diff --git a/docs/FRC-Control-System.md b/docs/FRC-Control-System.md
index d97ae4b..d7be124 100644
--- a/docs/FRC-Control-System.md
+++ b/docs/FRC-Control-System.md
@@ -8,20 +8,46 @@ title: FRC Control System
## Control System Basics
* Battery supplies Power to the Robot
-* Power originates with a distribution hub or panel (PDH/PDP/AMPD)
-* Swerve encoders can be spliced from a single wire.
- * Soldering is a way that teams have done this. You’ll learn later why soldering is considered bad for an FRC environment, but for now, just understand it is a worse solution than others.
- * A 5-port [Wago](https://www.amazon.com/LEPEVNEY-Electrical-Connectors-Retardant-Connector/dp/B0GCJGNR1R/ref=sr_1_4?crid=3S5XVPL2BYERF&dib=eyJ2IjoiMSJ9.fnqoyr8S4BoE6gGHz4zoKNKmHKklMrr4b2weTcpcWDTtgCFb9RqDgBQ5F-tbMFAbu-gasv3x3za6PIa3aqW2dUvf2vMRlnPKnQA48KHO2SYTRiV69c_SfiG7Uk7fiULECS2MLTP-yaaymRvp14ij9Mud3-jhJY4C9Ki-CUEiCTAhYIK6Oak4YNHcirDnV_LF4RVtLIb8UO6KggrtqmTMvYdDPQzeTNgsVz_f8BBDDcQ.zFwnjvta4aXVr957XsFxWN2hmtDJTrVbEffRnxRYKV0&dib_tag=se&keywords=Wago%2B2%2BPort%2B(10)%2B3%2BPort%2B(10)%2B5%2BPort%2B(4)%2BLever-Nut%2BAssortment%2BPack%2BConductor%2BCompact%2BConnector%2BTerminal%2BBlock%2BWire%2BPush%2BCable%2BConnector%2B12-28%2BAWG%2C%2B32A%3A%2BAutomotiveor%2BCompact%2BConnector%2BTerminal%2BBlock%2BWire%2BPush%2BCable%2BConnector%2B12-28%2BAWG%2C%2B32A%3A%2BAutomotive&nsdOptOutParam=true&qid=1780958682&sprefix=wago%2B2%2Bport%2B10%2B3%2Bport%2B10%2B5%2Bport%2B4%2Blever-nut%2Bassortment%2Bpack%2Bconductor%2Bcompact%2Bconnector%2Bterminal%2Bblock%2Bwire%2Bpush%2Bcable%2Bconnector%2B12-28%2Bawg%2C%2B32a%2Bautomotiveor%2Bcompact%2Bconnector%2Bterminal%2Bblock%2Bwire%2Bpush%2Bcable%2Bconnector%2B12-28%2Bawg%2C%2B32a%2Bautomotive%2Caps%2C183&sr=8-4&th=1) is the most common correct way to accomplish a 4-way splice for encoder wires.
+* The battery connects to a Main Breaker and then a Power Distribution (PD) device
+* Every other component that receives power from the battery is connected to a PD circuit, either directly or indirectly.
+* This covers almost everything on your robot. The only exceptions are for cameras or coprocessors (other computing devices in addition to the Systemcore) that come with built-in batteries or take small USB battery packs.
+* Every port on the PD that you use must be protected by a Breaker or a Fuse. You will use breakers to protect most devices. The minimum gauge of wire that you are allowed to use in each port is determined by which breaker or fuse is connected to that port—larger breakers/fuses require larger wires.
+* Each port on the PD may only connect to one pair of wires. Most of your use cases, like powering motors, will involve connecting only one device per port, so only one pair of power wires is necessary.
+* However, some small devices, like the four encoders on a swerve drive, can easily be powered together by a single PD port. To power multiple devices from one PD port, you can connect a smaller power distribution device, like a REV Mini Power Module, or splice multiple wires together by soldering them or using a terminal block.
+ * This [5-port Wago-style connector](https://www.amazon.com/LEPEVNEY-Electrical-Connectors-Retardant-Connector/dp/B0GCJGNR1R/ref=sr_1_4?) is our preferred way to make a four-way splice. Soldering, especially with power wires 18 AWG or larger, is not recommended.
+
+!!! warning
+ Some components, like the Radio, have specific rules regarding how they must be powered. Be sure to read the power distribution rules fully and ensure that you are powering every device in a legal way.
+## Control System Communications & Signal Basics
+
+The previous section only covered how to power your control system. This section will cover communication with your control system devices.
+
+* The robot radio allows the Driver Station to communicate with the robot, and connects onboard devices with the robot controller. The radio communicates with other devices on the robot through Ethernet cables. The radio has 4 Ethernet ports—1 for the Systemcore, 2 for other devices (such as cameras), and 1 to connect direction to the Driver Station or other computer.
