REV Blinkin LED Driver User's Manual
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fg BLINKIN LED DRIVER USER'S MANUAL REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 1 TABLE OF CONTENTS 1 2 3 OVERVIEW ............................................................................................................................................................................... 3 1.1 CONNECTIONS .............................................................................................................................................................. 3 1.2 KIT CONTENTS .............................................................................................................................................................. 3 1.3 ELECTRICAL RATINGS .................................................................................................................................................. 3 1.4 SUPPORTED LED STRIP TYPES .................................................................................................................................... 4 SETUP AND CONFIGURATION ............................................................................................................................................... 5 2.1 GETTING STARTED ....................................................................................................................................................... 5 2.2 SETUP MODE ................................................................................................................................................................. 6 2.3 PWM CONTROL ............................................................................................................................................................. 7 2.4 FIRST ROBOTICS PROGRAMMING EXAMPLE ............................................................................................................. 8 2.5 PATTERN ADUSTMENTS .............................................................................................................................................. 9 2.6 FACTORY RESET ............................................................................................................................................................ 9 EXAMPLE APPLICATIONS ................................................................................................................................................... 10 3.1 FIRST ROBOTICS COMPETITION ................................................................................................................................ 10 3.2 FIRST TECH CHALLENGE ............................................................................................................................................ 11 3.3 STAND-ALONE WIRING ............................................................................................................................................... 12 3.4 COMPETITION ROBOTICS APPLICATION IDEAS ...................................................................................................... 12 4 PHYSICAL DIMENSIONS ...................................................................................................................................................... 13 5 LED PATTERN TABLE .......................................................................................................................................................... 14 LIST OF FIGURES Figure 1: Blinkin Connections and Indicators ............................................................................................................................... 3 LIST OF TABLES Table 1: Kit Contents ...................................................................................................................................................................... 3 Table 2: Status LED Blink Codes ................................................................................................................................................... 5 Table 3: WPI Motor Control Output PWM Range .......................................................................................................................... 8 Table 4: Example SPARK Control Values based on Table 5 ........................................................................................................ 8 Table 5: Excerpt from Section 6 LED Pattern List ........................................................................................................................ 