#include <CANSparkMax.h>
Inherits rev::CANSparkMaxLowLevel.
Classes | |
| struct | ExternalFollower |
Static Public Attributes | |
| static constexpr ExternalFollower | kFollowerDisabled {0, 0} |
| static constexpr ExternalFollower | kFollowerSparkMax {0x2051800, 26} |
| static constexpr ExternalFollower | kFollowerPhoenix {0x2040080, 27} |
 Static Public Attributes inherited from rev::CANSparkMaxLowLevel | |
| static const uint8_t | kAPIMajorVersion |
| static const uint8_t | kAPIMinorVersion |
| static const uint8_t | kAPIBuildVersion |
| static const uint32_t | kAPIVersion |
Friends | |
| class | SparkMaxAlternateEncoder |
| class | SparkMaxLimitSwitch |
| class | SparkMaxRelativeEncoder |
| class | ::ConfigBase |
Additional Inherited Members | |
| Static Public Member Functions inherited from rev::CANSparkMaxLowLevel | |
| static void | EnableExternalUSBControl (bool enable) |
| static void | SetEnable (bool enable) |
| Protected Types inherited from rev::CANSparkMaxLowLevel | |
| enum class | FeedbackSensorType { kNoSensor = 0 , kHallSensor = 1 , kQuadrature = 2 , kSensorless = 3 , kAnalog = 4 , kAltQuadrature = 5 } |
| Protected Member Functions inherited from rev::CANSparkMaxLowLevel | |
| PeriodicStatus0 | GetPeriodicStatus0 () |
| PeriodicStatus1 | GetPeriodicStatus1 () |
| PeriodicStatus2 | GetPeriodicStatus2 () |
| REVLibError | SetFollow (FollowConfig config) |
| REVLibError | SetpointCommand (double value, CANSparkMaxLowLevel::ControlType ctrl=ControlType::kDutyCycle, int pidSlot=0, double arbFeedforward=0, int arbFFUnits=0) |
| float | GetSafeFloat (float f) |
| Protected Attributes inherited from rev::CANSparkMaxLowLevel | |
| MotorType | m_motorType |
| void * | m_sparkMaxHandle |
Member Enumeration Documentation
◆ IdleMode
|
strong |
◆ InputMode
|
strong |
- Deprecated:
- You don't need this
| Enumerator | |
|---|---|
| kPWM | |
| kCAN | |
◆ SoftLimitDirection
|
strong |
◆ FaultID
|
strong |
Constructor & Destructor Documentation
◆ CANSparkMax()
|
explicit |
Create a new object to control a SPARK MAX 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.
◆ ~CANSparkMax()
|
overridedefault |
Closes the SPARK MAX Controller
Member Function Documentation
◆ Set()
|
override |
Common interface for setting the speed of a speed controller.
- Parameters
-
speed The speed to set. Value should be between -1.0 and 1.0.
◆ SetVoltage()
|
override |
Sets the voltage output of the SpeedController. This is equivalent to a call to SetReference(output, CANSparkMax::ControlType::kVoltage). The behavior of this call differs slightly from the WPILib documentation for this call since the device internally sets the desired voltage (not a compensation value). That means that this can be a 'set-and-forget' call.
- Parameters
-
output The voltage to output.
◆ Get()
|
override |
Common interface for getting the current set speed of a speed controller.
- Returns
- The current set speed. Value is between -1.0 and 1.0.
◆ SetInverted()
|
override |
Common interface for inverting direction of a speed controller.
This call has no effect if the controller is a follower. To invert a follower, see the follow() method.
- Parameters
-
isInverted The state of inversion, true is inverted.
◆ GetInverted()
|
override |
Common interface for returning the inversion state of a speed controller.
This call has no effect if the controller is a follower.
- Returns
- isInverted The state of inversion, true is inverted.
◆ Disable()
|
override |
Common interface for disabling a motor.
◆ StopMotor()
|
override |
Common interface to stop the motor until Set is called again.
◆ GetEncoder() [1/2]
| SparkMaxRelativeEncoder CANSparkMax::GetEncoder | ( | SparkMaxRelativeEncoder::Type | encoderType = SparkMaxRelativeEncoder::Type::kHallSensor, |
| int | countsPerRev = 42 |
||
| ) |
Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX.
The default encoder type is assumed to be the hall effect for brushless. This can be modified for brushed DC to use an quadrature encoder.
◆ GetEncoder() [2/2]
| SparkMaxRelativeEncoder CANSparkMax::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.
The default encoder type is assumed to be the hall effect for brushless. This can be modified for brushed DC to use an quadrature encoder.
