#include <CANSparkFlex.h>

Inherits rev::CANSparkBase.

Public Member Functions
	CANSparkFlex (int deviceID, MotorType type)

SparkRelativeEncoder	GetEncoder ()

SparkFlexExternalEncoder	GetExternalEncoder (int countsPerRev)

SparkFlexExternalEncoder	GetExternalEncoder (SparkFlexExternalEncoder::Type encoderType, int countsPerRev)

	~CANSparkFlex () override=default

virtual SparkRelativeEncoder	GetEncoder ()=0

SparkRelativeEncoder	GetEncoder (SparkRelativeEncoder::Type encoderType, int countsPerRev)

SparkRelativeEncoder	GetEncoder (SparkMaxRelativeEncoder::Type encoderType, int countsPerRev)

SparkRelativeEncoder	GetEncoder (CANEncoder::EncoderType encoderType, int countsPerRev)

Public Member Functions inherited from rev::CANSparkBase
	~CANSparkBase () override=default

void	Set (double speed) override

void	SetVoltage (units::volt_t output) override

double	Get () const override

void	SetInverted (bool isInverted) override

bool	GetInverted () const override

void	Disable () override

void	StopMotor () override

SparkRelativeEncoder	GetEncoder (SparkRelativeEncoder::Type encoderType, int countsPerRev)

SparkRelativeEncoder	GetEncoder (SparkMaxRelativeEncoder::Type encoderType, int countsPerRev)

SparkRelativeEncoder	GetEncoder (CANEncoder::EncoderType encoderType, int countsPerRev)

SparkAnalogSensor	GetAnalog (SparkAnalogSensor::Mode mode=SparkAnalogSensor::Mode::kAbsolute)

SparkAnalogSensor	GetAnalog (SparkMaxAnalogSensor::Mode mode)

SparkAnalogSensor	GetAnalog (CANAnalog::AnalogMode mode)

SparkAbsoluteEncoder	GetAbsoluteEncoder (SparkAbsoluteEncoder::Type encoderType=SparkAbsoluteEncoder::Type::kDutyCycle)

SparkAbsoluteEncoder	GetAbsoluteEncoder (SparkMaxAbsoluteEncoder::Type encoderType)

SparkPIDController	GetPIDController ()

SparkLimitSwitch	GetForwardLimitSwitch (SparkLimitSwitch::Type switchType)

SparkLimitSwitch	GetForwardLimitSwitch (SparkMaxLimitSwitch::Type switchType)

SparkLimitSwitch	GetForwardLimitSwitch (CANDigitalInput::LimitSwitchPolarity polarity)

SparkLimitSwitch	GetReverseLimitSwitch (SparkLimitSwitch::Type switchType)

SparkLimitSwitch	GetReverseLimitSwitch (SparkMaxLimitSwitch::Type switchType)

SparkLimitSwitch	GetReverseLimitSwitch (CANDigitalInput::LimitSwitchPolarity polarity)

REVLibError	SetSmartCurrentLimit (unsigned int limit)

REVLibError	SetSmartCurrentLimit (unsigned int stallLimit, unsigned int freeLimit, unsigned int limitRPM=20000)

REVLibError	SetSecondaryCurrentLimit (double limit, int limitCycles=0)

REVLibError	SetIdleMode (IdleMode mode)

IdleMode	GetIdleMode ()

REVLibError	EnableVoltageCompensation (double nominalVoltage)

REVLibError	DisableVoltageCompensation ()

double	GetVoltageCompensationNominalVoltage ()

REVLibError	SetOpenLoopRampRate (double rate)

REVLibError	SetClosedLoopRampRate (double rate)

double	GetOpenLoopRampRate ()

double	GetClosedLoopRampRate ()

REVLibError	Follow (const CANSparkBase &leader, bool invert=false)

REVLibError	Follow (ExternalFollower leader, int deviceID, bool invert=false)

bool	IsFollower ()

uint16_t	GetFaults ()

uint16_t	GetStickyFaults ()

bool	GetFault (FaultID faultID) const

bool	GetStickyFault (FaultID faultID) const

double	GetBusVoltage ()

double	GetAppliedOutput ()

double	GetOutputCurrent ()

double	GetMotorTemperature ()

REVLibError	ClearFaults ()

REVLibError	BurnFlash ()

REVLibError	SetCANTimeout (int milliseconds)

REVLibError	EnableSoftLimit (SoftLimitDirection direction, bool enable)

bool	IsSoftLimitEnabled (SoftLimitDirection direction)

