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

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 }
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 ()
void	SetPeriodicFrameTimeout (int timeoutMs)
void	SetCANMaxRetries (int numRetries)
void	SetControlFramePeriodMs (int periodMs)
void	CreateSimFaultManager ()

Static Public Attributes
static const uint8_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
PeriodicStatus0	GetPeriodicStatus0 ()
PeriodicStatus1	GetPeriodicStatus1 ()
PeriodicStatus2	GetPeriodicStatus2 ()
PeriodicStatus3	GetPeriodicStatus3 ()
PeriodicStatus4	GetPeriodicStatus4 ()
PeriodicStatus5	GetPeriodicStatus5 ()
PeriodicStatus6	GetPeriodicStatus6 ()
PeriodicStatus7	GetPeriodicStatus7 ()
REVLibError	SetpointCommand (double value, SparkLowLevel::ControlType ctrl=ControlType::kDutyCycle, int pidSlot=0, 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

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

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

timeoutMs

The 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.

If the CAN timeout is set to 0 with SparkBase::setCANTimeout(), this will have no effect when getting the response from the SPARK motor controller fails. However, it will retry when sending the request from the roboRIO fails.

The default maximum is 5 retries.

Parameters

numRetries

The 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

periodMs

The 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

GetPeriodicStatus0()

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

protected

GetPeriodicStatus1()

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

protected

GetPeriodicStatus2()

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

protected

GetPeriodicStatus3()

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

protected

GetPeriodicStatus4()

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

protected

GetPeriodicStatus5()

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

protected

GetPeriodicStatus6()

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

protected

GetPeriodicStatus7()

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

protected

SetpointCommand()

rev::REVLibError rev::spark::SparkLowLevel::SetpointCommand ( double  value, SparkLowLevel::ControlType  ctrl = ControlType::kDutyCycle, int  pidSlot = 0, 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 uint8_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

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

• src/main/native/include/rev/SparkLowLevel.h
• src/main/native/cpp/SparkLowLevel.cpp