Motors
All motors used on our robot are brushless — they have no brushes or commutator to wear out, and require a compatible brushless motor controller to run. The controller handles commutation electronically using the motor's built-in encoder.
This page covers the eight motors used on our robot:
| Motor | Maker | Compatible Controllers |
|---|---|---|
| Kraken X60 | CTR Electronics / WCP | Talon FX (integrated) |
| Kraken X44 | CTR Electronics / WCP | Talon FX (integrated) |
| NEO | REV Robotics | SPARK MAX, Thrifty Nova, Talon FXS |
| NEO 2.0 | REV Robotics | SPARK MAX, Thrifty Nova, Talon FXS |
| NEO 550 | REV Robotics | SPARK MAX, Thrifty Nova, Talon FXS |
| NEO Vortex | REV Robotics | SPARK Flex, SPARK MAX (via adapter) |
| Thrifty Pulsar | The Thrifty Bot | Thrifty Nova, SPARK MAX |
| Minion | West Coast Products | SPARK MAX, Thrifty Nova, Talon FXS |
Every motor listed here has a hall-effect encoder built in. The motor will not run without the encoder cable connected at the controller — it is not optional.
Kraken X60
Official docs: https://docs.wcproducts.com/welcome/electronics/kraken-x60
The Kraken X60 is a full-size brushless motor with the Talon FX motor controller built directly into the motor housing. There is no separate controller to mount or wire. It is configured and programmed through Phoenix 6 using Phoenix Tuner X.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | CTR Electronics / West Coast Products |
| Controller | Talon FX (integrated) |
| Phase connection | Built in |
| Encoder connection | Built in |
Wiring
Phase Connection:
The phases are connected internally, see Talon FX for instructions on connecting the motor controller.
Encoder Connection:
The encoder is connected internally, see Talon FX for instructions on connecting the motor controller.
Kraken X44
Official docs: https://docs.wcproducts.com/welcome/electronics/kraken-x44
The Kraken X44 is a compact version of the Kraken X60, also with the Talon FX controller integrated. It is shorter and lighter, trading some torque for a smaller footprint. Same controller family, same software stack, same screw terminals.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | CTR Electronics / West Coast Products |
| Controller | Talon FX (integrated) |
| Phase connection | Built in |
| Encoder connection | Built in |
Wiring
Phase Connection:
The phases are connected internally, see Talon FX for instructions on connecting the motor controller.
Encoder Connection:
The encoder is connected internally, see Talon FX for instructions on connecting the motor controller.
NEO
Official docs: https://docs.revrobotics.com/brushless/neo/v1.1
The NEO is REV Robotics' full-size brushless motor. Three phase wires carry power from the controller to the motor, and a separate encoder cable reports position back to the controller.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | REV Robotics |
| Phase connection | 12 AWG leads |
| Encoder connection | 24 AWG leads in a 6 pin JST-PH connector |
Wiring
Phase Connection:
Connect the motor phase leads (red/black/white) to the motor controller's motor output leads using Anderson PowerPole connectors. Wire colors must match between motor and controller.
Encoder Connection:
Plug the 6 pin JST-PH connector directly into the motor controller. If the leads need to be lengthened, use a 6 pin JST-PH joiner board and extension cable.
NEO 2.0
Official docs: https://docs.revrobotics.com/brushless/neo/2.0
The NEO 2.0 is a drop-in replacement for the original NEO. Same form factor, same shaft, same connectors — improved internal construction for better thermal management and longer service life.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | REV Robotics |
| Phase connection | 12 AWG leads |
| Encoder connection | 2x3 PHSD connector |
Wiring
Phase Connection:
Connect the motor phase leads (red/black/white) to the motor controller's motor output leads using Anderson PowerPole connectors. Wire colors must match between motor and controller.
Encoder Connection:
Plug the 6 pin JST-PH connector directly into the motor controller. If the leads need to be lengthened, use a 6 pin JST-PH joiner board and extension cable.
