#include <SparkMaxPIDController.h>

Public Types
enum class	AccelStrategy { kTrapezoidal = 0 , kSCurve = 1 }

enum class	ArbFFUnits { kVoltage = 0 , kPercentOut = 1 }

Public Member Functions
	SparkMaxPIDController (SparkMaxPIDController &&)=default

SparkMaxPIDController &	operator= (SparkMaxPIDController &&)=default

	SparkMaxPIDController (const SparkMaxPIDController &rhs)=default

	~SparkMaxPIDController () override=default

REVLibError	SetReference (double value, CANSparkLowLevel::ControlType ctrl, int pidSlot=0, double arbFeedforward=0, SparkMaxPIDController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)

REVLibError	SetReference (double value, CANSparkMaxLowLevel::ControlType ctrl, int pidSlot=0, double arbFeedforward=0, SparkMaxPIDController::ArbFFUnits arbFFUnits=ArbFFUnits::kVoltage)

REVLibError	SetReference (double value, ControlType ctrl, int pidSlot=0, double arbFeedforward=0, CANPIDController::ArbFFUnits arbFFUnits=CANPIDController::ArbFFUnits::kVoltage) override

REVLibError	SetP (double gain, int slotID=0) override

REVLibError	SetI (double gain, int slotID=0) override

REVLibError	SetD (double gain, int slotID=0) override

REVLibError	SetDFilter (double gain, int slotID=0) override

REVLibError	SetFF (double gain, int slotID=0) override

REVLibError	SetIZone (double IZone, int slotID=0) override

REVLibError	SetOutputRange (double min, double max, int slotID=0) override

double	GetP (int slotID=0) const override

double	GetI (int slotID=0) const override

double	GetD (int slotID=0) const override

double	GetDFilter (int slotID=0) const override

double	GetFF (int slotID=0) const override

double	GetIZone (int slotID=0) const override

double	GetOutputMin (int slotID=0) const override

double	GetOutputMax (int slotID=0) const override

REVLibError	SetSmartMotionMaxVelocity (double maxVel, int slotID=0) override

REVLibError	SetSmartMotionMaxAccel (double maxAccel, int slotID=0) override

REVLibError	SetSmartMotionMinOutputVelocity (double minVel, int slotID=0) override

REVLibError	SetSmartMotionAllowedClosedLoopError (double allowedErr, int slotID=0) override

REVLibError	SetSmartMotionAccelStrategy (SparkMaxPIDController::AccelStrategy accelStrategy, int slotID=0)

REVLibError	SetSmartMotionAccelStrategy (CANPIDController::AccelStrategy accelStrategy, int slotID=0) override

double	GetSmartMotionMaxVelocity (int slotID=0) const override

double	GetSmartMotionMaxAccel (int slotID=0) const override

double	GetSmartMotionMinOutputVelocity (int slotID=0) const override

double	GetSmartMotionAllowedClosedLoopError (int slotID=0) const override

AccelStrategy	GetSmartMotionAccelStrategy (int slotID=0) const

REVLibError	SetIMaxAccum (double iMaxAccum, int slotID=0) override

double	GetIMaxAccum (int slotID=0) const override

REVLibError	SetIAccum (double iAccum) override

double	GetIAccum () const override

REVLibError	SetFeedbackDevice (const CANSensor &sensor) override

REVLibError	SetPositionPIDWrappingEnabled (bool enable)

REVLibError	SetPositionPIDWrappingMaxInput (double value)

REVLibError	SetPositionPIDWrappingMinInput (double value)

bool	GetPositionPIDWrappingEnabled () const override

double	GetPositionPIDWrappingMaxInput () const override

double	GetPositionPIDWrappingMinInput () const override

Friends
class	CANSparkBase

class	SparkPIDController

Detailed Description

Deprecated:: Use SparkPIDController instead

Member Enumeration Documentation

◆ AccelStrategy

enum class rev::SparkMaxPIDController::AccelStrategy

strong

Acceleration strategy used by Smart Motion

Deprecated:: Use SparkPIDController::AccelStrategy instead

Enumerator
kTrapezoidal
kSCurve

◆ ArbFFUnits

enum class rev::SparkMaxPIDController::ArbFFUnits

strong

Units for arbitrary feed-forward

Deprecated:: Use SparkPIDController::ArbFFUnits instead

Enumerator
kVoltage
kPercentOut

Constructor & Destructor Documentation

◆ SparkMaxPIDController() [1/2]

rev::SparkMaxPIDController::SparkMaxPIDController ( SparkMaxPIDController && )

default

◆ SparkMaxPIDController() [2/2]

rev::SparkMaxPIDController::SparkMaxPIDController ( const SparkMaxPIDController & rhs )

default

◆ ~SparkMaxPIDController()

rev::SparkMaxPIDController::~SparkMaxPIDController ( )

overridedefault

Member Function Documentation

◆ operator=()

