The OctoQuad FTC Edition MK2 supports all the features of the MK1, but adds an onboard IMU and 1.92KHz absolute localizer intended for use with passive odometry wheels!

This product is LEGAL for the 2024-25 FIRST Tech Challenge season.

The OctoQuad MK2 is a perfect compliment for FIRST Tech Challenge teams looking to expand the I/O capabilities of their robot. It features:

• Up to 8x extra encoder inputs - Position/velocity; up to 1MHz step rate. Great for complex mechanisms like swerve drives and linkages! The firmware also avoids the velocity integer overflow issue on the REV Hub.

• Up to 8x PWM inputs (1-65535us) - PWM sensors aren't natively supported by the FTC Control System - now you can use the absolute position mode of the REV Robotics Through Bore Encoder to allow digital absolute positioning feedback which eliminates the noise and linearity issues with analog absolute encoders. Or, you could use the PWM-output variants of Maxbotix sonar rangefinders to read multiple sensors simultaneously.

• Onboard IMU - The IMU data is bulk readable along with the other data, so you don't have to read an IMU separately and your loop times stay speedy! The firmware also features automatic gravity detection for mounting orientation.

• High performance odometry w/ onboard IMU - Take your odometry tracking accuracy to the next level with the 1.92KHz absolute localizer - not only is this faster and with less jitter than can be accomplished with the FTC software directly, but also the time skew between reading the IMU and encoder positions is eliminated.

• CRC signatures on returned data - Allows detecting and handling corrupted I2C transfers elegantly instead of feeding bad data to your control code.

• ESD protection on channel inputs & I2C lines

• Included case with a mounting pattern compatible with Tetrix, Actobotics, and goBILDA

All data from the OctoQuad is bulk-readable in one I2C transaction to minimize impact on loop times - reading the localizer data and CRC on the REV Control Hub takes just 3.8ms. An I2C driver for the FTC SDK along with sample code is available in the GitHub repository. Note that the MK2 board is not compatible with the OctoQuad I2C driver built into the current FTC SDK as the MK2 uses a new firmware which is not compatible with the old driver.

All logic and power is 3.3v only! The OctoQuad is not 5v tolerant!