De-emphasizing phones

docs/source/programming_resources/shared/control_system_intro/The-FTC-Control-System.rst

@@ -20,7 +20,7 @@
 (Photo courtesy of Dan Donovan, ©2017 Dan Donovan / www.dandonovan.com)
 
 AUTO vs. TELEOP
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+~~~~~~~~~~~~~~~
 
 A *FIRST* Tech Challenge match has an AUTO phase and a
 TELEOP phase. In the AUTO phase
@@ -40,67 +40,65 @@
 |
 
 One Android device is mounted onto the robot and is called the *Robot
-Controller*. The Robot Controller acts as the “brains” of the robot. It
-does all of the thinking for the robot and tells the robot what to do.
-It consists of an Android device running a Robot Controller app.
-There are two hardware options currently being used: REV Robotics
-Expansion Hub or the REV Robotics Control Hub.
+Controller*. In most cases, the ROBOT CONTROLLER is integrated into the
+REV Robotics Control Hub. The Robot Controller acts as the “brains” of the
+robot. It does all of the thinking for the robot and tells the robot what
+to do. It consists of an Android device running a Robot Controller app. Many
+Teams will also connect a REV Robotics Expansion Hub for additional ports to
+connect motors, servos, and sensors to the ROBOT.
 
 A second Android device sits with the team drivers and has one or two
 gamepads connected. This second device is known as the DRIVER STATION.
 The DRIVER STATION is sort of like a remote control that you might use
 to control your television. The DRIVER STATION allows a team to
 communicate remotely (using a secure, wireless connection) to the Robot
-Controller and to issue commands to the Robot Controller. The DRIVER STATION consists of an Android device running an Driver Station app.
+Controller and to issue commands to the Robot Controller. The DRIVER STATION
+consists of an Android device running an Driver Station app. Most teams use
+a REV Robotics Driver Hub, but select Android smartphones are also supported.
 
-REV Robotics Expansion Hub
-~~~~~~~~~~~~~~~~~~~~~~~~~~
+REV Robotics Control Hub and Expansion Hub
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The REV Robotics Expansion Hub is the electronic input/output (or “I/O”)
+The REV Robotics Control Hub or Expansion Hub is the electronic input/output (or “I/O”)
 module that lets the Robot Controller talk to the robot’s motors,
-servos, and sensors. The Robot Controller communicates with the
+servos, and sensors. The Robot Controller is integrated into the Control Hub, and communicates with the
 Expansion Hub through a serial connection. For the situation where an
 Android smartphone is used as the Robot Controller, a USB cable is used
-to establish the serial connection. For the situation where a REV
-Robotics Control Hub is used, an internal serial connection exists
-between the built-in Android device and the Expansion Hub.
+to establish the serial connection.
 
-The Expansion Hub is also connected to a 12V battery which is used to
-power the Expansion Hub, the motors, the servos and sensors. If an
+The Control Hub and Expansion Hub are also connected to a 12V battery which is used to
+power the Control Hub, the Expansion Hub, the motors, the servos and sensors. If an
 Android smartphone is used as the Robot Controller, then the smartphone
-will have its own independent battery. If a REV Robotics Control Hub is
-used as the Robot Controller, then the Control Hub will use the main 12V
-battery to power its internal Android device.
+will have its own independent battery.
 
-.. image:: images/REVExpansionHubLayout.jpg
+.. image:: images/REVControlHubLayout.png
    :align: center
 
 |
 
-REV Robotics Control Hub
-~~~~~~~~~~~~~~~~~~~~~~~~
+Android Smartphones
+~~~~~~~~~~~~~~~~~~~
 
-The REV Robotics Control Hub is an integrated version of the Robot Controller.
-It combines an Android device built into the same case as a REV Robotics
-Expansion Hub.
+While not reccomended, teams may opt to use an Android smartphone as either their
+DRIVER STATION or ROBOT CONTROLLER. DRIVER STATION phones should have the FTC Driver
+Station app installed, and will need an OTG adaptor USB hub to connect gamepads.
 
 .. image:: images/ControlHubEquals.jpg
    :align: center
 
 |
 
-The Control Hub, which has its built-in Android device connected
-directly to the Expansion Hub using an internal serial bus, eliminates
-the need for an external USB connection between the Android Robot
-Controller and the I/O module.
+Teams who use an Android smartphone as their ROBOT CONTROLLER will want an additional
+REV Robotics Expansion Hub to connect motors, servos and sensors. The smartphone is
+connected to the Expansion Hub via a USB-A to USB-Mini cable and an OTG adaptor.
 
-.. image:: images/REVControlHubLayout.jpg
+.. image:: images/REVExpansionHubLayout.jpg
    :align: center
 
 |
 
-What’s an Op Mode?
-~~~~~~~~~~~~~~~~~~
+What’s an OpMode?
+~~~~~~~~~~~~~~~~~
 
 During a typical *FIRST* Tech Challenge match, a team’s robot has to
 perform a variety of tasks in an effort to score points. For example, a
@@ -109,14 +107,14 @@
 autonomously during a match. Teams write “op modes” (which stand for
 “operational modes”) to specify the behavior for their robot.
 
-*Op modes* are computer programs that are used to customize the behavior
+*OpModes* are computer programs that are used to customize the behavior
 of a competition robot. The Robot Controller can *execute* a selected op
 mode to perform certain tasks during a match.
 
 Teams who are participating in *FIRST* Tech Challenge have a variety
-of programming tools that they can use to create their own op modes.
+of programming tools that they can use to create their own OpModes.
 Teams can use a visual (“drag and drop”) programming tool called the
 *Blocks Programming Tool* to create their op modes. Teams can also
 use a text-based Java tool known as the *OnBot Java Programming
 Tool* or Google’s *Android Studio* integrated development environment
-(also known as an “IDE”) to create their op modes.
+(also known as an “IDE”) to create their OpModes.