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rev::spark::SparkLowLevel Class Reference

#include <SparkLowLevel.h>

Inherits frc::MotorController.

Inherited by rev::spark::SparkBase.

Classes

struct  PeriodicStatus0
 
struct  PeriodicStatus1
 
struct  PeriodicStatus2
 
struct  PeriodicStatus3
 
struct  PeriodicStatus4
 
struct  PeriodicStatus5
 
struct  PeriodicStatus6
 
struct  PeriodicStatus7
 
struct  PeriodicStatus8
 
struct  PeriodicStatus9
 

Public Types

enum class  MotorType { kBrushed = 0 , kBrushless = 1 }
 
enum class  ControlType {
  kDutyCycle = 0 , kVelocity = 1 , kVoltage = 2 , kPosition = 3 ,
  kSmartMotion = 4 , kCurrent = 5 , kSmartVelocity = 6 , kMAXMotionPositionControl = 7 ,
  kMAXMotionVelocityControl = 8
}
 
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 { kSparkMax = 0 , kSparkFlex = 1 , kUnknown = 255 }
 

Public Member Functions

virtual ~SparkLowLevel ()
 
uint32_t GetFirmwareVersion ()
 
uint32_t GetFirmwareVersion (bool &isDebugBuild)
 
std::string GetFirmwareString ()
 
std::vector< uint8_t > GetSerialNumber ()
 
int GetDeviceId () const
 
MotorType GetMotorType ()
 
PeriodicStatus0 GetPeriodicStatus0 ()
 
PeriodicStatus1 GetPeriodicStatus1 ()
 
PeriodicStatus2 GetPeriodicStatus2 ()
 
PeriodicStatus3 GetPeriodicStatus3 ()
 
PeriodicStatus4 GetPeriodicStatus4 ()
 
PeriodicStatus5 GetPeriodicStatus5 ()
 
PeriodicStatus6 GetPeriodicStatus6 ()
 
PeriodicStatus7 GetPeriodicStatus7 ()
 
PeriodicStatus8 GetPeriodicStatus8 ()
 
PeriodicStatus9 GetPeriodicStatus9 ()
 
void SetPeriodicFrameTimeout (int timeoutMs)
 
void SetCANMaxRetries (int numRetries)
 
void SetControlFramePeriodMs (int periodMs)
 
void CreateSimFaultManager ()
 

Static Public Attributes

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

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

MotorType m_motorType
 
SparkModel m_expectedSparkModel
 
void * m_sparkMaxHandle
 

Friends

class SparkBase
 
class SparkMax
 
class SparkFlex
 
class SparkAnalogSensor
 
class SparkMaxAlternateEncoder
 
class SparkLimitSwitch
 
class SparkClosedLoopController
 
class SparkRelativeEncoder
 
class SparkAbsoluteEncoder
 
class SparkFlexExternalEncoder
 
class SparkAbsoluteEncoderSim
 
class SparkAnalogSensorSim
 
class SparkExternalEncoderSim
 
class SparkLimitSwitchSim
 
class SparkMaxAlternateEncoderSim
 
class SparkRelativeEncoderSim
 
class SparkSimFaultManager
 
class ::ConfigBase
 

Member Enumeration Documentation

◆ MotorType

enum class rev::spark::SparkLowLevel::MotorType
strong
Enumerator
kBrushed 
kBrushless 

◆ ControlType

enum class rev::spark::SparkLowLevel::ControlType
strong
Enumerator
kDutyCycle 
kVelocity 
kVoltage 
kPosition 
kSmartMotion 
Deprecated:
It is recommended to migrate to MAXMotion Velocity mode instead.
kCurrent 
kSmartVelocity 
Deprecated:
It is recommended to migrate to MAXMotion Velocity mode instead.
kMAXMotionPositionControl 
kMAXMotionVelocityControl 

◆ ParameterStatus

enum class rev::spark::SparkLowLevel::ParameterStatus
strong
Enumerator
kOK 
kInvalidID 
kMismatchType 
kAccessMode 
kInvalid 
kNotImplementedDeprecated 

◆ PeriodicFrame

enum class rev::spark::SparkLowLevel::PeriodicFrame
strong
Enumerator
kStatus0 
kStatus1 
kStatus2 
kStatus3 
kStatus4 
kStatus5 
kStatus6 
kStatus7 
kStatus8 
kStatus9 

◆ SparkModel

enum class rev::spark::SparkLowLevel::SparkModel
strong
Enumerator
kSparkMax 
kSparkFlex 
kUnknown 

Constructor & Destructor Documentation

◆ ~SparkLowLevel()

rev::spark::SparkLowLevel::~SparkLowLevel ( )
virtual

Closes the SPARK motor controller

Member Function Documentation

◆ GetFirmwareVersion() [1/2]

uint32_t rev::spark::SparkLowLevel::GetFirmwareVersion ( )

Get the firmware version of the SPARK.