+ * Avoid using the Driver Station port for onboard devices. Instead, you can use a dedicated network switch to provide more ports than the radio alone provides.
+ * If you need additional ports on the radio, you can connect one port to an Ethernet switch and your additional devices to that.
+* The Systemcore can control motors via its PWM or CAN interfaces. Modern FRC motor controllers support both protocols, though CAN provides bidirectional communication, and more advanced control. The Systemcore supports 5 native CAN buses, as well as external CAN Busses such as the CTRE Canivore.
+ * CAN Busses have a bandwidth limit that should not be exceeded. Consider splitting devices across multiple busses to keep individual bus utilization lower. Devices that are on separate busses will not be able to communicate with each other. Be sure to keep sensors on the same bus as the motors that utilize them, such as your swerve motors and encoders.
+* The Systemcore has 4 USB ports. You can also create a CAN bus by connecting a [CTRE CANivore](https://store.ctr-electronics.com/products/canivore) to the Systemcore through one of its USB ports.
+ * It is also useful to use a USB port for a flash drive to store robot data log files. After each match at a competition, you can unplug it to quickly view the logs on your computer without needing to keep the robot powered on.
+* Many types of sensors, like [CTRE’s CANcoder](https://store.ctr-electronics.com/products/cancoder), communicate over CAN, so you can wire them into your CAN buses just like motors
+* Some other sensors, like [TTB’s Thrifty Absolute Magnetic Encoder](https://www.thethriftybot.com/products/thrifty-absolute-magnetic-encoder), can connect directly to the motor controller of the relevant motor
+* For any other sensors, or for cases where you do not want to connect a sensor to its motor controller, the Systemcore also contains 6 Smart I/O ports. While these ports can be used in multiple ways, the most common is to read the outputs of digital or analog sensors.
+* These ports can also function as Pulse Width Modulation (PWM) outputs or digital outputs.
+ * PWM is another way to command a motor controller, but it is far inferior to CAN because it does not allow the motor controller to communicate at all with any other devices. A Smart I/O port set to PWM output can only control one motor controller, compared to the dozen or more devices you can connect to a single CAN bus.
+ * Digital outputs can be used to control pneumatic solenoids
+* The Systemcore also contains an RSL port
+
+
## CAN (Controller Area Network)
* CAN can be wired in two different ways:
- * Daisy-chained: this is the way that CAN is meant to be wired, and it is the most common way that FRC components are wired. CAN wires originate at the Systemcore in one of the CAN bus ports. The wires then go to each component in order, ending at the terminating resistor. One full loop, as mentioned previously, is called a CAN bus.
- * Star topology (not recommended): This is the method used to branch the CAN bus by each individual component. This is used by some teams because in a normal CAN bus, if one component loses a connection, they all do.
- * With a Star topology, each component has its own individual “CAN bus”. This is not recommended at all in modern FRC, as the introduction of SystemCore allows you to split up CAN buses much further than originally.
- * Additionally, a star topology presents many issues as it is NOT AT ALL how CAN is meant to be wired.
- * CAN loops always need to be terminated using a 120 OHM resistor to prevent signal reflection. Read about CAN termination below.
+ * Daisy-chained: this is the way that CAN is meant to be wired, and it is the most common way that FRC components are wired. CAN wires originate at the Systemcore in one of the CAN bus ports. The wires then go to each component in order, ending at the terminating resistor. One full loop, as mentioned previously, is called a CAN bus.
+ * Star topology (not recommended): This is the method used to branch the CAN bus by each individual component. This is used by some teams because in a normal CAN bus, if one component loses a connection, they all do.
+ * With a Star topology, each component has its own individual “CAN bus”. This is not recommended at all in modern FRC, as the introduction of SystemCore allows you to split up CAN buses much further than originally.
+ * Additionally, a star topology presents many issues as it is NOT AT ALL how CAN is meant to be wired.
+ * Always place the resistor at the end of each loop. This will be a 120 OHM resistor in a WAGO, or if terminating at a motor with a powerpole adapter board, the Weidmuller connectors may be used.
@@ -32,7 +58,7 @@ There are many ways to terminate a CAN bus, but the most common ways are:
* Using the Weidmuller connectors on a motor with a powerpole adapter board
* Soldering a 120 OHM resistor
* Using a 120 OHM resistor in a Power Distribution Panel (PDP) or Power Distribution Hub (PDH)
-* Using the [Swyft](https://swyftrobotics.com/electrical/swyft-canender) CANender
+* Using the [SWYFT](https://swyftrobotics.com/electrical/swyft-canender) CANender
!!! info "Terminating a CAN Bus"
When terminating a CAN bus, it is important to ensure that the resistor is placed at the end of the loop. This will prevent any signal reflection and ensure that the CAN bus is properly terminated.
