Spark Mini

When you do not have any motor ports left on your robot, Spark minis are a great way to control your motor.

You can not use encoders with Spark Minis

Wiring:

Spark Minis get plugged into the servo port. In your configuration go to the servo menu and select Spark Mini.

Code:

@TeleOp 
public class SparkMiniExample extends LinearOpMode {
    DcMotorSimple motor;
    
    @Override
    public void runOpMode() {
    
        motor = hardwareMap.get(DcMotorSimple.class, "motor");
    
        // Wait for the game to start (driver presses PLAY)
        waitForStart();
    
        // run until the end of the match (driver presses STOP)
        while (opModeIsActive()) {
            motor.setPower(gamepad1.left_stick_y);
        }
    }
}

Spark Minis use the DcMotorSimple class while a regular DcMotor uses uses the DcMotor class.