#include <SparkFlex.h>

Inherits rev::spark::SparkBase.

Public Member Functions
	SparkFlex (int busID, int deviceID, MotorType type)

SparkFlexExternalEncoder &	GetExternalEncoder ()

	~SparkFlex () override=default

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

void	SetThrottle (double throttle) override

void	SetVoltage (wpi::units::volt_t output) override

double	GetThrottle () const override

void	SetInverted (bool isInverted) override

bool	GetInverted () const override

void	Disable () override

void	StopMotor ()

virtual REVLibError	Configure (SparkBaseConfig &config, ResetMode resetMode, PersistMode persistMode)

virtual REVLibError	Configure (SparkBaseConfig &config, rev::ResetMode resetMode, rev::PersistMode persistMode)

virtual REVLibError	ConfigureAsync (SparkBaseConfig &config, ResetMode resetMode, PersistMode persistMode)

virtual REVLibError	ConfigureAsync (SparkBaseConfig &config, rev::ResetMode resetMode, rev::PersistMode persistMode)

SparkRelativeEncoder &	GetEncoder ()

SparkAnalogSensor &	GetAnalog ()

virtual SparkAbsoluteEncoder &	GetAbsoluteEncoder ()

SparkClosedLoopController &	GetClosedLoopController ()

virtual SparkLimitSwitch &	GetForwardLimitSwitch ()

virtual SparkLimitSwitch &	GetReverseLimitSwitch ()

SparkSoftLimit &	GetForwardSoftLimit ()

SparkSoftLimit &	GetReverseSoftLimit ()

rev::REVLibError	ResumeFollowerMode ()

rev::REVLibError	ResumeFollowerModeAsync ()

rev::REVLibError	PauseFollowerMode ()

rev::REVLibError	PauseFollowerModeAsync ()

rev::util::Signal< bool >	IsFollower () const

rev::util::Signal< bool >	HasActiveFault () const

rev::util::Signal< bool >	HasStickyFault () const

rev::util::Signal< bool >	HasActiveWarning () const

rev::util::Signal< bool >	HasStickyWarning () const

rev::util::Signal< Faults >	GetFaults () const

rev::util::Signal< Faults >	GetStickyFaults () const

rev::util::Signal< Warnings >	GetWarnings () const

rev::util::Signal< Warnings >	GetStickyWarnings () const

rev::util::Signal< double >	GetBusVoltage () const

rev::util::Signal< double >	GetAppliedOutput () const

rev::util::Signal< double >	GetOutputCurrent () const

rev::util::Signal< double >	GetMotorTemperature () const

REVLibError	ClearFaults ()

REVLibError	SetCANTimeout (int milliseconds)

REVLibError	GetLastError ()

Public Member Functions inherited from rev::spark::SparkLowLevel
virtual	~SparkLowLevel ()

uint32_t	GetFirmwareVersion ()

uint32_t	GetFirmwareVersion (bool &isDebugBuild)

std::string	GetFirmwareString ()

std::vector< uint8_t >	GetSerialNumber ()

int	GetBusId () const

int	GetDeviceId () const

MotorType	GetMotorType ()

rev::util::Signal< PeriodicStatus0 >	GetPeriodicStatus0 () const

rev::util::Signal< PeriodicStatus1 >	GetPeriodicStatus1 () const

rev::util::Signal< PeriodicStatus2 >	GetPeriodicStatus2 () const

rev::util::Signal< PeriodicStatus3 >	GetPeriodicStatus3 () const

rev::util::Signal< PeriodicStatus4 >	GetPeriodicStatus4 () const

rev::util::Signal< PeriodicStatus5 >	GetPeriodicStatus5 () const

rev::util::Signal< PeriodicStatus6 >	GetPeriodicStatus6 () const

rev::util::Signal< PeriodicStatus7 >	GetPeriodicStatus7 () const

rev::util::Signal< PeriodicStatus8 >	GetPeriodicStatus8 () const

rev::util::Signal< PeriodicStatus9 >	GetPeriodicStatus9 () const

void	SetPeriodicFrameTimeout (int timeoutMs)

void	SetCANMaxRetries (int numRetries)

void	SetControlFramePeriodMs (int periodMs)

void	CreateSimFaultManager ()