- Deprecated:
- Use CANSparkMax::GetEncoder(SparkMaxRelativeEncoder::Type, int) instead
◆ GetAlternateEncoder() [1/3]
| SparkMaxAlternateEncoder CANSparkMax::GetAlternateEncoder | ( | int | countsPerRev | ) |
Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:
Pin 4 (Forward Limit Switch): Index Pin 6 (Multi-function): Encoder A Pin 8 (Reverse Limit Switch): Encoder B
This call will disable support for the limit switch inputs.
◆ GetAlternateEncoder() [2/3]
| SparkMaxAlternateEncoder CANSparkMax::GetAlternateEncoder | ( | SparkMaxAlternateEncoder::Type | encoderType, |
| int | countsPerRev | ||
| ) |
Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:
Pin 4 (Forward Limit Switch): Index Pin 6 (Multi-function): Encoder A Pin 8 (Reverse Limit Switch): Encoder B
This call will disable support for the limit switch inputs.
◆ GetAlternateEncoder() [3/3]
| SparkMaxAlternateEncoder CANSparkMax::GetAlternateEncoder | ( | CANEncoder::AlternateEncoderType | encoderType, |
| int | countsPerRev | ||
| ) |
Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:
Pin 4 (Forward Limit Switch): Index Pin 6 (Multi-function): Encoder A Pin 8 (Reverse Limit Switch): Encoder B
This call will disable support for the limit switch inputs.
◆ GetAnalog() [1/2]
| SparkMaxAnalogSensor CANSparkMax::GetAnalog | ( | SparkMaxAnalogSensor::Mode | mode = SparkMaxAnalogSensor::Mode::kAbsolute | ) |
Returns an object for interfacing with a connected analog sensor. By default, the mode is set to kAbsolute, thus treating the sensor as an absolute sensor.
◆ GetAnalog() [2/2]
| SparkMaxAnalogSensor CANSparkMax::GetAnalog | ( | CANAnalog::AnalogMode | mode | ) |
Returns an object for interfacing with a connected analog sensor.
- Deprecated:
- Use GetAnalog(SparkMaxAnalogSensor::Mode) instead
◆ GetPIDController()
| SparkMaxPIDController CANSparkMax::GetPIDController | ( | ) |
Returns an object for interfacing with the integrated PID controller.
◆ GetForwardLimitSwitch() [1/2]
| SparkMaxLimitSwitch CANSparkMax::GetForwardLimitSwitch | ( | SparkMaxLimitSwitch::Type | switchType | ) |
Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.
This call will disable support for the alternate encoder.
- Parameters
-
switchType Whether the limit switch is normally open or normally closed.
◆ GetForwardLimitSwitch() [2/2]
| SparkMaxLimitSwitch CANSparkMax::GetForwardLimitSwitch | ( | CANDigitalInput::LimitSwitchPolarity | polarity | ) |
Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.
This call will disable support for the alternate encoder.
- Parameters
-
polarity Whether the limit switch is normally open or normally closed.
◆ GetReverseLimitSwitch() [1/2]
| SparkMaxLimitSwitch CANSparkMax::GetReverseLimitSwitch | ( | SparkMaxLimitSwitch::Type | switchType | ) |
Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.
This call will disable support for the alternate encoder.
- Parameters
-
switchType Whether the limit switch is normally open or normally closed.
◆ GetReverseLimitSwitch() [2/2]
| SparkMaxLimitSwitch CANSparkMax::GetReverseLimitSwitch | ( | CANDigitalInput::LimitSwitchPolarity | polarity | ) |
Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.
This call will disable support for the alternate encoder.
- Parameters
-
polarity Whether the limit switch is normally open or normally closed.
◆ SetSmartCurrentLimit() [1/2]
| REVLibError CANSparkMax::SetSmartCurrentLimit | ( | unsigned int | limit | ) |
Sets the current limit in Amps.
The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when using the NEO brushless motor.
The NEO Brushless Motor has a low internal resistance, which can mean large current spikes that could be enough to cause damage to the motor and controller. This current limit provides a smarter strategy to deal with high current draws and keep the motor and controller operating in a safe region.
- Parameters
-
limit The current limit in Amps.
◆ SetSmartCurrentLimit() [2/2]
| REVLibError CANSparkMax::SetSmartCurrentLimit | ( | unsigned int | stallLimit, |
| unsigned int | freeLimit, | ||
| unsigned int | limitRPM = 20000 |
||
| ) |
Sets the current limit in Amps.
The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when using the NEO brushless motor.