8 Table 6: Blinkin Factory Default Values ........................................................................................................................................ 9 REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 2 1 OVERVIEW The Blinkin is designed to make it straight forward to add controllable LEDs to a robot, cart, or any other project which would benefit from some extra lumens without needing any specialized programming. The Blinkin is a compact, all-in-one solution which can control LEDs in a stand-alone mode with just a 12V power source or in a dynamic mode, changing patterns by supplying a standard servo-style PWM signal. 1.1 CONNECTIONS Figure 1: Blinkin Connections and Indicators Mode/Up Button – Switch between normal running mode and set-up mode. Strip Select/Down Button – Switch which kind of LED strip is being controlled. XT30 Power Input – Connect to a 12V nominal battery or other equivalent power source. PWM Input – Provide a standard servo-style PWM signal to control the LED output pattern/color. Status Indicator – RGB LED mode indicator. See Table 2 for colors and meanings. Setup and Adjustment – Three potentiometers are used to set customer color palette colors and addressable strip length in set-up mode (Section 2.2), and are used to adjust brightness and other pattern properties like speed and pattern density during normal operation (Section 2.5). 5V/12V LED Indicators – Indicate which kind of strip is currently selected as the output type (Section 2.1). LED Strip Connection – Use the included JST PH, 7-pin to JST SM pigtail connector to connect to LED strip(s). 1.2 KIT CONTENTS Table 1: Kit Contents QTY Part Number Contents 1 REV-11-1105 REV-11-1105 Blinkin LED Driver 1 REV-11-1130* PWM Cable 1 REV-31-1394* XT30 Adapter Cable (Female Connector Only) 1 REV-11-1196 LED Adapter Cable 1 Small Screw Driver for Adjustment * Exact part included may vary, but is functionally equivalent to listed part number 1.3 ELECTRICAL RATINGS REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 3 Recommended input operating voltage is from 5.5V to 13.5V. Absolute input voltage range is 5.2V- 25V—use caution before exceeding the recommended input range to prevent damage. 12V Input Minimum start-up operation for the 5V LEDs is 7V. 12V LEDs output is driven directly off this input voltage therefore lower or significantly higher input voltage may not allow for proper operation and may result in damage. 12V LED Output Maximum of 12A output. Supports a minimum of 300 LEDs in series, or up to two strings of 300 in parallel. * Equivalent to 10m of LEDs on 60 LED/m strips. 5V LED Output Maximum of 5A output. Supports up to 240 LEDs for more patterns and brightness. * Equivalent to 5m of LEDs on 60LED/m strips. * If LEDs near the end of a strip are dimmer, off color or behaving erratically either the strip current is exceeding the current capability of the Blinkin or there is too much voltage drop over the strip length. Problem: LEDs near the end of a strip are dimmer, off color, or behaving erratically. Possible Cause: LEDs are exceeding Blinkin current supply. Solution: Turn down the strip brightness, shorten the strip, or use a pattern with less LEDs lit at the same time. Possible Cause: There is too much voltage drop over the length of the strip so LEDs near the end don’t have enough voltage to operate properly. Solution: Shorten the LED strip or if more LEDs are needed shorten the strip and run the remaining strip in parallel to the other strip 1.4 SUPPORTED LED STRIP TYPES The BLINKIN can drive either 12V RGB LEDs or 5V Individual addressable LED strips. Each strip type has its own benefits and drawbacks depending on what type of light display is desired. 12V LEDs These LEDs are all connected together so the strip will always be all the same solid color, but this kind of LED strip is generally cheaper than the 5V kind. BLINKIN is designed for 12V Common Anode LEDs such as REV-11-1197. These strips have a four-wire interface and can be cut to length every three LEDs. 5V LEDs BLINKIN can control the WS2812 5V individually addressable LED type strips such as REV11-1198. This kind of strip is more expensive than the 12V type, but each individual LED can be a different color and brightness to create very colorful animations. These strips have a 3wire interface and can be cut to length between each LED. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 4 2 SETUP AND CONFIGURATION The Blinkin operates in two modes, normal runtime operation and set-up mode. The Status LED will also indicate whether the Blinkin is currently measuring a valid PWM signal. See Table 2 for details. Table 2: Status LED Blink Codes State PWM Measured Normal Operation Valid PWM Input Detected Normal Operation No PWM Input Detected Setup Mode Valid PWM Input Detected Setup Mode No PWM Input Detected Status LED Command Signal Detected— see Section 1 for details 2.1 GETTING STARTED 1. Connect 12V power to the Blinkin using the yellow XT30 2. Select either a 12V or 5V Addressable LED strip and connect it to the Blinkin via the LED cable adapter (REV-111196) 3. If the LED output indicator for the 12V/5V strip which is connected is not lit, press and hold the Strip Select button until the corresponding strip indicator LED is lit. Your LED strip should now be displaying the default pattern (29 – Color Waves, Party Palette), or the user programmed default pattern. 4. With no input PWM active (blue blinking Status LED), clicking (short press) the Up (Mode) and Down (Strip Select) buttons will change the pattern being displayed (See Section 5 for complete pattern list). This pattern will reset to the default after a power cycle unless the default is changed using the setup mode. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 5 2.2 SETUP MODE In addition to the pre-programmed fixed color palette patterns the Blinkin can be customized to use user selected colors and strip length to create more custom look. These settings can be saved in to permanent memory so they persist through power cycles. Customizable Features • Addressable Strip Length Up to 240 WS2812 LEDs • Team Color 1 and Team Color 2 Select two of 22 different color options to represent your team colors • Default No Signal Pattern Select which pattern is displayed with there is not PWM input (e.g. a disabled FRC robot) 1. Power up the Blinkin as described in Section 2.1. The LED strip selected cannot be changed during setup mode, so ensure that the desired strip is connected and running before continuing. 2. To enter Setup Mode, press and hold the Mode button for ~6 seconds, the Status LED will change from blue to yellow. The LED strip will automatically display pattern 75 which uses Color 1 and Color 2 to aid in configuration. 3. Use the included small screwdriver to adjust the three adjustment potentiometers • Left: • Middle: Color 2 – Secondary Pattern Color • Right: Color 1 – Primary Pattern Color Addressable Strip Number of LEDs (1-240) 4. With no input PWM signal (yellow blinking Status LED), select the default no signal pattern by clicking (short press) the Up (Mode) and Down (Strip Select) buttons until the desired pattern is displayed. Leave the displayed pattern on the test pattern (75) on exit to leave the default no signal pattern unchanged. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 6 5. To Exit Setup mode: • Save and Exit: Press and hold the Mode and Strip Select buttons for ~6 seconds. colors, strip length and new default no signal pattern values are permanently saved in EEPROM and will persist between power cycles. • Exit without Saving: press and hold the Mode button. Nothing is saved and Blinkin will return to its previously saved state after power cycle. 6. The Status LED will return to blue when Setup Mode has been exited 2.3 PWM CONTROL The Blinkin can be controlled via software using a standard servo-style PWM signal. The Blinkin measures the width of the incoming pulse from the PWM signal, and then based on that value selects a pattern from a corresponding pattern table. Valid input pulse widths are from 1000us to 2000us. 1. Connect the Blinkin to a PWM control port on the roboRIO (or other controller) using a standard PWM cable. 2. Using the programming language of your choice, generate a PWM signal. • For use with the FRC, create a motor of type SPARK. (Other Motor and Servo types will work, but might change the values associated with specific patterns) 3. In your main robot code where motor (or servo) output power is normally updated, set your output power to the value corresponding to the pattern desired (see Section 5). The output pattern can be changed during a match by updating the motor output power (in FRC, from -1 to 1). This can be tied to a button pressed by the driver, or automated based on sensor input or other events. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 7 2.4 FIRST ROBOTICS PROGRAMMING EXAMPLE In the FRC control system, motor outputs range varies depending on which type of motor controller is initialized. The output pulse range is scaled from the user requested output power of -1 to 1 to the range defined for each type of Motor controller. Table 3: WPI Motor Control Output PWM Range WPI Motor Control Open Type SPARK SRX Talon SR Jaguar Minimum Pulse Width Output (us) 1000 997 989 697 Maximum Pulse Width Output (us) 2000 2004 2037 2322 From Table 3, the SPARK motor controller type output directly matches the input to the Blinkin, which makes the math to convert the -1 to 1 code range to the 1000-2000us Blinkin input range the simplest. Other control types, including servo, from the roboRIO can also be used, but the user will need to scale input range correctly to ensure they are sending only a valid PWM range and that they can select the desired LED pattern. As an example, referencing Table 5 includes an excerpt from the Section 5 LED PATTERN TABLE, and includes the correct SPARK motor output value for each pattern Table 4 lists motor control values associated with specific patterns: Table 4: Example SPARK Control Values based on Table 5 LED Color/Pattern Ocean Colored Rainbow Larson Scanner (Similar to a Cylon) Fast Heartbeat in User Selected Team Color 1 Solid Blue Motor Output Value -0.95 -0.35 0.07 0.87 Table 5: Excerpt from Section 5 LED Pattern List Pulse Width (us) roboRIO SPARK Value Pattern Type 1 1005 -0.99 Fixed Palette Pattern Rainbow, Rainbow Palette 2 1015 -0.97 Fixed Palette Pattern Rainbow, Party Palette 3 1025 -0.95 Fixed Palette Pattern Rainbow, Ocean Palette 5V Strip Pattern ... 33 1325 -0.35 Fixed Palette Pattern Larson Scanner, Red 52 1515 0.03 Color 1 Pattern Heartbeat Slow 53 1525 0.05 Color 1 Pattern Heartbeat Medium 54 1535 0.07 Color 1 Pattern Heartbeat Fast 77 1765 0.53 Color 1 and 2 Pattern 94 1935 0.87 Solid Colors Blue 95 1945 0.89 Solid Colors Blue Violet 96 1955 0.91 Solid Colors Violet ... ... REV-11-1105-UM-0 Color Waves, Color 1 and 2 Copyright © 2018 REV Robotics, LLC 8 2.5 PATTERN ADUSTMENTS All of the LED strips and patterns can have their overall brightness adjusted and many of the patterns can be adjusted to change the pattern density and speed. Section 5 details what patterns have which adjustments. 1. In Normal Mode (Not in Setup Mode) select a pattern which is adjustable 2. Using the small included screwdriver and change Adj.1 Adj.2 and brightness to change the pattern behavior 2.6 FACTORY RESET The Blinkin can store custom user setting in EEPROM so that it persists through power cycles, see Section 2.2 for details. Restore the Blinkin to factory default settings using the following procedure: 1. Power off the Blinkin 2. Press and hold the Mode and Strip Select buttons 3. Power on the Blinkin 4. Wait for ~2 Seconds 5. Release the Mode and Strip Select buttons After completing the factory reset the default values found in Table 6 will be reloaded into permanent memory. Table 6: Blinkin Factory Default Values Variable Color 1 Color 2 Strip Length No Signal Pattern Strip Select REV-11-1105-UM-0 Default Value Sky Blue – 0x0080FF Gold – 0xFFEA00 60 LEDs 29 – Color Waves, Party Palette 5V Copyright © 2018 REV Robotics, LLC 9 3 EXAMPLE APPLICATIONS 3.1 FIRST ROBOTICS COMPETITION Always be sure to read the relevant rules and use appropriate gauge wiring before using anything on your competition robot. After wiring you Blinkin into your robot, follow the setup instructions in Section 2.2 and follow the instructions on PWM control in Section 2.3 as desired. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 10 3.2 FIRST TECH CHALLENGE Please note that the Blinkin is NOT competition legal for the 2017-2018 FTC season. The following wiring information is for adding LEDs for demonstrations and unofficial events. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 11 3.3 STAND-ALONE WIRING The Blinkin can run in a stand-alone operation mode when there is no way to generate a PWM signal, or a single output pattern is all that is needed. In this mode the Blinkin will be operating in Normal Mode with no input signal (blue blinking LED) and will default to the programmed no input signal pattern (factory setting is pattern 29 – Color Waves, Party Palette). The currently displayed pattern can be changed at any time by pressing the up and down buttons to scroll through the pattern list (Section 5). Unless a new default no signal test pattern is saved in memory by completing the setup mode process, the Blinkin will default back to the last saved pattern after a power cycle. 