#include <SparkBaseConfig.h>

Inherited by rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

Public Types
enum	IdleMode : uint32_t { kCoast = 0 , kBrake = 1 }

Public Member Functions
	SparkBaseConfig ()=default

	~SparkBaseConfig () override=default

	SparkBaseConfig (const SparkBaseConfig &)=delete

SparkBaseConfig &	operator= (const SparkBaseConfig &)=delete

	SparkBaseConfig (SparkBaseConfig &&) noexcept=delete

SparkBaseConfig &	operator= (SparkBaseConfig &&) noexcept=delete

virtual SparkBaseConfig &	Apply (SparkBaseConfig &config)

virtual SparkBaseConfig &	Apply (AbsoluteEncoderConfig &config)

virtual SparkBaseConfig &	Apply (AnalogSensorConfig &config)

virtual SparkBaseConfig &	Apply (EncoderConfig &config)

virtual SparkBaseConfig &	Apply (LimitSwitchConfig &config)

virtual SparkBaseConfig &	Apply (SoftLimitConfig &config)

virtual SparkBaseConfig &	Apply (ClosedLoopConfig &config)

virtual SparkBaseConfig &	Apply (SignalsConfig &config)

virtual SparkBaseConfig &	SetIdleMode (IdleMode idleMode)

virtual SparkBaseConfig &	Inverted (bool inverted)

virtual SparkBaseConfig &	SmartCurrentLimit (int stallLimit, int freeLimit=0, int limitRpm=20000)

virtual SparkBaseConfig &	SecondaryCurrentLimit (double limit, int chopCycles=0)

virtual SparkBaseConfig &	OpenLoopRampRate (double rate)

virtual SparkBaseConfig &	ClosedLoopRampRate (double rate)

virtual SparkBaseConfig &	VoltageCompensation (double nominalVoltage)

virtual SparkBaseConfig &	DisableVoltageCompensation ()

virtual SparkBaseConfig &	Follow (int leaderCanId, bool invert=false)

virtual SparkBaseConfig &	Follow (SparkBase &leader, bool invert=false)

virtual SparkBaseConfig &	DisableFollowerMode ()

std::string	Flatten () override

Public Member Functions inherited from rev::spark::BaseConfig
virtual	~BaseConfig ()=default

Public Attributes
AbsoluteEncoderConfig	absoluteEncoder

AnalogSensorConfig	analogSensor

ClosedLoopConfig	closedLoop

EncoderConfig	encoder

LimitSwitchConfig	limitSwitch

SignalsConfig	signals

SoftLimitConfig	softLimit

Additional Inherited Members
Protected Types inherited from rev::spark::BaseConfig
using	SparkConfig_t = std::variant< int32_t, uint32_t, float, bool >

Protected Member Functions inherited from rev::spark::BaseConfig
	BaseConfig ()=default

	BaseConfig (const BaseConfig &)=delete

BaseConfig &	operator= (const BaseConfig &)=delete

	BaseConfig (BaseConfig &&) noexcept=delete

BaseConfig &	operator= (BaseConfig &&) noexcept=delete

template<typename ConfigType >
void	PutParameter (uint8_t parameterId, ConfigType value)

std::optional< SparkConfig_t >	GetParameter (uint8_t parameterId)

std::optional< SparkConfig_t >	GetParameter (BaseConfig &fromConfig, uint8_t parameterId)

void	RemoveParameter (uint8_t parameterId)

void	RemoveParameter (BaseConfig &fromConfig, uint8_t parameterId)

void	Apply (BaseConfig &config)