@@ -102,7 +128,7 @@ These are the devices that control the motors and help direct power and signals
=== "CTRE's Talon FX"
- 
+ { width="75%" }
* This is the controller that is integrated into the Kraken’s (both X60 and X44). Talon FX acts as an integrated motor controller, meaning that an external controller that is separately wired is not needed.
* For Kraken X60/X44s, wiring is relatively simple because the controller is integrated in the motor itself. CAN and power directly stem from the motor and can be connected to their appropriate locations.
diff --git a/docs/Making-Connections.md b/docs/Making-Connections.md
index 731e4e8..4549c9d 100644
--- a/docs/Making-Connections.md
+++ b/docs/Making-Connections.md
@@ -99,13 +99,14 @@ This page covers everything needed for you to make successful connections in the
### Why Soldering is Not Recommended
* They are more prone to failure under vibration and stress
* Repairing solder joints is more time-consuming and difficult in competition stress
-* Solder can be poor conductor which can be brittle when done improperly
+* Solder can be a good conductor, however, brittle connections can lead to failure that crimped connections do not have.
* Similarly, for newer teams, it requires more of a learning curve and practice to get right.
-* Low gauge wire should not be soldered as it is usually a failure point on the robot. Refrain from soldering battery wire.
+* Large gauge wire should not be soldered as it is typically a failure point on the robot.
+ - This is a failure point as it is incredibly hard to apply enough heat to create a proper joint. This can lead to a brittle connection that can fail.
- **Solder Sleeves**: Solder sleeves are not recommended for FRC robots.
- They use low-melting-point solder and rely on heat to both solder the wire and shrink the tubing, making it difficult to achieve a consistent, reliable connection.
- If not heated correctly, they can create weak electrical or mechanical joints that may fail under the vibration and impacts experienced during competition.
-- Properly crimped connectors are the preferred solution, while hand-soldered splices with heat shrink should only be used when a crimped connection is not practical.
+- Properly crimped connectors are the preferred solution.
### When Soldering Might Be Acceptable
* For temporary connections
diff --git a/docs/Pneumatics.md b/docs/Pneumatics.md
index 14e2355..d207649 100644
--- a/docs/Pneumatics.md
+++ b/docs/Pneumatics.md
@@ -15,6 +15,7 @@ This is the general FRC Pneumatics Layout you need to learn:
Here are the FRC Pneumatic Components Explained:
+
* Compressor: Charges air for components on the robot, like a battery that provides electricity to components, and the compressor provides air.
* Pressure Switch: Works with a controller to tell the compressor when to shut off.
diff --git a/docs/contributions/Contribution.md b/docs/contributions/Contribution.md
index 60785b8..3864b3e 100644
--- a/docs/contributions/Contribution.md
+++ b/docs/contributions/Contribution.md
@@ -30,10 +30,12 @@ title: Contribution
Alex - FRC 6238A / CSA
Banks - FRC 2974M
Bhanu - FRC 3506
-Laukik - FRC503
+Erik - FRC 1648M
+Laukik - FRC 503
Nick - FRC 2851A
Rowan - FRC 1778A
Ryan - FRC 3647M
+Tim - FRC 78M
Yoyo - FRC 100
diff --git a/docs/intro.md b/docs/intro.md
index d09a734..c8b0be7 100644
--- a/docs/intro.md
+++ b/docs/intro.md
@@ -8,12 +8,14 @@ title: Intro to FRC Electrical
## Safety
This may come as a shock, but electronics are dangerous. A single mistake could lead to serious injury, and it is vital to learn how to follow proper procedure when handling electronics.
-- When a battery spills, cover it with baking soda. This neutralizes the battery acid and it becomes less harmful
-- Never hold batteries from the wires. Always hold them from the body.
-- Always wear PPE when handling electronics. This includes at the bare minimum safety glasses.
+- A battery spilling is dangerous for everyone because it can cause chemical burns and damage if you touch it. When a battery spills, cover it with baking soda. This neutralizes the battery acid and it becomes less harmful. Do **not** touch your eyes until after washing your hands.
+- Never hold batteries from the wires. Always hold them from the body. By holding batteries from their wires, you are wearing down the connection between the wire and the battery which can be detrimental for performance. This can also lead to a snap in the batteries terminal, which can drop the battery if you're holding it.
+- Always wear PPE when handling electronics. This includes at the bare minimum safety glasses.
- Don’t touch the metals of opposite polarity wires together, especially for batteries as it can cause sparks and flame.