3.4 COMPETITION ROBOTICS APPLICATION IDEAS Adding LEDs to your robot (or other project) can do more than just make them look cool, you can use LEDs to provide critical visual feedback. Here are some examples: • Program a controller button to change the LED output pattern (e.g. 85 – Solid Yellow) and the drive can use the LEDs to communicate to the human player at a portal station across the field that the robot is ready to receive a game object. • If the driver has poor visibility to see if the robot has acquired a game object, add a sensor to the intake and the LED strip can be programmed to automatically display a new pattern when the object is acquired. The driver never has to take their eyes off the robot to check the dashboard because the robot will clearly display its status. • Using the match time value available in software, the LEDs can be changes to a time warning pattern (e.g. – Solid Red) with X seconds left in a match. • The robot can display a different pattern when enabled vs disabled which provides a more visible indicator of the state of the robot than the RSL. REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 12 4 PHYSICAL DIMENSIONS REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 13 5 LED PATTERN TABLE This table primarily describes the behavior of the 5V addressable LEDs as they are capable of more complicated patterns. 12V LEDs will all show patterns with the same color palette as the pattern selected and the speed can be adjusted as indicated for the selected pattern. Pulse Width (us) roboRIO SPARK Value Pattern Type 1 1005 -0.99 Fixed Palette Pattern 2 1015 -0.97 Fixed Palette Pattern 3 1025 -0.95 4 1035 -0.93 5 1045 6 1055 7 8 Normal Operation Adjustment 1 Normal Operation Adjustment 2 Normal Operation Brightness Rainbow, Rainbow Palette Pattern Density Speed Brightness Rainbow, Party Palette Pattern Density Speed Brightness Fixed Palette Pattern Rainbow, Ocean Palette Pattern Density Speed Brightness Fixed Palette Pattern Rainbow, Lave Palette Pattern Density Speed Brightness -0.91 Fixed Palette Pattern Rainbow, Forest Palette Pattern Density Speed Brightness -0.89 Fixed Palette Pattern Rainbow with Glitter Pattern Density Speed Brightness 1065 -0.87 Fixed Palette Pattern Confetti Pattern Density Speed Brightness 1075 -0.85 Fixed Palette Pattern Shot, Red - - Brightness 5V Strip Pattern 9 1085 -0.83 Fixed Palette Pattern Shot, Blue - - Brightness 10 1095 -0.81 Fixed Palette Pattern Shot, White - - Brightness 11 1105 -0.79 Fixed Palette Pattern Sinelon, Rainbow Palette Pattern Density Speed Brightness 12 1115 -0.77 Fixed Palette Pattern Sinelon, Party Palette Pattern Density Speed Brightness 13 1125 -0.75 Fixed Palette Pattern Sinelon, Ocean Palette Pattern Density Speed Brightness 14 1135 -0.73 Fixed Palette Pattern Sinelon, Lava Palette Pattern Density Speed Brightness 15 1145 -0.71 Fixed Palette Pattern Sinelon, Forest Palette Pattern Density Speed Brightness 16 1155 -0.69 Fixed Palette Pattern Beats per Minute, Rainbow Palette Pattern Density Speed Brightness 17 1165 -0.67 Fixed Palette Pattern Beats per Minute, Party Palette Pattern Density Speed Brightness 18 1175 -0.65 Fixed Palette Pattern Beats per Minute, Ocean Palette Pattern Density Speed Brightness 19 1185 -0.63 Fixed Palette Pattern Beats per Minute, Lava Palette Pattern Density Speed Brightness 20 1195 -0.61 Fixed Palette Pattern Beats per Minute, Forest Palette Pattern Density Speed Brightness 21 1205 -0.59 Fixed Palette Pattern Fire, Medium - - Brightness 22 1215 -0.57 Fixed Palette Pattern Fire, Large - - Brightness 23 1225 -0.55 Fixed Palette Pattern Twinkles, Rainbow Palette - - Brightness 24 1235 -0.53 Fixed Palette Pattern Twinkles, Party Palette - - Brightness 25 1245 -0.51 Fixed Palette Pattern Twinkles, Ocean Palette - - Brightness REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 14 26 1255 -0.49 Fixed Palette Pattern Twinkles, Lava Palette - - Brightness 27 1265 -0.47 Fixed Palette Pattern Twinkles, Forest Palette - - Brightness 28 1275 -0.45 Fixed Palette Pattern Color Waves, Rainbow Palette - - Brightness 29 1285 -0.43 Fixed Palette Pattern Color Waves, Party Palette - - Brightness 30 1295 -0.41 Fixed Palette Pattern Color Waves, Ocean Palette - - Brightness 31 1305 -0.39 Fixed Palette Pattern Color Waves, Lava Palette - - Brightness 32 1315 -0.37 Fixed Palette Pattern Color Waves, Forest Palette - - Brightness 33 1325 -0.35 Fixed Palette Pattern Larson Scanner, Red Pattern Width Speed Brightness 34 1335 -0.33 Fixed Palette Pattern Larson Scanner, Gray Pattern Width Speed Brightness 35 1345 -0.31 Fixed Palette Pattern Light Chase, Red Dimming Speed Brightness 36 1355 -0.29 Fixed Palette Pattern Light Chase, Blue Dimming Speed Brightness 37 1365 -0.27 Fixed Palette Pattern Light Chase, Gray Dimming Speed Brightness 38 1375 -0.25 Fixed Palette Pattern Heartbeat, Red - - Brightness 39 1385 -0.23 Fixed Palette Pattern Heartbeat, Blue - - Brightness 40 1395 -0.21 Fixed Palette Pattern Heartbeat, White - - Brightness 41 1405 -0.19 Fixed Palette Pattern Heartbeat, Gray - - Brightness 42 1415 -0.17 Fixed Palette Pattern Breath, Red - - Brightness 43 1425 -0.15 Fixed Palette Pattern Breath, Blue - - Brightness 44 1435 -0.13 Fixed Palette Pattern Breath, Gray - - Brightness 45 1445 -0.11 Fixed Palette Pattern Strobe, Red - - Brightness 46 1455 -0.09 Fixed Palette Pattern Strobe, Blue - - Brightness 47 1465 -0.07 Fixed Palette Pattern Strobe, Gold - - Brightness 48 1475 -0.05 Fixed Palette Pattern Strobe, White - - Brightness 49 1485 -0.03 Color 1 Pattern End to End Blend to Black 50 1495 -0.01 Color 1 Pattern Larson Scanner 51 1505 0.01 Color 1 Pattern Light Chase 52 1515 0.03 Color 1 Pattern Heartbeat Slow 53 1525 0.05 Color 1 Pattern 54 1535 0.07 Color 1 Pattern 55 1545 0.09 56 1555 0.11 57 1565 58 59 - - Brightness Pattern Width Speed Brightness Dimming Speed Brightness - - Brightness Heartbeat Medium - - Brightness Heartbeat Fast - - Brightness Color 1 Pattern Breath Slow - - Brightness Color 1 Pattern Breath Fast - - Brightness 0.13 Color 1 Pattern Shot - - Brightness 1575 0.15 Color 1 Pattern Strobe - - Brightness 1585 0.17 Color 2 Pattern End to End Blend to Black - - Brightness 60 1595 0.19 Color 2 Pattern Larson Scanner Pattern Width Speed Brightness 61 1605 0.21 Color 2 Pattern Light Chase Dimming Speed Brightness 62 1615 0.23 Color 2 Pattern Heartbeat Slow - - Brightness 63 1625 0.25 Color 2 Pattern Heartbeat Medium - - Brightness REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 15 64 1635 0.27 Color 2 Pattern Heartbeat Fast - - Brightness 65 1645 0.29 Color 2 Pattern Breath Slow - - Brightness 66 1655 0.31 Color 2 Pattern Breath Fast - - Brightness 67 1665 0.33 Color 2 Pattern Shot - - Brightness 68 1675 0.35 Color 2 Pattern Strobe - - Brightness 69 1685 0.37 Color 1 and 2 Pattern Sparkle, Color 1 on Color 2 - - Brightness 70 1695 0.39 Color 1 and 2 Pattern Sparkle, Color 2 on Color 1 - - Brightness 71 1705 0.41 Color 1 and 2 Pattern Color Gradient, Color 1 and 2 - - Brightness 72 1715 0.43 Color 1 and 2 Pattern Beats per Minute, Color 1 and 2 Pattern Density Speed Brightness 73 1725 0.45 Color 1 and 2 Pattern End to End Blend, Color 1 to 2 - - Brightness 74 1735 0.47 Color 1 and 2 Pattern End to End Blend - - Brightness - - Brightness - - Brightness 75 1745 0.49 Color 1 and 2 Pattern Color 1 and Color 2 no blending (Setup Pattern) 76 1755 0.51 Color 1 and 2 Pattern Twinkles, Color 1 and 2 77 1765 0.53 Color 1 and 2 Pattern Color Waves, Color 1 and 2 78 1775 0.55 Color 1 and 2 Pattern Sinelon, Color 1 and 2 79 1785 0.57 Solid Colors 80 1795 0.59 Solid Colors 81 1805 0.61 82 1815 0.63 83 1825 84 85 - - Brightness Pattern Density Speed Brightness Hot Pink - - Brightness Dark red - - Brightness Solid Colors Red - - Brightness Solid Colors Red Orange - - Brightness 0.65 Solid Colors Orange - - Brightness 1835 0.67 Solid Colors Gold - - Brightness 1845 0.69 Solid Colors Yellow - - Brightness 86 1855 0.71 Solid Colors Lawn Green - - Brightness 87 1865 0.73 Solid Colors Lime - - Brightness 88 1875 0.75 Solid Colors Dark Green - - Brightness 89 1885 0.77 Solid Colors Green - - Brightness 90 1895 0.79 Solid Colors Blue Green - - Brightness 91 1905 0.81 Solid Colors Aqua - - Brightness 92 1915 0.83 Solid Colors Sky Blue - - Brightness 93 1925 0.85 Solid Colors Dark Blue - - Brightness 94 1935 0.87 Solid Colors Blue - - Brightness 95 1945 0.89 Solid Colors Blue Violet - - Brightness 96 1955 0.91 Solid Colors Violet - - Brightness 97 1965 0.93 Solid Colors White - - Brightness 98 1975 0.95 Solid Colors Gray - - Brightness 99 1985 0.97 Solid Colors Dark Gray - - Brightness 100 1995 0.99 Solid Colors Black - - Brightness REV-11-1105-UM-0 Copyright © 2018 REV Robotics, LLC 16
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