SparkMaxPIDController & rev::SparkMaxPIDController::operator= ( SparkMaxPIDController && )

default

◆ SetReference() [1/3]

REVLibError SparkMaxPIDController::SetReference	(	double	value,
		CANSparkLowLevel::ControlType	ctrl,
		int	pidSlot = `0`,
		double	arbFeedforward = `0`,
		SparkMaxPIDController::ArbFFUnits	arbFFUnits = `ArbFFUnits::kVoltage`
	)

Set the controller reference value based on the selected control mode.

Parameters

value	The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using setPositionConversionFactor().
ctrl	Is the control type
pidSlot	for this command
arbFeedforward	A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

Returns: REVLibError::kOk if successful

◆ SetReference() [2/3]

REVLibError SparkMaxPIDController::SetReference	(	double	value,
		CANSparkMaxLowLevel::ControlType	ctrl,
		int	pidSlot = `0`,
		double	arbFeedforward = `0`,
		SparkMaxPIDController::ArbFFUnits	arbFFUnits = `ArbFFUnits::kVoltage`
	)

Set the controller reference value based on the selected control mode.

Parameters

value	The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using setPositionConversionFactor().
ctrl	Is the control type
pidSlot	for this command
arbFeedforward	A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

Returns: REVLibError::kOk if successful

Deprecated:: Use SparkMaxPIDController::SetReference(double, CANSparkBase::ControlType, int, double, SparkMaxPIDController::ArbFFUnits) instead

◆ SetReference() [3/3]

REVLibError SparkMaxPIDController::SetReference	(	double	value,
		ControlType	ctrl,
		int	pidSlot = `0`,
		double	arbFeedforward = `0`,
		CANPIDController::ArbFFUnits	arbFFUnits = `CANPIDController::ArbFFUnits::kVoltage`
	)

overridevirtual

Set the controller reference value based on the selected control mode.

Parameters

value	The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). The units can be changed for position and velocity by a scale factor using setPositionConversionFactor().
ctrl	Is the control type
pidSlot	for this command
arbFeedforward	A value from -32.0 to 32.0 which is a voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

Returns: REVLibError::kOk if successful

Deprecated:: Use SparkMaxPIDController::SetReference(double, CANSparkBase::ControlType, int, double, SparkMaxPIDController::ArbFFUnits) instead

Implements rev::CANPIDController.

◆ SetP()

REVLibError SparkMaxPIDController::SetP	(	double	gain,
		int	slotID = `0`
	)

overridevirtual

Set the Proportional Gain constant of the PIDF controller on the SPARK. This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called. The recommended method to configure this parameter is to use the REV Hardware Client to tune and save parameters.

Parameters

gain	The proportional gain value, must be positive
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetI()

REVLibError SparkMaxPIDController::SetI	(	double	gain,
		int	slotID = `0`
	)

overridevirtual

Set the Integral Gain constant of the PIDF controller on the SPARK. This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called. The recommended method to configure this parameter is to use the REV Hardware Client to tune and save parameters.

Parameters

gain	The integral gain value, must be positive
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetD()

REVLibError SparkMaxPIDController::SetD	(	double	gain,
		int	slotID = `0`
	)

overridevirtual

Set the Derivative Gain constant of the PIDF controller on the SPARK. This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called. The recommended method to configure this parameter is to use the REV Hardware Client to tune and save parameters.

Parameters

gain	The derivative gain value, must be positive
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetDFilter()

REVLibError SparkMaxPIDController::SetDFilter	(	double	gain,
		int	slotID = `0`
	)

overridevirtual

Set the Derivative Filter constant of the PIDF controller on the SPARK. This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called.