The NEO Brushless Motor has a low internal resistance, which can mean large current spikes that could be enough to cause damage to the motor and controller. This current limit provides a smarter strategy to deal with high current draws and keep the motor and controller operating in a safe region.
The controller can also limit the current based on the RPM of the motor in a linear fashion to help with controllability in closed loop control. For a response that is linear the entire RPM range leave limit RPM at 0.
- Parameters
-
stallLimit The current limit in Amps at 0 RPM. freeLimit The current limit at free speed (5700RPM for NEO). limitRPM RPM less than this value will be set to the stallLimit, RPM values greater than limitRPM will scale linearly to freeLimit
◆ SetSecondaryCurrentLimit()
| REVLibError CANSparkMax::SetSecondaryCurrentLimit | ( | double | limit, |
| int | limitCycles = 0 |
||
| ) |
Sets the secondary current limit in Amps.
The motor controller will disable the output of the controller briefly if the current limit is exceeded to reduce the current. This limit is a simplified 'on/off' controller. This limit is enabled by default but is set higher than the default Smart Current Limit.
The time the controller is off after the current limit is reached is determined by the parameter limitCycles, which is the number of PWM cycles (20kHz). The recommended value is the default of 0 which is the minimum time and is part of a PWM cycle from when the over current is detected. This allows the controller to regulate the current close to the limit value.
The total time is set by the equation
- Parameters
-
limit The current limit in Amps. limitCycles The number of additional PWM cycles to turn the driver off after overcurrent is detected.
◆ SetIdleMode()
| REVLibError CANSparkMax::SetIdleMode | ( | IdleMode | mode | ) |
Sets the idle mode setting for the SPARK MAX.
- Parameters
-
mode Idle mode (coast or brake).
◆ GetIdleMode()
| CANSparkMax::IdleMode CANSparkMax::GetIdleMode | ( | ) |
Gets the idle mode setting for the SPARK MAX.
This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)
- Returns
- IdleMode Idle mode setting
◆ EnableVoltageCompensation()
| REVLibError CANSparkMax::EnableVoltageCompensation | ( | double | nominalVoltage | ) |
Sets the voltage compensation setting for all modes on the SPARK MAX and enables voltage compensation.
- Parameters
-
nominalVoltage Nominal voltage to compensate output to
- Returns
- REVLibError::kOk if successful
◆ DisableVoltageCompensation()
| REVLibError CANSparkMax::DisableVoltageCompensation | ( | ) |
Disables the voltage compensation setting for all modes on the SPARK MAX.
- Returns
- REVLibError::kOk if successful
◆ GetVoltageCompensationNominalVoltage()
| double CANSparkMax::GetVoltageCompensationNominalVoltage | ( | ) |
Get the configured voltage compensation nominal voltage value
- Returns
- The nominal voltage for voltage compensation mode.
◆ SetOpenLoopRampRate()
| REVLibError CANSparkMax::SetOpenLoopRampRate | ( | double | rate | ) |
Sets the ramp rate for open loop control modes.
This is the maximum rate at which the motor controller's output is allowed to change.
- Parameters
-
rate Time in seconds to go from 0 to full throttle.
◆ SetClosedLoopRampRate()
| REVLibError CANSparkMax::SetClosedLoopRampRate | ( | double | rate | ) |
Sets the ramp rate for closed loop control modes.
This is the maximum rate at which the motor controller's output is allowed to change.
- Parameters
-
rate Time in seconds to go from 0 to full throttle.
◆ GetOpenLoopRampRate()
| double CANSparkMax::GetOpenLoopRampRate | ( | ) |
Get the configured open loop ramp rate
This is the maximum rate at which the motor controller's output is allowed to change.
- Returns
- rampte rate time in seconds to go from 0 to full throttle.
◆ GetClosedLoopRampRate()
| double CANSparkMax::GetClosedLoopRampRate | ( | ) |
Get the configured closed loop ramp rate
This is the maximum rate at which the motor controller's output is allowed to change.
- Returns
- rampte rate time in seconds to go from 0 to full throttle.
◆ Follow() [1/2]
| REVLibError CANSparkMax::Follow | ( | const CANSparkMax & | leader, |
| bool | invert = false |
||
| ) |
Causes this controller's output to mirror the provided leader.
Only voltage output is mirrored. Settings changed on the leader do not affect the follower.
Following anything other than a CAN SPARK MAX is not officially supported.
- Parameters
-
leader The motor controller to follow. invert Set the follower to output opposite of the leader
◆ Follow() [2/2]
| REVLibError CANSparkMax::Follow | ( | ExternalFollower | leader, |
| int | deviceID, | ||
| bool | invert = false |
||
| ) |
Causes this controller's output to mirror the provided leader.
