Motors and Servos

Motors and Servos may sound like they do the same thing but have different applications and uses. It is very Important to be able to identify each and understand when you should use each one.

Motors

Movement: Spins clockwise and counter-clockwise. Speed control and position control with built in Encoder feedback.

Applications: Drive systems, Lift Systems, Linear Slides, Shooters, Intakes and much much more.

Types:

Shaft output: Hex or Rounded
Gear Ratio: 6,000, 1,620, 1,150, 435, 312, 223, 117, 84, 60, 43, 30 RPM
Feedback: Quadrature Encoder

Power - Two wires

red = Power
black = Ground

To make a motor spin, send power through the red wire and ground the black wire. If you want to reverse the spin then send power through the black wire and ground the red wire. This is controlled through code and the Control/Expansion Hub.

Feeback - 4 wires

Encoder 4pin JST connector

Servos

Movement: Spins clockwise and counter-clockwise with precision positioning or continous rotation similar to a standard motor but with less speed and torque but a much smaller size and weight.

Applications: Claws, Flippers, Small Arms/Wrists

Types:

Position aka Closed-Loop Servos: Limited range of motion usually 90 or 180 degrees but can precisely control the position of the servo
Continuous Rotation aka Open-Loop Servos: Unlimited range of motion but can precisely control the direction and speed but not the position

Three wires

red = Power
black = Ground
white/orange = Control

To control a servo use PWM (Pulse-Width Modulation).

Use the SERVO PROGRAMMER to switch between Position and Continous Rotation Modes.

Controller Hub

Motors Connect to the Motor Ports - Make sure to connect Red to Red and Black to Black for consistency.
Encoders Connect to the Encoder ports - All motors do not need encoders, a key example is the Mechanum Wheels.
Servos Connect to the Servo ports - Make sure you have the Ground and Signal orientation correct. The PWM cable is easy to plug in backwards as it is not keyed.

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