Parameters

gain	The derivative filter value, must be a positive number between 0 and 1
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetFF()

REVLibError SparkMaxPIDController::SetFF	(	double	gain,
		int	slotID = `0`
	)

overridevirtual

Set the Feed-forward Gain constant of the PIDF controller on the SPARK. This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called. The recommended method to configure this parameter is to use the REV Hardware Client to tune and save parameters.

Parameters

gain	The feed-forward gain value
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetIZone()

REVLibError SparkMaxPIDController::SetIZone	(	double	IZone,
		int	slotID = `0`
	)

overridevirtual

Set the IZone range of the PIDF controller on the SPARK. This value specifies the range the |error| must be within for the integral constant to take effect.

This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called. The recommended method to configure this parameter is to use the REV Hardware Client to tune and save parameters.

Parameters

IZone	The IZone value, must be positive. Set to 0 to disable
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetOutputRange()

REVLibError SparkMaxPIDController::SetOutputRange	(	double	min,
		double	max,
		int	slotID = `0`
	)

overridevirtual

Set the min amd max output for the closed loop mode.

This uses the Set Parameter API and should be used infrequently. The parameter does not persist unless burnFlash() is called. The recommended method to configure this parameter is to use the REV Hardware Client to tune and save parameters.

Parameters

min	Reverse power minimum to allow the controller to output
max	Forward power maximum to allow the controller to output
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ GetP()

double SparkMaxPIDController::GetP ( int slotID = 0 ) const

overridevirtual

Get the Proportional Gain constant of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double P Gain value

Implements rev::CANPIDController.

◆ GetI()

double SparkMaxPIDController::GetI ( int slotID = 0 ) const

overridevirtual

Get the Integral Gain constant of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double I Gain value

Implements rev::CANPIDController.

◆ GetD()

double SparkMaxPIDController::GetD ( int slotID = 0 ) const

overridevirtual

Get the Derivative Gain constant of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double D Gain value

Implements rev::CANPIDController.

◆ GetDFilter()

double SparkMaxPIDController::GetDFilter ( int slotID = 0 ) const

overridevirtual

Get the Derivative Filter constant of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double D Filter value

Implements rev::CANPIDController.

◆ GetFF()

double SparkMaxPIDController::GetFF ( int slotID = 0 ) const

overridevirtual

Get the Feed-forward Gain constant of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double F Gain value

Implements rev::CANPIDController.

◆ GetIZone()

double SparkMaxPIDController::GetIZone ( int slotID = 0 ) const

overridevirtual

Get the IZone constant of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double IZone value

Implements rev::CANPIDController.

◆ GetOutputMin()

double SparkMaxPIDController::GetOutputMin ( int slotID = 0 ) const

overridevirtual

Get the min output of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double min value

Implements rev::CANPIDController.

◆ GetOutputMax()

double SparkMaxPIDController::GetOutputMax ( int slotID = 0 ) const

overridevirtual

Get the max output of the PIDF controller on the SPARK.

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)

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: double max value

Implements rev::CANPIDController.

◆ SetSmartMotionMaxVelocity()

REVLibError SparkMaxPIDController::SetSmartMotionMaxVelocity	(	double	maxVel,
		int	slotID = `0`
	)

overridevirtual

Configure the maximum velocity of the SmartMotion mode. This is the velocity that is reached in the middle of the profile and is what the motor should spend most of its time at

Parameters

maxVel	The maxmimum cruise velocity for the motion profile in RPM
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetSmartMotionMaxAccel()

REVLibError SparkMaxPIDController::SetSmartMotionMaxAccel	(	double	maxAccel,
		int	slotID = `0`
	)

overridevirtual

Configure the maximum acceleration of the SmartMotion mode. This is the accleration that the motor velocity will increase at until the max velocity is reached

Parameters

maxAccel	The maxmimum acceleration for the motion profile in RPM per second
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetSmartMotionMinOutputVelocity()

REVLibError SparkMaxPIDController::SetSmartMotionMinOutputVelocity	(	double	minVel,
		int	slotID = `0`
	)

overridevirtual

Configure the mimimum velocity of the SmartMotion mode. Any requested velocities below this value will be set to 0.

Parameters

minVel	The minimum velocity for the motion profile in RPM
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetSmartMotionAllowedClosedLoopError()

REVLibError SparkMaxPIDController::SetSmartMotionAllowedClosedLoopError	(	double	allowedErr,
		int	slotID = `0`
	)

overridevirtual

Configure the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.