Only voltage output is mirrored. Settings changed on the leader do not affect the follower.
Following anything other than a CAN SPARK MAX is not officially supported.
- Parameters
-
leader The type of motor controller to follow (Talon SRX, Spark Max, etc.). deviceID The CAN ID of the device to follow. invert Set the follower to output opposite of the leader
◆ IsFollower()
| bool CANSparkMax::IsFollower | ( | ) |
Returns whether the controller is following another controller
- Returns
- True if this device is following another controller false otherwise
◆ GetFaults()
| uint16_t CANSparkMax::GetFaults | ( | ) |
Returns fault bits.
◆ GetStickyFaults()
| uint16_t CANSparkMax::GetStickyFaults | ( | ) |
Returns sticky fault bits.
◆ GetFault()
| bool CANSparkMax::GetFault | ( | FaultID | faultID | ) | const |
Returns whether the fault with the given ID occurred.
◆ GetStickyFault()
| bool CANSparkMax::GetStickyFault | ( | FaultID | faultID | ) | const |
Returns whether the sticky fault with the given ID occurred.
◆ GetBusVoltage()
| double CANSparkMax::GetBusVoltage | ( | ) |
Returns the voltage fed into the motor controller.
◆ GetAppliedOutput()
| double CANSparkMax::GetAppliedOutput | ( | ) |
Returns motor controller's output duty cycle.
◆ GetOutputCurrent()
| double CANSparkMax::GetOutputCurrent | ( | ) |
Returns motor controller's output current in Amps.
◆ GetMotorTemperature()
| double CANSparkMax::GetMotorTemperature | ( | ) |
Returns the motor temperature in Celsius.
◆ ClearFaults()
| REVLibError CANSparkMax::ClearFaults | ( | ) |
Clears all non-sticky faults.
Sticky faults must be cleared by resetting the motor controller.
◆ BurnFlash()
| REVLibError CANSparkMax::BurnFlash | ( | ) |
Writes all settings to flash.
◆ SetCANTimeout()
| REVLibError CANSparkMax::SetCANTimeout | ( | int | milliseconds | ) |
Sets timeout for sending CAN messages. A timeout of 0 also means that error handling will be done automatically by registering calls and waiting for responses, rather than needing to call GetLastError().
- Parameters
-
milliseconds The timeout in milliseconds.
◆ EnableSoftLimit()
| REVLibError CANSparkMax::EnableSoftLimit | ( | SoftLimitDirection | direction, |
| bool | enable | ||
| ) |
Enable soft limits
- Parameters
-
direction the direction of motion to restrict enable set true to enable soft limits
◆ IsSoftLimitEnabled()
| bool CANSparkMax::IsSoftLimitEnabled | ( | CANSparkMax::SoftLimitDirection | direction | ) |
Returns true if the soft limit is enabled.
◆ SetSoftLimit()
| REVLibError CANSparkMax::SetSoftLimit | ( | CANSparkMax::SoftLimitDirection | direction, |
| double | limit | ||
| ) |
Set the soft limit based on position. The default unit is rotations, but will match the unit scaling set by the user.
Note that this value is not scaled internally so care must be taken to make sure these units match the desired conversion
- Parameters
-
direction the direction of motion to restrict limit position soft limit of the controller
◆ GetSoftLimit()
| double CANSparkMax::GetSoftLimit | ( | CANSparkMax::SoftLimitDirection | direction | ) |
Get the soft limit setting in the controller
- Parameters
-
direction the direction of motion to restrict
- Returns
- position soft limit setting of the controller
◆ GetLastError()
| REVLibError CANSparkMax::GetLastError | ( | ) |
All device errors are tracked on a per thread basis for all devices in that thread. This is meant to be called immediately following another call that has the possibility of throwing an error to validate if an error has occurred.
- Returns
- the last error that was generated.
Friends And Related Function Documentation
◆ SparkMaxAlternateEncoder
|
friend |
◆ SparkMaxLimitSwitch
|
friend |
◆ SparkMaxRelativeEncoder
|
friend |
◆ ::ConfigBase
|
friend |
Member Data Documentation
◆ kFollowerDisabled
|
staticconstexpr |
◆ kFollowerSparkMax
|
staticconstexpr |
◆ kFollowerPhoenix
|
staticconstexpr |
The documentation for this class was generated from the following files:
- src/main/native/include/rev/CANSparkMax.h
- src/main/native/cpp/CANSparkMax.cpp
