# Sensors

## WCP Sensors <a href="https://wcproducts.com/collections/motors-pneumatics/products/wcp-sensors" class="button primary" data-icon="list">Product Page</a>

### WCP ThroughBore Powered by CANcoder <a href="/spaces/tlWSBoSocMCLG7fQxSoe" class="button primary" data-icon="book-open">Manual</a>

The WCP ThroughBore by CANcoder (1/2" Hex) is a product developed in conjunction with Cross the Road Electronics. This rotary sensor allows teams to measure relative or absolute position of a shaft installed through the rotation portion of the device. Designed to make integration into standard FRC ecosystems a breeze, there are countless ways to utilize this sensor.

<figure><img src="/files/9Jla6Js9EriwLel8Ztbf" alt="" width="563"><figcaption></figcaption></figure>

### Magnets

* 0.125" ID x 0.500" OD x 0.125" WD (Ring Magnet)
* 6mm OD x 2.5mm WD (Diametric Magnet)
* 0.250" OD x 0.500" WD (Diametric Magnet)

<figure><img src="/files/adIsd6e1e8H9UPsFkbRs" alt=""><figcaption></figcaption></figure>

### Sensor Accessories

* WCP Swerve X2 ThroughBore Encoder Shaft

<figure><img src="/files/m9W6bWSIZAFeG2VcMtsn" alt="" width="450"><figcaption></figcaption></figure>

### Other Electronics

* 5m (16.4ft) Addressable COB LED Reel

<figure><img src="/files/u433F5ntANbNQW3pLEZV" alt="" width="375"><figcaption><p>LED Reel</p></figcaption></figure>

## CTRE <a href="https://wcproducts.com/collections/motors-pneumatics/products/ctre-sensors" class="button primary" data-icon="list">Product Page</a>

Our friends at Cross the Road Electronics ([CTRE](https://store.ctr-electronics.com/)) have developed a variety of cool sensors and control system components that will make your robot smarter and easier to control than ever!

### Control System Components

* The PDP 2.0 is the ideal solution for maximizing power management, featuring more slots than any other competitor on the market.
* The Power Distribution Panel Breaker is a *FIRS*T® Robotics Competition legal, auto-reset circuit breaker designed for high-performance robotics applications.
* CTR TalonFXS Motor Controller is a versatile motor controller compatible with the CTRE software ecosystem. This standalone device seamlessly supports both brushless and brushed motors, offering unparalleled flexibility and performance.
* CTR Minion is a standalone brushless motor with versatile mounting options.

<div><figure><img src="/files/fobYXyEXBk0yK0sB5P84" alt=""><figcaption><p>CTR PDP 2.0</p></figcaption></figure> <figure><img src="/files/vO0gy0aE1y7TfoiaflSN" alt=""><figcaption><p>CTR TalonFXS Motor Controller</p></figcaption></figure> <figure><img src="/files/PWxHESwvtCrr9eEZKuxl" alt=""><figcaption><p>CTR Minion</p></figcaption></figure></div>

### Sensors

* Choose between the SRX Mag Encoder and the CANcoder for a high-count, dual-acting rotary magnetic encoder that easily plugs into a Talon SRX making rotational feedback easier than ever.
* The Pigeon 2.0 provides a fast-acting and reliable inertial measurement sensor to your robot so that your sense of direction is always on point
* CTR CANivore This device allows teams to add additional CAN busses to the roboRIO and control supported CTR Electronics devices.
* CTR CANrange is a enabled sensor that measures the distance to objects in front of it and provides a settable proximity detection to emulate popular no-contact proximity sensors.

<div><figure><img src="/files/6TZpN8m2fpnchUoSr6dS" alt=""><figcaption><p>CTR CANcoder</p></figcaption></figure> <figure><img src="/files/oLiW69BO0spxo3ID1NTz" alt=""><figcaption><p>Pigeon 2.0</p></figcaption></figure> <figure><img src="/files/O3Vq3oPZXCNam8Bb7iPW" alt=""><figcaption><p>CANivore</p></figcaption></figure> <figure><img src="/files/MHPaZ11xlqka4enJXtTY" alt=""><figcaption><p>CANrange</p></figcaption></figure></div>

### Accessories

* The CTR Battery Beak is a battery load tester measuring a battery's internal resistance, state of charge, and determines the overall health of a battery.
* 5m (16.4ft) Addressable COB LED Reel
* &#x20;CTR CANdle is a CAN-enabled individually addressable LED controller.
* CTR CANdi seamlessly integrates digital signals into existing CAN bus networks, simplifying wiring and allowing multiple devices to share and utilize valuable input data.

<div align="center"><figure><img src="/files/me0kST1ffligrPDunNg7" alt=""><figcaption><p>Battery Beak</p></figcaption></figure> <figure><img src="/files/psUi3WAdygxGSqtsSgdS" alt=""><figcaption><p>CTR CANdle</p></figcaption></figure> <figure><img src="/files/4yuTsAIOP1OEM1FKCs8s" alt=""><figcaption><p>CTR CANdi</p></figcaption></figure></div>

## Limelight Vision Camera <a href="https://wcproducts.com/collections/motors-pneumatics/products/limelight-vision-camera" class="button primary" data-icon="list">Product Page</a>

Limelight 4 is an all-new smart camera for FRC. It is powered by the Raspberry Pi CM5, and it’s twice as powerful as Limelight 3G out of the box. This is our biggest leap in performance yet, and it doesn’t stop there.

**Features:**

* Upgraded Power Stage
  * Buck-Boost DC-DC Converter
  * Input Voltage Range: 3.3V - 24V / 6S (35V absolute maximum)
  * Enhanced Transient Suppression
  * Removed POE Support
* Built-in IMU for MegaTag localization
  * Selected for low-noise and high-sensitivity
* OV9281 Global Shutter Monochrome Sensor
* IMX462 Back-Illuminated Color Sensor Kit (Coming soon)
* Hailo-8 accelerator support (26 TOPS) - not included
* Hailo-8 YoloV8 object detection at 80FPS
* Hailo-Accelerated AprilTag Localization (2x-3x faster than CPU AprilTag localization)
* Hailo-Accelerated CLIP Zero-Shot Classification
* 20FPS MobileNet CPU Object Detection

<figure><img src="/files/nnOTB8kr70XvFejsIpzN" alt="" width="563"><figcaption></figcaption></figure>


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