Parameters

allowedErr	The allowed deviation for your setpoint vs actual position in rotations
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetSmartMotionAccelStrategy() [1/2]

REVLibError SparkMaxPIDController::SetSmartMotionAccelStrategy	(	SparkMaxPIDController::AccelStrategy	accelStrategy,
		int	slotID = `0`
	)

NOTE: As of the 2022 FRC season, the firmware only supports the trapezoidal motion profiling acceleration strategy.

Configure the acceleration strategy used to control acceleration on the motor.

Parameters

accelStrategy	The acceleration strategy to use for the automatically generated motion profile
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

◆ SetSmartMotionAccelStrategy() [2/2]

REVLibError SparkMaxPIDController::SetSmartMotionAccelStrategy	(	CANPIDController::AccelStrategy	accelStrategy,
		int	slotID = `0`
	)

overridevirtual

NOTE: As of the 2022 FRC season, the firmware only supports the trapezoidal motion profiling acceleration strategy.

Configure the acceleration strategy used to control acceleration on the motor.

Parameters

accelStrategy	The acceleration strategy to use for the automatically generated motion profile
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Deprecated:: Use SetSmartMotionAccelStrategy(SparkMaxPIDController::AccelStrategy, int) instead

Implements rev::CANPIDController.

◆ GetSmartMotionMaxVelocity()

double SparkMaxPIDController::GetSmartMotionMaxVelocity ( int slotID = 0 ) const

overridevirtual

Get the maximum velocity of the SmartMotion mode. This is the velocity that is reached in the middle of the profile and is what the motor should spend most of its time at

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The maxmimum cruise velocity for the motion profile in RPM

Implements rev::CANPIDController.

◆ GetSmartMotionMaxAccel()

double SparkMaxPIDController::GetSmartMotionMaxAccel ( int slotID = 0 ) const

overridevirtual

Get the maximum acceleration of the SmartMotion mode. This is the accleration that the motor velocity will increase at until the max velocity is reached

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The maxmimum acceleration for the motion profile in RPM per second

Implements rev::CANPIDController.

◆ GetSmartMotionMinOutputVelocity()

double SparkMaxPIDController::GetSmartMotionMinOutputVelocity ( int slotID = 0 ) const

overridevirtual

Get the mimimum velocity of the SmartMotion mode. Any requested velocities below this value will be set to 0.

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The minimum velocity for the motion profile in RPM

Implements rev::CANPIDController.

◆ GetSmartMotionAllowedClosedLoopError()

double SparkMaxPIDController::GetSmartMotionAllowedClosedLoopError ( int slotID = 0 ) const

overridevirtual

Get the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The allowed deviation for your setpoint vs actual position in rotations

Implements rev::CANPIDController.

◆ GetSmartMotionAccelStrategy()

SparkMaxPIDController::AccelStrategy SparkMaxPIDController::GetSmartMotionAccelStrategy ( int slotID = 0 ) const

Get the acceleration strategy used to control acceleration on the motor. The current strategy is trapezoidal motion profiling.

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The acceleration strategy to use for the automatically generated motion profile

◆ SetIMaxAccum()

REVLibError SparkMaxPIDController::SetIMaxAccum	(	double	iMaxAccum,
		int	slotID = `0`
	)

overridevirtual

Configure the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up

Parameters

iMaxAccum	The max value to contrain the I accumulator to
slotID	Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ GetIMaxAccum()

double SparkMaxPIDController::GetIMaxAccum ( int slotID = 0 ) const

overridevirtual

Get the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up

Parameters

slotID Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().

Returns: The max value to contrain the I accumulator to

Implements rev::CANPIDController.

◆ SetIAccum()

REVLibError SparkMaxPIDController::SetIAccum ( double iAccum )

overridevirtual

Set the I accumulator of the PID controller. This is useful when wishing to force a reset on the I accumulator of the PID controller. You can also preset values to see how it will respond to certain I characteristics

To use this function, the controller must be in a closed loop control mode by calling setReference()

Parameters

iAccum The value to set the I accumulator to

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ GetIAccum()

double SparkMaxPIDController::GetIAccum ( ) const

overridevirtual

Get the I accumulator of the PID controller. This is useful when wishing to see what the I accumulator value is to help with PID tuning

Returns: The value of the I accumulator

Implements rev::CANPIDController.