Returns
uint32_t Firmware version integer. Value is represented as 4 bytes, Major.Minor.Build H.Build L

◆ GetFirmwareVersion() [2/2]

uint32_t rev::spark::SparkLowLevel::GetFirmwareVersion ( bool &  isDebugBuild)

◆ GetFirmwareString()

std::string rev::spark::SparkLowLevel::GetFirmwareString ( )

Get the firmware version of the SPARK as a string.

Returns
std::string Human readable firmware version string

◆ GetSerialNumber()

std::vector< uint8_t > rev::spark::SparkLowLevel::GetSerialNumber ( )

Get the unique serial number of the SPARK. Currently not implemented.

Returns
std::vector<uint8_t> Vector of bytes representig the unique serial number

◆ GetDeviceId()

int rev::spark::SparkLowLevel::GetDeviceId ( ) const

Get the configured Device ID of the SPARK.

Returns
int device ID

◆ GetMotorType()

SparkLowLevel::MotorType rev::spark::SparkLowLevel::GetMotorType ( )

Get the motor type setting for the SPARK.

Returns
MotorType Motor type setting

◆ GetPeriodicStatus0()

SparkLowLevel::PeriodicStatus0 rev::spark::SparkLowLevel::GetPeriodicStatus0 ( )

Get Periodic Status 0 for the SPARK.

Returns
PeriodicStatus0 Periodic status 0

◆ GetPeriodicStatus1()

SparkLowLevel::PeriodicStatus1 rev::spark::SparkLowLevel::GetPeriodicStatus1 ( )

Get Periodic Status 1 for the SPARK.

Returns
PeriodicStatus1 Periodic status 1

◆ GetPeriodicStatus2()

SparkLowLevel::PeriodicStatus2 rev::spark::SparkLowLevel::GetPeriodicStatus2 ( )

Get Periodic Status 2 for the SPARK.

Returns
PeriodicStatus2 Periodic status 2

◆ GetPeriodicStatus3()

SparkLowLevel::PeriodicStatus3 rev::spark::SparkLowLevel::GetPeriodicStatus3 ( )

Get Periodic Status 3 for the SPARK.

Returns
PeriodicStatus3 Periodic status 3

◆ GetPeriodicStatus4()

SparkLowLevel::PeriodicStatus4 rev::spark::SparkLowLevel::GetPeriodicStatus4 ( )

Get Periodic Status 4 for the SPARK.

Returns
PeriodicStatus4 Periodic status 4

◆ GetPeriodicStatus5()

SparkLowLevel::PeriodicStatus5 rev::spark::SparkLowLevel::GetPeriodicStatus5 ( )

Get Periodic Status 5 for the SPARK.

Returns
PeriodicStatus5 Periodic status 5

◆ GetPeriodicStatus6()

SparkLowLevel::PeriodicStatus6 rev::spark::SparkLowLevel::GetPeriodicStatus6 ( )

Get Periodic Status 6 for the SPARK.

Returns
PeriodicStatus6 Periodic status 6

◆ GetPeriodicStatus7()

SparkLowLevel::PeriodicStatus7 rev::spark::SparkLowLevel::GetPeriodicStatus7 ( )

Get Periodic Status 7 for the SPARK.

Returns
PeriodicStatus7 Periodic status 7

◆ GetPeriodicStatus8()

SparkLowLevel::PeriodicStatus8 rev::spark::SparkLowLevel::GetPeriodicStatus8 ( )

Get Periodic Status 8 for the SPARK.

Returns
PeriodicStatus8 Periodic status 8

◆ GetPeriodicStatus9()

SparkLowLevel::PeriodicStatus9 rev::spark::SparkLowLevel::GetPeriodicStatus9 ( )

Get Periodic Status 9 for the SPARK.

Returns
PeriodicStatus9 Periodic status 9

◆ SetPeriodicFrameTimeout()

void rev::spark::SparkLowLevel::SetPeriodicFrameTimeout ( int  timeoutMs)

Set the amount of time to wait for a periodic status frame before returning a timeout error. This timeout will apply to all periodic status frames for the SPARK motor controller.

