many of the sensor that teams have previously purchased through companies such as Modern Robotics are 5V logic level devices Many of these previously purchased sensors can be used with the new system by using a level shifter device REV Robotics offers a Level Shifter REV 31 1389 and an ...

Page 20: ...der to an Expansion Hub All currently sold REV Robotics Motors have been updated to work directly with the Expansion Hub HD Hex Motors sold before September 2017 with the modern robotics compatible encoder cable and built in power wires have 5V encoders 4 3 Connecting a 5V Sensor The I2C sensors from Modern Robotics can be used with the Level Shifter board with a pinout change Teams can either pur...

Page 21: ... 2472 Adafruit I2C Yes 3 3V Compatible Custom Wiring Harness Needed RGB Color Sensor with IR filter and White LED TCS34725 1334 AdaFruit I2C Yes 3 3V Compatible Custom Wiring Harness Needed Color Sensor 45 2018 Modern Robotics I2C Yes Compass 45 2003 Modern Robotics I2C Yes Integrating Gyro 45 2005 Modern Robotics I2C Yes IR Locator 360 45 2009 Modern Robotics I2C Yes IR Seeker V3 45 2017 Modern R...

Page 22: ...apters Needed Core Hex Motor REV 41 1301 REV Robotics Quad Encoder Yes Directly Compatable No Custom Adapters Needed 12v 4mm Motor Kit 50 0119 MATRIX Quad Encoder Yes 12v 6mm Motor Kit 50 0120 MATRIX Quad Encoder Yes Standard Motor Kit 50 0001 MATRIX Quad Encoder Yes Max Motor Shaft Encoder Kit W38000 Tetrix Quad Encoder Yes Limit Switch 45 2401 Modern Robotics Digital Yes No Adapter Needed Custom...

Page 23: ...ptical Distance Sensor 45 2006 Modern Robotics Analog No Not Officially Supported Touch Sensor 45 2007 Modern Robotics Analog Yes No Adapter Needed Custom Wiring Harness Needed Light Sensor 45 2015 Modern Robotics Analog No Not Officially Supported Magnetic Sensor 45 2020 Modern Robotics Analog No Not Officially Supported ...

Page 24: ...Expansion Hub Guide Rev 4 REV Robotics LLC 2017 22 5 Dimensions ...

Page 25: ...oved version of Figure 6 Added Adafruit Color Sensor to sensor compatibility table Rev 2 8 29 2017 Updated the FTC Control System Guide link to the current wiki Fixed spelling error Added instructions for Hub Address Change Noted that custom wiring harness is needed for all compatible sensors which do not require a level shifter Corrected Hub Dimensions Fixed broken reference Rev 3 9 29 2017 Revis...

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