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Hardware APIs

This section discusses the control of motors and pneumatics through motor controllers, solenoids and pneumatics, and their interface with Java and C++ WPILib.

.. toctree::
   :maxdepth: 1

   motors/index
   pneumatics/index
   sensors/index
   misc/index

Motor Controllers

A motor controller is responsible on your robot for making motors move. For brushed DC motors such as the :term:`CIM` or 775, the motor controller regulates the voltage that the motor receives, much like a light bulb. For brushless motor controllers such as the Spark MAX, the controller regulates the power delivered to each "phase" of the motor.

Note

Another name for a motor controller is a speed controller.

Warning

Connecting a BRUSHLESS motor controller straight to power, such as to a conventional brushed motor controller, will destroy the motor!

FRC Legal Motor Controllers

Motor controllers come in lots of shapes, sizes and feature sets. This is the full list of FRC|reg| Legal motor controllers as of 2023:

  • DMC 60/DMC 60c Motor Controller (P/N: 410-334-1, 410-334-2)
  • Jaguar Motor Controller (P/N: MDL-BDC, MDL-BDC24, and 217-3367) connected to :term:`PWM` only
  • Nidec Dynamo BLDC Motor with Controller to control integral actuator only (P/N 840205-000, am-3740)
  • SD540 Motor Controller (P/N: SD540x1, SD540x2, SD540x4, SD540Bx1, SD540Bx2, SD540Bx4, SD540C)
  • Spark Motor Controller (P/N: REV-11-1200, am-4260)
  • Spark MAX Motor Controller (P/N: REV-11-2158, am-4261)
  • Talon FX Motor Controller (P/N: 217-6515, 19-708850, am-6515, am-6515_Short) for controlling integral Falcon 500 only
  • Talon Motor Controller (P/N: CTRE_Talon, CTRE_Talon_SR, and am-2195)
  • Talon SRX Motor Controller (P/N: 217-8080, am-2854, 14-838288)
  • Venom Motor with Controller (P/N BDC-10001) for controlling integral motor only​
  • Victor 884 Motor Controller (P/N: VICTOR-884-12/12)
  • Victor 888 Motor Controller (P/N: 217-2769)
  • Victor SP Motor Controller (P/N: 217-9090, am-2855, 14-868380)
  • Victor SPX Motor Controller (P/N: 217-9191, 17-868388, am-3748)

Pneumatics

Pneumatics are a quick and easy way to make something that's in one state or another using compressed air. For information on operating pneumatics, see :doc:`pneumatics/index`.

FRC Legal Pneumatics controllers

  • Pneumatics Control Module (P/N: am-2858, 217-4243)
  • Pneumatic Hub (P/N REV-11-1852)

Relays

A relay controls power to a motor or custom electronics in an On/Off fashion.

FRC Legal Relay Modules

  • Spike H-Bridge Relay (P/N: 217-0220 and SPIKE-RELAY-H)
  • Automation Direct Relay (P/N: AD-SSR6M12-DC200D, AD-SSR6M25-DC200D, AD-SSR6M40-DC200D)
  • Power Distribution Hub (PDH) switched channel (P/N REV-11-1850)