-- Don’t allow metal shavings to get into components: Electrical tape open holes.
-- Keep wires away from things that can break them like motor splines or the insides of swerve modules.
+- Don’t allow metal shavings to get into components: Use electrical tape to cover open holes in components. This prevents short circuits and damage to sensitive parts.
+ - A short circuit is when two wires with different polarities have contact, causing a large current to flow and potentially causing fire or damage to components.
+- Keep exposed wires away from things that can break them like motor splines or the insides of swerve modules. This prevents damage to the wires and potential short circuits.
+ - Always try and keep your wiring mounted on the robot and away from the motion of your and other robots.
## Electrical Theory
While electrical isn’t overly complex and the theory is rarely used in FRC electrical, a basic understanding is good to know.
@@ -22,28 +24,42 @@ While electrical isn’t overly complex and the theory is rarely used in FRC ele
- The standard definition is the difference in electric potential between two points. However, this is hard to imagine visually. Think of a wire as a pipe, and the electrons flowing through it as water. Voltage would be the water pressure. It is measured in Volts (V), where a higher voltage means more pressure/potential.
- Current, in this analogy, would be the rate at which water flows through the pipe. It is the flow of electrons going through the wire measured in Amps (A).
- Resistance can be thought of as blockages in this pipe or as points where it gets narrow. It is the resistance of the flow of electrons measured in Ohms (Ω) that slows the electrons from getting from point A to point B.
+- Ohm's Law: $V = I \cdot R$ where $V$ is voltage, $I$ is current, and $R$ is resistance.
-### Power vs. CAN vs. PWM
+### Power vs. CAN vs. PWM vs. I2C
- Power wire is red (for positive terminals) and black (for negative and ground terminals). FRC power wires MUST be color-coded separately, as they can be dangerous when not indicated. Red and black are the most common ways to do so. They can be thought of as the blood vessels that deliver power to every part of the robot.
- CAN Wire can be any two colors, but they are most commonly green and yellow. This color scheme can be changed to most anything to differentiate between different CAN buses. CAN is essentially the robot's information system. If the power wires are the blood vessels, CAN is the nervous system.
- Differential Buses: CAN is a differential bus. This means that it essentially transfers information by measuring the voltage difference between two wires in a pair (CAN High (Yellow) and CAN Low (Green)). This makes it more resistant to noise, or electromagnetic interference (EMI), which is prevalent in FRC. However, some measures need to be taken for this noise resistance to be most effective:
- Twist the wire pairs: We do this because it allows any external vibrations and EMI to affect both wires rather than one, keeping the measurements on each wire consistent with each other.
- - Strain relief: This is important in any system, whether power or CAN, but it is especially important for CAN wires to reduce noise and vibrations.
-- PWM: "Pulse-Width Modulation" - simple unidirectional signaling to send any value between 0-100%
- - Ports for this type of connection can be found on the RoboRIO
-
+ - Strain relief: Strain relief is when you give wiring to a strong component that eliminates the potential of a stronger, unintended force, from pulling on the wire. This way, the strain is pulling on the component instead of the wire's connector. This is important in any system, whether power or CAN.
+- PWM: "Pulse-Width Modulation" - one-wire signaling to send any value between 0-100%
+ - Systemcore contains 6 PWM ports via Smart I/O
+- I2C (pronounced eye-squared-see or eye-two-see): "Inter-Integrated Circuit" - two-wire signaling to send any value between 0-100%
+ - Systemcore contains 6 PWM ports via Smart I/O
=== "CAN Wiring"
{ width="50%" }
=== "Power Wiring"
{ width="50%" }
+### AWG (American Wire Gauge)
+- AWG is a standard for measuring wire gauge in the United States.
+- The lower the AWG number, the thicker the wire.
+- Thicker wires can carry more current and have less resistance.
+- When choosing wire gauge, consider the current capacity and voltage drop and ensure that the wire you choose follows the guidelines depending on the application
+ - In FRC, your thickest wire is somewhere between 2-6 AWG. This is typically used for battery connections.
+ - These wires carry high current and need to be thick to handle the load.
+ - For smaller components, you'll typically see 18-22 AWG wires (CAN, PWM, etc)
+ - These wires carry lower current and can be thinner.
+ - Other components, like motors, will typically have 8-12 AWG wires.
+
### Parallel vs Series
#### Parallel
-- Negative to Negative and Positive to Positive
+- Negative to Negative and Positive to Positive. This allows for multiple paths for current to flow, increasing the total current capacity.
#### Series
-- Components are chained together from positive to negative to positive, etc.
+- Components are chained together from positive to negative to positive, etc. The flow of electricity is the same through all components, but the voltage is divided among them.
+