Member Enumeration Documentation

◆ IdleMode

enum rev::spark::SparkBaseConfig::IdleMode : uint32_t

Enumerator
kCoast
kBrake

Constructor & Destructor Documentation

◆ SparkBaseConfig() [1/3]

rev::spark::SparkBaseConfig::SparkBaseConfig ( )

default

◆ ~SparkBaseConfig()

rev::spark::SparkBaseConfig::~SparkBaseConfig ( )

overridedefault

◆ SparkBaseConfig() [2/3]

rev::spark::SparkBaseConfig::SparkBaseConfig ( const SparkBaseConfig & )

delete

◆ SparkBaseConfig() [3/3]

rev::spark::SparkBaseConfig::SparkBaseConfig ( SparkBaseConfig && )

deletenoexcept

Member Function Documentation

◆ operator=() [1/2]

SparkBaseConfig & rev::spark::SparkBaseConfig::operator= ( const SparkBaseConfig & )

delete

◆ operator=() [2/2]

SparkBaseConfig & rev::spark::SparkBaseConfig::operator= ( SparkBaseConfig && )

deletenoexcept

◆ Apply() [1/8]

SparkBaseConfig & SparkBaseConfig::Apply ( SparkBaseConfig & config )

virtual

Applies settings from another SparkBaseConfig to this one, including all of its nested configurations.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The SparkBaseConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [2/8]

SparkBaseConfig & SparkBaseConfig::Apply ( AbsoluteEncoderConfig & config )

virtual

Applies settings from an AbsoluteEncoderConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The AbsoluteEncoderConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [3/8]

SparkBaseConfig & SparkBaseConfig::Apply ( AnalogSensorConfig & config )

virtual

Applies settings from an AnalogSensorConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The AnalogSensorConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [4/8]

SparkBaseConfig & SparkBaseConfig::Apply ( EncoderConfig & config )

virtual

Applies settings from an EncoderConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The EncoderConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [5/8]

SparkBaseConfig & SparkBaseConfig::Apply ( LimitSwitchConfig & config )

virtual

Applies settings from a LimitSwitchConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The LimitSwitchConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [6/8]

SparkBaseConfig & SparkBaseConfig::Apply ( SoftLimitConfig & config )

virtual

Applies settings from a SoftLimitConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The SoftLimitConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [7/8]

SparkBaseConfig & SparkBaseConfig::Apply ( ClosedLoopConfig & config )

virtual

Applies settings from a ClosedLoopConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The ClosedLoopConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ Apply() [8/8]

SparkBaseConfig & SparkBaseConfig::Apply ( SignalsConfig & config )

virtual

Applies settings from a SignalsConfig to this SparkBaseConfig.

Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

Parameters

config The SignalsConfig to copy settings from

Returns: The updated SparkBaseConfig for method chaining

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

◆ SetIdleMode()

SparkBaseConfig & SparkBaseConfig::SetIdleMode ( IdleMode idleMode )

virtual

Sets the idle mode setting for the SPARK.

Parameters

idleMode kCoast or kBrake

Returns: The modified SparkBaseConfig object for method chaining

◆ Inverted()

SparkBaseConfig & SparkBaseConfig::Inverted ( bool inverted )

virtual

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

inverted True for inverted

Returns: The modified SparkBaseConfig object for method chaining

◆ SmartCurrentLimit()

SparkBaseConfig & SparkBaseConfig::SmartCurrentLimit	(	int	stallLimit,
		int	freeLimit = `0`,
		int	limitRpm = `20000`
	)

virtual

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

Returns: The modified SparkBaseConfig object for method chaining

◆ SecondaryCurrentLimit()

SparkBaseConfig & SparkBaseConfig::SecondaryCurrentLimit	(	double	limit,
		int	chopCycles = `0`
	)

virtual

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 t = (50us - t0) + 50us * limitCycles t = total off time after over current t0 = time from the start of the PWM cycle until over current is detected

Parameters

limit	The current limit in Amps.
chopCycles	The number of additional PWM cycles to turn the driver off after overcurrent is detected.

Returns: The modified SparkBaseConfig object for method chaining

◆ OpenLoopRampRate()

SparkBaseConfig & SparkBaseConfig::OpenLoopRampRate ( double rate )

virtual

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.

