> For the complete documentation index, see [llms.txt](https://yagsl.yassrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://yagsl.yassrobotics.com/reference/hardware/motor-controllers.md).

# Motor Controllers

{% hint style="danger" %}
**TalonSRX and brushed SparkMAX are no longer supported.** The pre-2026.8.05 `talonsrx` and `sparkmax_brushed` types have been removed — YAGSL now only drives brushless motors through YAMS's `SmartMotorController` abstraction. See [Schema Changes](/reference/schema-changes.md).
{% endhint %}

## Motor Checklist

* [ ] All motors spin counterclockwise positive (CCW+); document any inversions required to achieve that.
* [ ] Motor is updated to the latest firmware.
* [ ] Motor has a unique CAN ID that matches its module JSON.
* [ ] Wheels are aligned forwards with all bevels facing the same way before first enable.
* [ ] PID is tuned — see [Tune PIDF Gains](/how-to-guides/tune-pidf-gains.md).

## Configuring a motor

Each module JSON (`frontleft.json`, etc.) has a `drive` and an `angle` motor, both `DeviceJson` objects of the form `"<controller>_<motor>"`:

```json
{
  "drive": { "type": "sparkflex_vortex", "id": 5, "canbus": "" },
  "angle":  { "type": "sparkmax_neo550", "id": 6, "canbus": "" }
}
```

The `<motor>` suffix tells YAGSL which `DCMotor` model to use for feedforward and simulation characterization (free speed, stall torque, etc.) — it must match the physical motor attached to that controller.

## Supported controller × motor combinations

| Controller                              | `type` values                                                                                                     |
| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------- |
| [TalonFX](#talonfx-krakenx60-krakenx44) | `talonfx_krakenx44`, `talonfx_krakenx60`                                                                          |
| [TalonFXS](#talonfxs)                   | `talonfxs_neo`, `talonfxs_neo2`, `talonfxs_neo550`, `talonfxs_vortex`, `talonfxs_pulsar`, `talonfxs_minion`       |
| [SparkMAX](#sparkmax)                   | `sparkmax_neo`, `sparkmax_neo2`, `sparkmax_neo550`, `sparkmax_vortex`, `sparkmax_pulsar`, `sparkmax_minion`       |
| [SparkFlex](#sparkflex)                 | `sparkflex_neo`, `sparkflex_neo2`, `sparkflex_neo550`, `sparkflex_vortex`, `sparkflex_pulsar`, `sparkflex_minion` |
| Nova (ThriftyBot)                       | `nova_neo`, `nova_neo2`, `nova_neo550`, `nova_vortex`, `nova_pulsar`, `nova_minion`                               |

{% hint style="warning" %}
This is the full cross-product the config generator and parser accept for feedforward/simulation purposes — it is **not** a claim that every combination is physically wireable. Respect real hardware constraints: TalonFX only physically drives Kraken X44/X60 motors, SparkMAX/SparkFlex drive REV motors via their own connectors, and Nova drives ThriftyBot motors. Pick the row for your actual controller, and the `<motor>` suffix that matches what's physically bolted to it.
{% endhint %}

Only CTRE controllers (`talonfx_*`, `talonfxs_*`) support the `canbus` field for CANivore use — set it to `""` for your control system's default bus (`rio` on a roboRIO). See [Control system and CAN buses](/reference/json-schema.md#control-system-and-can-buses).

## TalonFX (Kraken X60 / Kraken X44)

TalonFX is the controller for Kraken X44/X60 and (legacy) Falcon 500 motors. Commonly used as a drive motor for its power and efficiency versus REV NEOs.

* [Kraken product page](https://wcproducts.com/products/kraken)
* Upgradeable/configurable via [Tuner X](https://v6.docs.ctr-electronics.com/en/latest/docs/tuner/index.html) — watch the LED status code when debugging. Settings changed in Tuner X are overwritten on startup by YAGSL.

{% hint style="warning" %}
If running Falcon 500 v2 (effectively discontinued), apply the [Loctite fix](https://content.vexrobotics.com/vexpro/Falcon/217-6515-753-Falcon500-V2-Upgrade.pdf).
{% endhint %}

## TalonFXS

TalonFXS is CTRE's controller for third-party/non-Kraken brushless motors (NEO, NEO Vortex, Minion, Pulsar) wired through CTRE's ecosystem — same Tuner X tooling and CAN/CANivore support as TalonFX.

## SparkMAX

REV SparkMAX, brushless mode (NEO / NEO 550 / NEO Vortex / Minion / Pulsar via the appropriate `<motor>` suffix).

* [Product page](https://www.revrobotics.com/rev-11-2158/)
* Requires the [REV Hardware Client](https://docs.revrobotics.com/rev-hardware-client/gs/install) to test PID, run at a set percentage, and update firmware.

{% hint style="warning" %}
The SparkMAX must be disconnected from the CAN bus **on startup** to be recognized by the REV Hardware Client.
{% endhint %}

To tune PID directly on the controller: open REV Hardware Client → select the SparkMAX → Telemetry tab → set to position control while adjusting gains in the left pane.

**Checklist**

* [ ] Unique CAN ID.
* [ ] Latest firmware.
* [ ] Rotates CCW+ (invert programmatically if not).
* [ ] PID tuned for one drive motor and one angle motor before wiring the rest.

## SparkFlex

REV SparkFlex, brushless mode (same motor suffixes as SparkMAX, primarily used with NEO Vortex).

* [Product page](https://www.revrobotics.com/next-generation-spark-neo/)
* Same [REV Hardware Client](https://docs.revrobotics.com/rev-hardware-client-2) workflow and startup-disconnect caveat as SparkMAX.

***

### General motor tips (apply regardless of controller)

* Confirm CCW+ rotation on the bench before mounting — see [When to Invert](/how-to-guides/determine-inversion.md).
* Tune one drive motor and one angle motor fully before copying gains to the other three modules; see [Tune PIDF Gains](/how-to-guides/tune-pidf-gains.md).
* Current limits and gearing live in `physicalproperties.json` (or a per-module `gearing` override) — see [physicalproperties.json Reference](/reference/json-schema/physicalproperties-json.md).


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