To prevent invalid timeout errors, the minimum timeout for a given periodic status is 2.1 times its period. To use the minimum timeout for all status frames, set timeoutMs to 0.

The default timeout is 500ms.

Parameters
timeoutMsThe timeout in milliseconds

◆ SetCANMaxRetries()

void rev::spark::SparkLowLevel::SetCANMaxRetries ( int  numRetries)

Set the maximum number of times to retry an RTR CAN frame. This applies to calls such as SetParameter* and GetParameter* where a request is made to the SPARK motor controller and a response is expected. Anytime sending the request or receiving the response fails, it will retry the request a number of times, no more than the value set by this method. If an attempt succeeds, it will immediately return. The minimum number of retries is 0, where only a single attempt will be made and will return regardless of success or failure.

The default maximum is 5 retries.

Parameters
numRetriesThe maximum number of retries

◆ SetControlFramePeriodMs()

void rev::spark::SparkLowLevel::SetControlFramePeriodMs ( int  periodMs)

Set the control frame send period for the native CAN Send thread. To disable periodic sends, set periodMs to 0.

Parameters
periodMsThe send period in milliseconds between 1ms and 100ms or set to 0 to disable periodic sends. Note this is not updated until the next call to Set() or SetReference().

◆ CreateSimFaultManager()

void rev::spark::SparkLowLevel::CreateSimFaultManager ( )

Create the sim gui Fault Manager for this Spark Device

◆ SetpointCommand()

rev::REVLibError rev::spark::SparkLowLevel::SetpointCommand ( double  value,
SparkLowLevel::ControlType  ctrl = ControlType::kDutyCycle,
ClosedLoopSlot  pidSlot = ClosedLoopSlot::kSlot0,
double  arbFeedforward = 0,
int  arbFFUnits = 0 
)
protected

◆ GetSafeFloat()

float rev::spark::SparkLowLevel::GetSafeFloat ( float  f)
protected

Friends And Related Function Documentation

◆ SparkBase

friend class SparkBase
friend

◆ SparkMax

friend class SparkMax
friend

◆ SparkFlex

friend class SparkFlex
friend

◆ SparkAnalogSensor

friend class SparkAnalogSensor
friend

◆ SparkMaxAlternateEncoder

friend class SparkMaxAlternateEncoder
friend

◆ SparkLimitSwitch

friend class SparkLimitSwitch
friend

◆ SparkClosedLoopController

friend class SparkClosedLoopController
friend

◆ SparkRelativeEncoder

friend class SparkRelativeEncoder
friend

◆ SparkAbsoluteEncoder

friend class SparkAbsoluteEncoder
friend

◆ SparkFlexExternalEncoder

friend class SparkFlexExternalEncoder
friend

◆ SparkAbsoluteEncoderSim

friend class SparkAbsoluteEncoderSim
friend

◆ SparkAnalogSensorSim

friend class SparkAnalogSensorSim
friend

◆ SparkExternalEncoderSim

friend class SparkExternalEncoderSim
friend

◆ SparkLimitSwitchSim

friend class SparkLimitSwitchSim
friend

◆ SparkMaxAlternateEncoderSim

friend class SparkMaxAlternateEncoderSim
friend

◆ SparkRelativeEncoderSim

friend class SparkRelativeEncoderSim
friend

◆ SparkSimFaultManager

friend class SparkSimFaultManager
friend

◆ ::ConfigBase

friend class ::ConfigBase
friend

Member Data Documentation

◆ kAPIMajorVersion

const uint16_t rev::spark::SparkLowLevel::kAPIMajorVersion = c_Spark_kAPIMajorVersion
static

◆ kAPIMinorVersion

const uint8_t rev::spark::SparkLowLevel::kAPIMinorVersion = c_Spark_kAPIMinorVersion
static

◆ kAPIBuildVersion

const uint8_t rev::spark::SparkLowLevel::kAPIBuildVersion = c_Spark_kAPIBuildVersion
static

◆ kAPIVersion

const uint32_t rev::spark::SparkLowLevel::kAPIVersion = c_Spark_kAPIVersion
static

◆ m_motorType

MotorType rev::spark::SparkLowLevel::m_motorType
protected

◆ m_expectedSparkModel

SparkModel rev::spark::SparkLowLevel::m_expectedSparkModel
protected

◆ m_sparkMaxHandle

void* rev::spark::SparkLowLevel::m_sparkMaxHandle
protected
The documentation for this class was generated from the following files: