Package com.revrobotics

Class CANSparkBase

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.motorcontrol.MotorController, java.lang.AutoCloseable
    Direct Known Subclasses:
    CANSparkFlex, CANSparkMax
    public abstract class CANSparkBase
extends CANSparkLowLevel

    • Constructor Detail

      • CANSparkBase

        public CANSparkBase​(int deviceId,
                    CANSparkLowLevel.MotorType type,
                    CANSparkLowLevel.SparkModel model)
        Create a new object to control a SPARK motor Controller
        Parameters:
        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.

    • Method Detail

      • set

        public void set​(double speed)
        Common interface for setting the speed of a speed controller.
        Parameters:
        speed - The speed to set. Value should be between -1.0 and 1.0.

      • setVoltage

        public void setVoltage​(double outputVolts)
        Sets the voltage output of the SpeedController. This is equivillant to a call to SetReference(output, rev::ControlType::kVoltage). The behavior of this call differs slightly from the WPILib documetation for this call since the device internally sets the desired voltage (not a compensation value). That means that this *can* be a 'set-and-forget' call.
        Parameters:
        outputVolts - The voltage to output.

      • get

        public double get()
        Common interface for getting the current set speed of a speed controller.
        Returns:
        The current set speed. Value is between -1.0 and 1.0.

      • setInverted

        public void setInverted​(boolean isInverted)
        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:
        isInverted - The state of inversion, true is inverted.

      • getInverted

        public boolean getInverted()
        Common interface for returning the inversion state of a speed controller.

        This call has no effect if the controller is a follower.

        Returns:
        isInverted The state of inversion, true is inverted.

      • disable

        public void disable()
        Common interface for disabling a motor.

      • stopMotor

        public void stopMotor()

      • getEncoder

        public abstract RelativeEncoder getEncoder()
        Returns an object for interfacing with the hall sensor integrated into a brushless motor, which is connected to the front port of the SPARK MAX or the motor interface of the SPARK Flex.

        For a SPARK MAX in brushless mode, it is assumed that the default encoder type is hall effect and the counts per revolution is 42.

        For a SPARK Flex in brushless mode, it is assumed that the default encoder type is quadrature and the counts per revolution is 7168.

        Returns:
        An object for interfacing with the integrated encoder.

      • getEncoder

        public RelativeEncoder getEncoder​(SparkRelativeEncoder.Type encoderType,
                                  int countsPerRev)
        Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.
        Parameters:
        encoderType - The encoder type for the motor: kHallEffect or kQuadrature
        countsPerRev - The counts per revolution of the encoder
        Returns:
        An object for interfacing with an encoder

      • getEncoder

        @Deprecated(forRemoval=true)
public RelativeEncoder getEncoder​(SparkMaxRelativeEncoder.Type encoderType,
                                  int countsPerRev)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getEncoder(SparkRelativeEncoder.Type, int) instead
        Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.
        Parameters:
        encoderType - The encoder type for the motor: kHallEffect or kQuadrature
        countsPerRev - The counts per revolution of the encoder
        Returns:
        An object for interfacing with an encoder

      • getEncoder

        @Deprecated(forRemoval=true)
public RelativeEncoder getEncoder​(EncoderType encoderType,
                                  int countsPerRev)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getEncoder(SparkMaxRelativeEncoder.Type, int) instead.
        Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.
        Parameters:
        encoderType - The encoder type for the motor: kHallEffect or kQuadrature
        countsPerRev - The counts per revolution of the encoder
        Returns:
        An object for interfacing with an encoder

      • getAnalog

        public SparkAnalogSensor getAnalog()
        Returns an object for interfacing with a connected analog sensor. By default, the mode is set to kAbsolute, thus treating the sensor as an absolute sensor.
        Returns:
        An object for interfacing with a connected analog sensor.

      • getAnalog

        public SparkAnalogSensor getAnalog​(SparkAnalogSensor.Mode mode)
        Returns an object for interfacing with a connected analog sensor.
        Parameters:
        mode - The mode of the analog sensor, either absolute or relative
        Returns:
        An object for interfacing with a connected analog sensor.

      • getAnalog

        @Deprecated(forRemoval=true)
public SparkAnalogSensor getAnalog​(SparkMaxAnalogSensor.Mode mode)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getAnalog(SparkAnalogSensor.Mode) instead
        Returns an object for interfacing with a connected analog sensor.
        Parameters:
        mode - The mode of the analog sensor, either absolute or relative
        Returns:
        An object for interfacing with a connected analog sensor.

      • getAnalog

        @Deprecated(forRemoval=true)
public SparkAnalogSensor getAnalog​(CANAnalog.AnalogMode mode)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getAnalog(SparkAnalogSensor.Mode) instead
        Returns an object for interfacing with a connected analog sensor.
        Parameters:
        mode - The mode of the analog sensor, either absolute or relative
        Returns:
        An object for interfacing with a connected analog sensor.