Returns: The modified SparkBaseConfig object for method chaining

◆ ClosedLoopRampRate()

SparkBaseConfig & SparkBaseConfig::ClosedLoopRampRate ( double rate )

virtual

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.

Returns: The modified SparkBaseConfig object for method chaining

◆ VoltageCompensation()

SparkBaseConfig & SparkBaseConfig::VoltageCompensation ( double nominalVoltage )

virtual

Sets the voltage compensation setting for all modes on the SPARK and enables voltage compensation.

Parameters

nominalVoltage Nominal voltage to compensate output to

Returns: The modified SparkBaseConfig object for method chaining

◆ DisableVoltageCompensation()

SparkBaseConfig & SparkBaseConfig::DisableVoltageCompensation ( )

virtual

Disables the voltage compensation setting for all modes on the SPARK.

Returns: The modified SparkBaseConfig object for method chaining

◆ Follow() [1/2]

SparkBaseConfig & SparkBaseConfig::Follow	(	int	leaderCanId,
		bool	invert = `false`
	)

virtual

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-enabled SPARK is not officially supported.

Parameters

leaderCanId	The CAN ID of the device to follow.
invert	Set the follower to output opposite of the leader

Returns: The modified SparkBaseConfig object for method chaining

◆ Follow() [2/2]

SparkBaseConfig & SparkBaseConfig::Follow	(	SparkBase &	leader,
		bool	invert = `false`
	)

virtual

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-enabled SPARK is not officially supported.

Parameters

leader	The motor controller to follow.
invert	Set the follower to output opposite of the leader

Returns: The modified SparkBaseConfig object for method chaining

◆ DisableFollowerMode()

SparkBaseConfig & SparkBaseConfig::DisableFollowerMode ( )

virtual

Disables follower mode on the controller.

Returns: The modified SparkBaseConfig object for method chaining

◆ Flatten()

std::string SparkBaseConfig::Flatten ( )

overridevirtual

Reimplemented from rev::spark::BaseConfig.

Reimplemented in rev::spark::SparkFlexConfig, and rev::spark::SparkMaxConfig.

Member Data Documentation

◆ absoluteEncoder

AbsoluteEncoderConfig rev::spark::SparkBaseConfig::absoluteEncoder

◆ analogSensor

AnalogSensorConfig rev::spark::SparkBaseConfig::analogSensor

◆ closedLoop

ClosedLoopConfig rev::spark::SparkBaseConfig::closedLoop

◆ encoder

EncoderConfig rev::spark::SparkBaseConfig::encoder

◆ limitSwitch

LimitSwitchConfig rev::spark::SparkBaseConfig::limitSwitch

◆ signals

SignalsConfig rev::spark::SparkBaseConfig::signals

◆ softLimit

SoftLimitConfig rev::spark::SparkBaseConfig::softLimit

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

src/main/native/include/rev/config/SparkBaseConfig.h
src/main/native/cpp/config/SparkBaseConfig.cpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ IdleMode

Constructor & Destructor Documentation

◆ SparkBaseConfig() [1/3]

◆ ~SparkBaseConfig()

◆ SparkBaseConfig() [2/3]

◆ SparkBaseConfig() [3/3]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Apply() [1/8]

◆ Apply() [2/8]

◆ Apply() [3/8]

◆ Apply() [4/8]

◆ Apply() [5/8]

◆ Apply() [6/8]

◆ Apply() [7/8]

◆ Apply() [8/8]

◆ SetIdleMode()

◆ Inverted()

◆ SmartCurrentLimit()

◆ SecondaryCurrentLimit()

◆ OpenLoopRampRate()

◆ ClosedLoopRampRate()

◆ VoltageCompensation()

◆ DisableVoltageCompensation()

◆ Follow() [1/2]

◆ Follow() [2/2]

◆ DisableFollowerMode()

◆ Flatten()

Member Data Documentation

◆ absoluteEncoder

◆ analogSensor

◆ closedLoop

◆ encoder

◆ limitSwitch

◆ signals

◆ softLimit