REVLibError	SetSoftLimit (SoftLimitDirection direction, double limit)

double	GetSoftLimit (SoftLimitDirection direction)

REVLibError	GetLastError ()

Public Member Functions inherited from rev::CANSparkLowLevel
virtual	~CANSparkLowLevel ()

uint32_t	GetFirmwareVersion ()

uint32_t	GetFirmwareVersion (bool &isDebugBuild)

std::string	GetFirmwareString ()

std::vector< uint8_t >	GetSerialNumber ()

int	GetDeviceId () const

MotorType	GetInitialMotorType ()

MotorType	GetMotorType ()

REVLibError	SetPeriodicFramePeriod (PeriodicFrame frame, int periodMs)

REVLibError	SetPeriodicFramePeriod (CANSparkMaxLowLevel::PeriodicFrame frame, int periodMs)

void	SetPeriodicFrameTimeout (int timeoutMs)

void	SetCANMaxRetries (int numRetries)

void	SetControlFramePeriodMs (int periodMs)

REVLibError	RestoreFactoryDefaults (bool persist=false)

Friends
class	SparkFlexExternalEncoder

Additional Inherited Members
Public Types inherited from rev::CANSparkBase
enum class	IdleMode { kCoast = 0 , kBrake = 1 }

enum class	InputMode { kPWM = 0 , kCAN = 1 }

enum class	SoftLimitDirection { kForward , kReverse }

enum class	FaultID { kBrownout = 0 , kOvercurrent = 1 , kIWDTReset = 2 , kMotorFault = 3 , kSensorFault = 4 , kStall = 5 , kEEPROMCRC = 6 , kCANTX = 7 , kCANRX = 8 , kHasReset = 9 , kDRVFault = 10 , kOtherFault = 11 , kSoftLimitFwd = 12 , kSoftLimitRev = 13 , kHardLimitFwd = 14 , kHardLimitRev = 15 }

Public Types inherited from rev::CANSparkLowLevel
enum class	MotorType { kBrushed = 0 , kBrushless = 1 }

enum class	ControlType { kDutyCycle = 0 , kVelocity = 1 , kVoltage = 2 , kPosition = 3 , kSmartMotion = 4 , kCurrent = 5 , kSmartVelocity = 6 }

enum class	ParameterStatus { kOK = 0 , kInvalidID = 1 , kMismatchType = 2 , kAccessMode = 3 , kInvalid = 4 , kNotImplementedDeprecated = 5 }

enum class	PeriodicFrame { kStatus0 = 0 , kStatus1 = 1 , kStatus2 = 2 , kStatus3 = 3 , kStatus4 = 4 , kStatus5 = 5 , kStatus6 = 6 , kStatus7 = 7 }

enum class	TelemetryID { kBusVoltage = 0 , kOutputCurrent , kVelocity , kPosition , kIAccum , kAppliedOutput , kMotorTemp , kFaults , kStickyFaults , kAnalogVoltage , kAnalogPosition , kAnalogVelocity , kAltEncPosition , kAltEncVelocity , kTotalStreams }

enum class	SparkModel { kSparkMax = 0 , kSparkFlex = 1 , kUnknown = 255 }

Static Public Member Functions inherited from rev::CANSparkLowLevel
static void	EnableExternalUSBControl (bool enable)

static void	SetEnable (bool enable)

Static Public Attributes inherited from rev::CANSparkBase
static constexpr ExternalFollower	kFollowerDisabled {0, 0}

static constexpr ExternalFollower	kFollowerSparkMax {0x2051800, 26}

static constexpr ExternalFollower	kFollowerSpark {0x2051800, 26}

static constexpr ExternalFollower	kFollowerPhoenix {0x2040080, 27}

Static Public Attributes inherited from rev::CANSparkLowLevel
static const uint8_t	kAPIMajorVersion = c_SparkMax_kAPIMajorVersion

static const uint8_t	kAPIMinorVersion = c_SparkMax_kAPIMinorVersion

static const uint8_t	kAPIBuildVersion = c_SparkMax_kAPIBuildVersion

static const uint32_t	kAPIVersion = c_SparkMax_kAPIVersion

Protected Types inherited from rev::CANSparkLowLevel
enum class	FeedbackSensorType { kNoSensor = 0 , kHallSensor = 1 , kQuadrature = 2 , kSensorless = 3 , kAnalog = 4 , kAltQuadrature = 5 , kDutyCycleSensor = 6 }

Protected Member Functions inherited from rev::CANSparkBase
void	attemptToSetDataportConfigOrThrow (c_SparkMax_DataPortConfig config, std::string errorText)

Protected Member Functions inherited from rev::CANSparkLowLevel
PeriodicStatus0	GetPeriodicStatus0 ()

PeriodicStatus1	GetPeriodicStatus1 ()

PeriodicStatus2	GetPeriodicStatus2 ()

REVLibError	SetFollow (FollowConfig config)

REVLibError	SetpointCommand (double value, CANSparkLowLevel::ControlType ctrl=ControlType::kDutyCycle, int pidSlot=0, double arbFeedforward=0, int arbFFUnits=0)

float	GetSafeFloat (float f)

Protected Attributes inherited from rev::CANSparkLowLevel
MotorType	m_motorType

SparkModel	m_expectedSparkModel

void *	m_sparkMaxHandle

Constructor & Destructor Documentation

◆ CANSparkFlex()

CANSparkFlex::CANSparkFlex	(	int	deviceID,
		MotorType	type
	)

explicit

Create a new object to control a SPARK Flex motor Controller

Parameters

deviceID	The device ID.
type	The motor type connected to the controller. Brushless motor wires must be connected to their matching colors, and the hall sensor must be plugged in. Brushed motors must be connected to the Red and Black terminals only.

◆ ~CANSparkFlex()

rev::CANSparkFlex::~CANSparkFlex ( )

overridedefault

Closes the SPARK Flex Controller

Member Function Documentation

◆ GetEncoder() [1/5]

SparkRelativeEncoder CANSparkFlex::GetEncoder ( )

virtual

Returns an object for interfacing with the encoder connected through the the motor interface of the SPARK Flex.

For a SPARK Flex in brushless mode, it is assumed that the default encoder type is quadrature and the counts per revolution is 7168.

Implements rev::CANSparkBase.

◆ GetExternalEncoder() [1/2]

SparkFlexExternalEncoder CANSparkFlex::GetExternalEncoder ( int countsPerRev )

Returns an object for interfacing with an external quadrature encoder

◆ GetExternalEncoder() [2/2]

SparkFlexExternalEncoder CANSparkFlex::GetExternalEncoder	(	SparkFlexExternalEncoder::Type	encoderType,
		int	countsPerRev
	)

Returns an object for interfacing with an external quadrature encoder

◆ GetEncoder() [2/5]

virtual SparkRelativeEncoder rev::CANSparkBase::GetEncoder ( )

virtual

Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.

For a SPARK MAX in brushless mode, it is assumed that the default encoder type is hall effect and the counts per revolution is 42.

For a SPARK Flex in brushless mode, it is assumed that the default encoder type is quadrature and the counts per revolution is 7168.

Implements rev::CANSparkBase.

◆ GetEncoder() [3/5]

SparkRelativeEncoder CANSparkBase::GetEncoder	(	SparkRelativeEncoder::Type	encoderType,
		int	countsPerRev
	)

Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.

◆ GetEncoder() [4/5]

SparkRelativeEncoder CANSparkBase::GetEncoder	(	SparkMaxRelativeEncoder::Type	encoderType,
		int	countsPerRev
	)

Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.

Deprecated:: Use GetEncoder(SparkRelativeEncoder::Type, int) instead

◆ GetEncoder() [5/5]

SparkRelativeEncoder CANSparkBase::GetEncoder	(	CANEncoder::EncoderType	encoderType,
		int	countsPerRev
	)

Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.

Deprecated:: Use CANSparkBase::GetEncoder(SparkMaxRelativeEncoder::Type, int) instead

Friends And Related Function Documentation

◆ SparkFlexExternalEncoder

friend class SparkFlexExternalEncoder

friend

The documentation for this class was generated from the following files:

src/main/native/include/rev/CANSparkFlex.h
src/main/native/cpp/CANSparkFlex.cpp

Public Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ CANSparkFlex()

◆ ~CANSparkFlex()

Member Function Documentation

◆ GetEncoder() [1/5]

◆ GetExternalEncoder() [1/2]

◆ GetExternalEncoder() [2/2]

◆ GetEncoder() [2/5]

◆ GetEncoder() [3/5]

◆ GetEncoder() [4/5]

◆ GetEncoder() [5/5]

Friends And Related Function Documentation

◆ SparkFlexExternalEncoder