Update Control Systems page (#409)

source/docs/power-and-electronics/control-system.rst

@@ -3,47 +3,52 @@
 Control Systems
 ===============
 
-The FTC control system is based on using Android phones as a ":term:`Robot Controller`" and a ":term:`Driver Station`." The ":term:`Robot Controller`" phone is mounted on the robot and connected by a USB cable to a special "Hub", which in turn is connected to motors, servos, and sensors.
+The FTC control system is based around a ":term:`Robot Controller`" and a ":term:`Driver Station`". The :term:`Robot Controller` is mounted on the robot. It is either embedded within or connected to special "Hub(s)", which in turn connect to motors, servos, and sensors. The :term:`Robot Controller` is linked to the :term:`Driver Station` through WiFi or WiFi Direct.
 
-The two major manufacturers of control hubs for FTC are Modern Robotics and REV; however, nearly all teams are shifting over to REV because it is cheaper, simpler, and more reliable.
+REV Robotics is the sole manufacturer of legal FTC control system components. The REV Expansion Hub connects to motors, servos, sensors, and a :term:`Robot Controller`. A REV Control Hub has the same functionality of an Expansion Hub but with a built-in :term:`Robot Controller`.
 
-More information about the FTC Control system can be found below:
+More information about the FTC Control System can be found below:
 
-- `Official control system Wiki on GitHub <https://github.com/FIRST-Tech-Challenge/FtcRobotController/wiki>`_
+- `Official Control System Documentation on FTC Docs <https://ftc-docs.firstinspires.org/en/latest/programming_resources/shared/control_system_intro/The-FTC-Control-System.html>`_
 - `REV Control System Documentation <https://docs.revrobotics.com/duo-control/>`_
 - `Official troubleshooting guide <https://www.firstinspires.org/sites/default/files/uploads/resource_library/ftc/control-system-troubleshooting-guide.pdf>`_
 
 There are two possible control systems that can be run on an FTC robot legally:
 
+- REV Control Hub + REV Expansion Hub
 - :term:`RC Phone <Robot Controller>` + REV Expansion Hub(s)
-- REV Control Hub + REV Expansion Hub as it is less expensive and more reliable than the older Modern Robotics
 
-RC Phone + REV Expansion Hub(s)
--------------------------------
+.. important:: Beginning in the 2024-2025 season, an :term:`RC Phone <Robot Controller>` will no longer be legal to use as a Robot Controller. Teams will be required to use a REV Control Hub as their :term:`Robot Controller`.
+
+REV Control Hub + REV Expansion Hub
+-----------------------------------
 
 .. warning:: It is of vital importance to update the firmware on REV Expansion hubs to at least version 1.8.2. It includes better protection against disconnects and improves program performance. See the `REV Expansion Hub firmware update docs`_.
 
-This is the standard control system for teams starting out in FTC. The REV Expansion Hub is reliable, as long as proper strain relief and wiring is carried out. This includes the :term:`USB Retention Mount`, as well as 3D printing :term:`XT30` stress relief mounts.
+This is the standard control system for teams starting out in FTC.
 
-The Expansion Hub connects to the :term:`Robot Controller` phone through the mini USB port, and the :term:`RC <Robot Controller>` phone is linked to the DS (:term:`Driver Station`) phone through WiFi Direct. For more information on setting up the Expansion Hub and configuring the robot, head to `REV Robotics' Technical Resources Expansion Hub Guide <https://docs.revrobotics.com/duo-control/legacy/expansion-hub-gs>`_.
+The Control Hub connects to the Expansion Hub through either a RS-485 connection, or a USB-A (Control Hub side) to mini-USB (Expansion Hub-side) connection. In either case, proper strain relief and cable management should be used.
 
-- `USB Retention Mount <https://www.revrobotics.com/rev-41-1214/>`_
-- `XT30 Stress Relief <https://www.thingiverse.com/thing:2887045>`_
-- `REV Robotics Technical Resources <https://www.revrobotics.com/resources/>`_
+For more information on setting up the Control Hub and configuring the robot, head to `REV Robotics' Technical Resources Control Hub Guide <https://docs.revrobotics.com/duo-control/control-hub-gs>`_.
 
-.. image:: images/control-system/exh-wiring-diagram.jpg
-   :alt: A diagram of the RC Phone + Expansion Hub(s) control system
+.. image:: images/control-system/ch-wiring-diagram.png
+   :alt: A diagram of the Control Hub + Expansion Hub control system
    :width: 100%
 
-REV Control Hub + REV Expansion Hub
------------------------------------
+RC Phone + REV Expansion Hub(s)
+-------------------------------
 
 .. warning:: It is of vital importance to update the firmware on REV Expansion hubs to at least version 1.8.2. It includes better protection against disconnects and improves program performance. See the `REV Expansion Hub firmware update docs`_.
 
-Note: The Control Hub will be legal for all teams from the 2020-2021 FTC season onwards. In 2019-2020, the Control Hub was not legal for all teams as it was undergoing a pilot program.
+The Expansion Hub connects to the :term:`Robot Controller` phone through its mini USB port. The REV Expansion Hub is reliable, as long as proper strain relief and wiring is carried out. This includes the :term:`USB Retention Mount`, as well as 3D printing :term:`XT30` stress relief mounts.
 
-.. image:: images/control-system/ch-wiring-diagram.png
-   :alt: A diagram of the Control Hub + Expansion Hub control system
+For more information on setting up the Expansion Hub and configuring the robot, head to `REV Robotics' Technical Resources Expansion Hub Guide <https://docs.revrobotics.com/duo-control/legacy/expansion-hub-gs>`_.
+
+- `USB Retention Mount <https://www.revrobotics.com/rev-41-1214/>`_
+- `XT30 Stress Relief <https://www.thingiverse.com/thing:2887045>`_
+
+.. image:: images/control-system/exh-wiring-diagram.jpg
+   :alt: A diagram of the RC Phone + Expansion Hub(s) control system
    :width: 100%
 
 .. _REV Expansion Hub firmware update docs: https://docs.revrobotics.com/duo-control/managing-the-control-system/updating-firmware