◆ SetFeedbackDevice()

REVLibError SparkMaxPIDController::SetFeedbackDevice ( const CANSensor & sensor )

overridevirtual

Set the controller's feedback device.

The default feedback device is assumed to be the integrated encoder. This is used to changed to another feedback device for the controller, such as an analog sensor.

If there is a limited range on the feedback sensor that should be observed by the PIDController, it can be set by calling SetFeedbackSensorRange() on the sensor object.

Parameters

sensor The sensor to be used as a feedback device

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetPositionPIDWrappingEnabled()

REVLibError SparkMaxPIDController::SetPositionPIDWrappingEnabled ( bool enable )

virtual

Enable or disable PID Wrapping for position closed loop control

Parameters

enable Whether position PID wrapping should be enabled

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetPositionPIDWrappingMaxInput()

REVLibError SparkMaxPIDController::SetPositionPIDWrappingMaxInput ( double value )

virtual

Set the maximum input value for PID Wrapping with position closed loop control

Parameters

value The maximum input value

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ SetPositionPIDWrappingMinInput()

REVLibError SparkMaxPIDController::SetPositionPIDWrappingMinInput ( double value )

virtual

Set the minimum input value for PID Wrapping with position closed loop control

Parameters

value The minimum input value

Returns: REVLibError::kOk if successful

Implements rev::CANPIDController.

◆ GetPositionPIDWrappingEnabled()

bool SparkMaxPIDController::GetPositionPIDWrappingEnabled ( ) const

overridevirtual

Get whether or not PID Wrapping for position closed loop control is enabled

Returns: true if PID Wrapping is enabled

Implements rev::CANPIDController.

◆ GetPositionPIDWrappingMaxInput()

double SparkMaxPIDController::GetPositionPIDWrappingMaxInput ( ) const

overridevirtual

Get the maximum input value for PID Wrapping with position closed loop control

Returns: the maximum input value

Implements rev::CANPIDController.

◆ GetPositionPIDWrappingMinInput()

double SparkMaxPIDController::GetPositionPIDWrappingMinInput ( ) const

overridevirtual

Get the minimum input value for PID Wrapping with position closed loop control

Returns: the minimum in put value

Implements rev::CANPIDController.

Friends And Related Function Documentation

◆ CANSparkBase

friend class CANSparkBase

friend

◆ SparkPIDController

friend class SparkPIDController

friend

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

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

Public Types

Public Member Functions

Friends

Detailed Description

Member Enumeration Documentation

◆ AccelStrategy

◆ ArbFFUnits

Constructor & Destructor Documentation

◆ SparkMaxPIDController() [1/2]

◆ SparkMaxPIDController() [2/2]

◆ ~SparkMaxPIDController()

Member Function Documentation

◆ operator=()

◆ SetReference() [1/3]

◆ SetReference() [2/3]

◆ SetReference() [3/3]

◆ SetP()

◆ SetI()

◆ SetD()

◆ SetDFilter()

◆ SetFF()

◆ SetIZone()

◆ SetOutputRange()

◆ GetP()

◆ GetI()

◆ GetD()

◆ GetDFilter()

◆ GetFF()

◆ GetIZone()

◆ GetOutputMin()

◆ GetOutputMax()

◆ SetSmartMotionMaxVelocity()

◆ SetSmartMotionMaxAccel()

◆ SetSmartMotionMinOutputVelocity()

◆ SetSmartMotionAllowedClosedLoopError()

◆ SetSmartMotionAccelStrategy() [1/2]

◆ SetSmartMotionAccelStrategy() [2/2]

◆ GetSmartMotionMaxVelocity()

◆ GetSmartMotionMaxAccel()

◆ GetSmartMotionMinOutputVelocity()

◆ GetSmartMotionAllowedClosedLoopError()

◆ GetSmartMotionAccelStrategy()

◆ SetIMaxAccum()

◆ GetIMaxAccum()

◆ SetIAccum()

◆ GetIAccum()

◆ SetFeedbackDevice()

◆ SetPositionPIDWrappingEnabled()

◆ SetPositionPIDWrappingMaxInput()

◆ SetPositionPIDWrappingMinInput()

◆ GetPositionPIDWrappingEnabled()

◆ GetPositionPIDWrappingMaxInput()

◆ GetPositionPIDWrappingMinInput()

Friends And Related Function Documentation

◆ CANSparkBase

◆ SparkPIDController