Public Attributes
SparkFlexConfigAccessor	configAccessor

Friends
class	SparkFlexExternalEncoder

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

enum class	SoftLimitDirection { kForward , kReverse }

enum class	ResetMode { kNoResetSafeParameters , kResetSafeParameters }

enum class	PersistMode { kNoPersistParameters , kPersistParameters }

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

enum class	ControlType { kDutyCycle = 0 , kVelocity = 1 , kVoltage = 2 , kPosition = 3 , kCurrent = 4 , kMAXMotionPositionControl = 5 , kMAXMotionVelocityControl = 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 , kStatus8 = 8 , kStatus9 = 9 }

enum class	SparkModel { kUnknown = 0 , kSparkFlex = 1 , kSparkMax = 2 }

Static Public Attributes inherited from rev::spark::SparkLowLevel
static const uint16_t	kAPIMajorVersion = c_Spark_kAPIMajorVersion

static const uint8_t	kAPIMinorVersion = c_Spark_kAPIMinorVersion

static const uint8_t	kAPIBuildVersion = c_Spark_kAPIBuildVersion

static const uint32_t	kAPIVersion = c_Spark_kAPIVersion

Protected Member Functions inherited from rev::spark::SparkBase
	SparkBase (int busID, int deviceID, MotorType type, SparkModel model)

SparkRelativeEncoder	GetEncoderEvenIfAlreadyCreated ()

uint8_t	GetMotorInterface ()

SparkBase::SparkModel	GetSparkModel ()

Protected Member Functions inherited from rev::spark::SparkLowLevel
REVLibError	SetpointCommand (double value, SparkLowLevel::ControlType ctrl=ControlType::kDutyCycle, ClosedLoopSlot pidSlot=ClosedLoopSlot::kSlot0, double arbFeedforward=0, int arbFFUnits=0)

float	GetSafeFloat (float f)

Protected Attributes inherited from rev::spark::SparkBase
double	m_setpoint {0.0}

SparkRelativeEncoder	m_RelativeEncoder

std::atomic< bool >	m_relativeEncoderCreated {false}

SparkAnalogSensor	m_AnalogSensor

std::atomic< bool >	m_analogSensorCreated {false}

SparkAbsoluteEncoder	m_AbsoluteEncoder

std::atomic< bool >	m_absoluteEncoderCreated {false}

SparkClosedLoopController	m_ClosedLoopController

std::atomic< bool >	m_closedLoopControllerCreated {false}

SparkLimitSwitch	m_ForwardLimitSwitch

std::atomic< bool >	m_forwardLimitSwitchCreated {false}

SparkLimitSwitch	m_ReverseLimitSwitch

std::atomic< bool >	m_reverseLimitSwitchCreated {false}

SparkSoftLimit	m_ForwardSoftLimit

std::atomic< bool >	m_forwardSoftLimitCreated {false}

SparkSoftLimit	m_ReverseSoftLimit

std::atomic< bool >	m_reverseSoftLimitCreated {false}

Protected Attributes inherited from rev::spark::SparkLowLevel
MotorType	m_motorType

SparkModel	m_expectedSparkModel

void *	m_sparkMaxHandle {}

Constructor & Destructor Documentation

◆ SparkFlex()

SparkFlex::SparkFlex	(	int	busID,
		int	deviceID,
		MotorType	type
	)

Create a new object to control a SPARK Flex motor Controller

Parameters

busID	The CAN bus ID this device will be on.
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.

◆ ~SparkFlex()

rev::spark::SparkFlex::~SparkFlex ( )

overridedefault

Closes the SPARK Flex Controller

Member Function Documentation

◆ GetExternalEncoder()

SparkFlexExternalEncoder & SparkFlex::GetExternalEncoder ( )

Returns an object for interfacing with an external quadrature encoder

Friends And Related Function Documentation

◆ SparkFlexExternalEncoder

friend class SparkFlexExternalEncoder

friend

Member Data Documentation

◆ configAccessor

SparkFlexConfigAccessor rev::spark::SparkFlex::configAccessor

Accessor for SPARK parameter values. This object contains fields and methods to retrieve parameters that have been applied to the device. To set parameters, see SparkBaseConfig and SparkBase::Configure.

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

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

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

Public Member Functions

Public Attributes

Friends

Additional Inherited Members