Introduction to the EXPANSION HUB

Introduction to the EXPANSION HUB

REV ROBOTICS - EXPANSION HUB revrobotics.com

ANOTHER CONTROLLER CHOICE MODERN ROBOTICS REV ROBOTICS The Expansion hub does not replace the Modern Robotics System. It is just another option for teams to use.

REV ROBOTICS MAKES TWO HUBS ONLY ONE IS FTC LEGAL Control Hub Expansion Hub FIRST GLOBAL CHALLENGE FIRST TECH CHALLENGE

EXPANSION HUB PORTS

ANALOG AND DIGITAL PORTS NEED A SPLITTER TO USE THEM ALL 2 Analog become 4 4 Digital become 8 Do NOT use the splitter on the I2C ports 2/$3

INTEGRATED SENSORS Battery voltage monitoring Integrated Bosch BNO055 9-Axis absolute orientation IMU sensor Current Monitoring [Not Available in Ver 3.1] o Battery o I2C Bus o Servo Bus o Digital Bus Individual Motor Channel Current Monitoring and Control [Not Available in Ver 3.1]

NEED MORE PORTS? Two Expansion Hubs are allowed

SIZE COMPARISON MODERN ROBOTICS REV ROBOTICS

COST COMPARISON 4 MOTORS, 6 SERVOS Modern Robotics $90 Power Distribution Module $160 Motor Controller Module $70 Servo Controller Module $68 Device Interface Module $33 Integrated Gyro $33 Compass/Accelerometer $454 Total REV Robotics $150 REV Robotics Expansion Hub $12 Level Shifters for motor encoders $30 Additional cables, etc. $192 Total (with Team Discount)

COST COMPARISON 8 MOTORS, 12 SERVOS Modern Robotics $90 Power Distribution Module (1) $320 Motor Controller Modules (4) $140 Servo Controller Modules (2) $68 Device Interface Module (1) $33 Integrated Gyro (1) $33 Compass/Accelerometer (1) $684 Total REV Robotics $300 REV Robotics Expansion Hub (2) $24 Level Shifters for motor encoders $60 Additional cables, etc. $384 Total (with Team Discount)

TEAM DISCOUNT If you order your HUB through the FTC Team Registration page, you save $25 plus you get Free Cable Conversion Kit normally $25 Free Color/Distance Sensor normally $14 Free Touch Sensor normally $6 Free Switch Kit normally $6

TEAM DISCOUNT Order direct from REV Robotics and at checkout enter REVHUB4FTC2017 This saves you $25 on addition Hubs (NO Free Sensors and FTC Cable Conversion Kit)

HYBRID SYSTEMS ARE LEGAL Both the REV Robotics Expansion Hub and the Modern Robotics Core Modules can be used together. BUT, if both systems are used together, the Expansion Hub must be powered by a power port on the Modern Robotics Power Distribution Module.

CABLES AND EXTENSION BOARDS Cable 20cm 4/$3 JST PH 4-pin Cable 30cm 4/$4 Cable 50cm 4/$5 Extension Board 4/$4 All cables have the same female connector on each end. You will need the Extension Board to connect cables together.

LEVEL SHIFTER The Level Shifter allows 5-volt sensors to work with the Expansion Hub s 3.3-volt system. The following sensors require a level shifter $3 5 volt Motor Encoders (Neverest & Tetrix) 5 volt Sensors (all I2C Modern Robotics)

LEVEL SHIFTER CABLING Encoder Wire Wires from Expansion Hub Sensor Wire Suggestion Since the circuit board has the connection information on the opposite side from the pin outs, I suggest using a red marker to mark the +5V side so its easy to connect cables to the Cable Shifter correctly. Red mark +5V pin

MOTOR & ENCODER CONNECTIONS

MOTOR & ENCODER CONNECTION USING LEVEL SHIFTER

SOME SENSORS REQUIRE A SENSOR CABLE (CROSSOVER CABLE) Modern Robotics I2C Sensor/Device This Sensor Cable is required to make many some sensors (Modern Robotics I2C) compatible with the Expansion Hub

SENSOR CABLE Reverses the ground and channel B wires $1

SENSOR COMPATIBILITY GUIDE Refer the REV Robotics Expansion Hub User Guide for a complete list

EXPANSION HUB GUIDE If you are going to use the Expansion Hub, I highly recommend you read this guide www.revrobotics.com/content/docs/rev-31-1153-gs.pdf

SERVO PORTS The Good News The REV Robotics servo ports output a Pulse Width Modulation (PWM) of 500-2500ms. This means your analog servos once again have a default range of 180 degrees, unlike MR s 135 degrees.

SERVO PORTS The Good News The REV Robotics servo ports output a Pulse Width Modulation (PWM) of 500-2500ms. This means your analog servos once again have a default range of 180 degrees, unlike MR s 135 degrees. The Bad News These servo ports only output 5 volts instead of 6 volts which is OK in most situations, but that equals about 17% less torque. There is also a 2 amp maximum for each pair of ports possibly limiting the use of several quarter scale servos simultaneously.

SERVO PORTS The Good News The REV Robotics servo ports output a Pulse Width Modulation (PWM) of 500-2500ms. This means your analog servos once again have a default range of 180 degrees, unlike MR s 135 degrees. The Bad News These servo ports only output 5 volts instead of 6 volts which is OK in most situations, but that equals about 17% less torque. There is also a 2 amp maximum for each pair of ports possibly limiting the use of several quarter scale servos simultaneously. More Good News REV Robotics has solution to all of the Bad News

SERVO POWER MODULE Restores 6 volt output to all ports 15 amps are shared by all ports You should be able to run 6 analog quarter scale servos simultaneously Status lights

SERVO POWER MODULE Status Lights Green Forward Red Reverse Yellow Neutral Yellow Blinking Not Connected Blue - Power 12V

CONFIGURATION FILE

CONFIGURATION FILE - MOTORS

CONFIGURATION FILE - INTERNAL IMU The Internal IMU is automatically assigned to I2C Port 0, but you can assign Port 0 to any other I2C sensor.

MY CONCLUSIONS PROS Saves a lot of space. Much less expensive. Only one USB cable. I2C individual bus for each sensor. Therefore no need to change sensor addresses. CONS Not proven in FTC competitions. Level shifters and crossover cables can make wiring a little more complicated. No direct support for Hitechnic and Lego legacy sensors. Would I buy the REV Expansion? Yes!

QUESTIONS?