> For the complete documentation index, see [llms.txt](https://docs.plummerindustries.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.plummerindustries.com/electronics/analog-sensor/theta-an-analog-output/integrating-with-robot.md).

# Integrating with robot

## Using a motor controller

### Spark Max

{% stepper %}
{% step %}

### Wiring 

Using a 10 pin data cable connect the data port on the theta to the data prot on the spark max. 
{% endstep %}

{% step %}

### Programming

Pull in your values using the spark max SparkBase.getAnalog() function. To get the correct value in degrees you need to set the conversion factor properly. To calculate this use (360.0 degrees / 3.3 volts). This will give you a (109.09)degrees per volt conversion factor. 

More info can be found here. [LINK](https://codedocs.revrobotics.com/java/com/revrobotics/spark/sparkanalogsensor)
{% endstep %}
{% endstepper %}

### Talon FXS

{% stepper %}
{% step %}

### Wiring 

Using a 10 pin data cable connect the data port on the theta to the data port on the Talon FXS
{% endstep %}

{% step %}

### Programming

Pull in your values using the Talon FXS talonFXS.getAnalogVoltage(); function. To get the correct value in degrees you need to multiply this value by a factor. To calculate this use (360.0 degrees / 3.3 volts). This will give you a (109.09)degrees per volt conversion factor. 

More info can be found here. [LINK](https://codedocs.revrobotics.com/java/com/revrobotics/spark/sparkanalogsensor)
{% endstep %}
{% endstepper %}

## Directly to RIO 

{% stepper %}
{% step %}

### Wiring

Using the 3 pin Molex SL connector on the THETA make or use a 3 wire cable and plug it into the anaolg ports on the Robo Rio
{% endstep %}

{% step %}

### Programming

Pull your values into code using the m\_analog.getAverageValue() call. After you set up the port with AnalogInput m\_analog = new AnalogInput(0); 

More info can be found here. [LINK](https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/analog-inputs-software.html)
{% endstep %}
{% endstepper %}


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