NEO 550
Official docs: https://docs.revrobotics.com/brushless/neo/550
The NEO 550 is REV's compact brushless motor in the industry-standard 550 form factor. It spins faster than the full-size NEO but produces less torque. Use it for mechanisms that need speed without high stall force — intakes, indexers, and light-duty mechanisms.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | REV Robotics |
| Phase connection | 16 AWG leads |
| Encoder connection | 24 AWG leads in a 6 pin JST-PH connector |
Wiring
Phase Connection:
Connect the motor phase leads (red/black/white) to the motor controller's motor output leads using Anderson PowerPole connectors. Wire colors must match between motor and controller.
Encoder Connection:
Plug the 6 pin JST-PH connector directly into the motor controller. If the leads need to be lengthened, use a 6 pin JST-PH joiner board and extension cable.
NEO Vortex
Official docs: https://docs.revrobotics.com/brushless/rev-motors/neo-motors/neo-vortex
The NEO Vortex is REV's newest full-size brushless motor. Rather than loose phase wires and a separate encoder cable, it uses a docking interface — the motor physically clips directly into the SPARK Flex controller. This eliminates loose wire connections between the motor and controller entirely.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | REV Robotics |
| Phase connection | Docking connector |
| Encoder connection | Docking connector |
Wiring
Phase Connection:
The phases are connected using the docking connector, see below for instructions.
Encoder Connection:
The encoder is connected using the docking connector, see below for instructions.
Docking Connection:
- Align the motor phase bullets between the NEO Vortex and NEO Vortex Solo Adapter.
- Allowing the bullets to guide the two together, press the NEO Vortex and NEO Vortex Solo Adapter together until their bodies meet. There may be a small gap between the motor and the controller opposite the bullets. This is normal.
- Insert the included docking screws into the counterbored Docking Screw Clearance Holes on the NEO Vortex Solo Adapter.
- Using the 2.5 mm Hex Key, tighten the four screws evenly in a crisscross pattern until the screws are tight and secure. The screw heads should be sub-flush from the mounting face of she NEO Vortex Solo Adapter. If you have a torque wrench, the ideal torque is 11.5 ±0.9 in-lb (1.3 ±0.1 Nm).
Thrifty Pulsar
Offical docs: https://docs.thethriftybot.com/pulsar-775/wuLCPWpTam2fQB4ph6pL
The Thrifty Pulsar is a brushless motor from The Thrifty Bot in the 550 form factor. It is a cost-effective alternative to the NEO 550 and uses the same connector interface, making it a drop-in compatible motor with the same controllers.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | The Thrifty Bot |
| Phase connection | 14 AWG lead |
| Encoder connection | 24 AWG leads in a 6 pin JST connector |
Wiring
Phase Connection:
Connect the motor phase leads (red/black/white) to the motor controller's motor output leads using Anderson PowerPole connectors. Wire colors must match between motor and controller.
Encoder Connection:
Plug the 6 pin JST-PH connector directly into the motor controller. If the leads need to be lengthened, use a 6 pin JST-PH joiner board and extension cable.
Minion
Offical docs: https://store.ctr-electronics.com/products/minion-brushless-motor
The Minion is a compact brushless motor from West Coast Products in the 550 form factor. It is designed to work with the Talon FXS, SPARK MAX, and Thrifty Nova, and is well-suited for lightweight mechanisms where packaging space is tight.
Specifications
| Parameter | Value |
|---|---|
| Manufacturer | CTR Electronics |
| Phase connection | 10 AWG leads |
| Encoder connection | 22 AWG leads in a 6 pin JST-PH connector |
Wiring
Phase Connection:
If using a Talon FXS motor controller and the phase leads (red/white/black) are long enough, use cable lugs to directly connect them to the Talon FXS. If not, connect them to the motor controller's motor output leads using Anderson PowerPole connectors. Wire colors must match between motor and controller.
Encoder Connection:
Plug the 6 pin JST-PH connector directly into the motor controller. If the leads need to be lengthened, use a 6 pin JST-PH joiner board and extension cable.