      • getAbsoluteEncoder

        public SparkAbsoluteEncoder getAbsoluteEncoder()
        Returns an object for interfacing with a connected duty cycle absolute encoder.
        Returns:
        An object for interfacing with a connected absolute encoder

      • getAbsoluteEncoder

        public SparkAbsoluteEncoder getAbsoluteEncoder​(SparkAbsoluteEncoder.Type encoderType)
        Returns an object for interfacing with a connected absolute encoder.
        Parameters:
        encoderType - The encoder type for the motor: currently only kDutyCycle
        Returns:
        An object for interfacing with a connected absolute encoder

      • getAbsoluteEncoder

        @Deprecated(forRemoval=true)
public SparkAbsoluteEncoder getAbsoluteEncoder​(SparkMaxAbsoluteEncoder.Type encoderType)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getAbsoluteEncoder(SparkAbsoluteEncoder.Type) instead.
        Returns an object for interfacing with a connected absolute encoder.
        Parameters:
        encoderType - The encoder type for the motor: currently only kDutyCycle
        Returns:
        An object for interfacing with a connected absolute encoder

      • getPIDController

        public SparkPIDController getPIDController()
        Returns:
        An object for interfacing with the integrated PID controller.

      • getForwardLimitSwitch

        @Deprecated(forRemoval=true)
public SparkLimitSwitch getForwardLimitSwitch​(CANDigitalInput.LimitSwitchPolarity polarity)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getForwardLimitSwitch(SparkLimitSwitch.Type) instead.
        Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.

        This call will disable support for the alternate encoder.

        Parameters:
        polarity - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the forward limit switch.

      • getForwardLimitSwitch

        @Deprecated(forRemoval=true)
public SparkLimitSwitch getForwardLimitSwitch​(SparkMaxLimitSwitch.Type switchType)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getForwardLimitSwitch(SparkLimitSwitch.Type) instead.
        Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.

        This call will disable support for the alternate encoder.

        Parameters:
        switchType - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the forward limit switch.

      • getForwardLimitSwitch

        public SparkLimitSwitch getForwardLimitSwitch​(SparkLimitSwitch.Type switchType)
        Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.

        This call will disable support for the alternate encoder.

        Parameters:
        switchType - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the forward limit switch.

      • getReverseLimitSwitch

        @Deprecated(forRemoval=true)
public SparkLimitSwitch getReverseLimitSwitch​(CANDigitalInput.LimitSwitchPolarity polarity)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getReverseLimitSwitch(SparkLimitSwitch.Type) instead.
        Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.

        This call will disable support for the alternate encoder.

        Parameters:
        polarity - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the reverse limit switch.

      • getReverseLimitSwitch

        @Deprecated(forRemoval=true)
public SparkLimitSwitch getReverseLimitSwitch​(SparkMaxLimitSwitch.Type switchType)
        Deprecated, for removal: This API element is subject to removal in a future version.
        Use getReverseLimitSwitch(SparkLimitSwitch.Type) instead.
        Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.

        This call will disable support for the alternate encoder.

        Parameters:
        switchType - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the reverse limit switch.

      • getReverseLimitSwitch

        public SparkLimitSwitch getReverseLimitSwitch​(SparkLimitSwitch.Type switchType)
        Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.

        This call will disable support for the alternate encoder.

        Parameters:
        switchType - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the reverse limit switch.

      • setSmartCurrentLimit

        public REVLibError setSmartCurrentLimit​(int limit)
        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.

        Parameters:
        limit - The current limit in Amps.
        Returns:
        REVLibError.kOk if successful

      • setSmartCurrentLimit

        public REVLibError setSmartCurrentLimit​(int stallLimit,
                                        int freeLimit)
        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).
        Returns:
        REVLibError.kOk if successful

      • setSmartCurrentLimit

        public REVLibError setSmartCurrentLimit​(int stallLimit,
                                        int freeLimit,
                                        int limitRPM)
        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:
        REVLibError.kOk if successful

      • setSecondaryCurrentLimit

        public REVLibError setSecondaryCurrentLimit​(double limit)
        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.
        Returns:
        REVLibError.kOk if successful

      • setSecondaryCurrentLimit

        public REVLibError setSecondaryCurrentLimit​(double limit,
                                            int chopCycles)
        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:
        REVLibError.kOk if successful

      • getIdleMode

        public CANSparkBase.IdleMode getIdleMode()
        Gets the idle mode setting for 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)

        Returns:
        IdleMode Idle mode setting

      • enableVoltageCompensation

        public REVLibError enableVoltageCompensation​(double nominalVoltage)
        Sets the voltage compensation setting for all modes on the SPARK and enables voltage compensation.
        Parameters:
        nominalVoltage - Nominal voltage to compensate output to
        Returns:
        REVLibError.kOk if successful

      • disableVoltageCompensation

        public REVLibError disableVoltageCompensation()
        Disables the voltage compensation setting for all modes on the SPARK.
        Returns:
        REVLibError.kOk if successful

      • getVoltageCompensationNominalVoltage

        public double getVoltageCompensationNominalVoltage()
        Get the configured voltage compensation nominal voltage value
        Returns:
        The nominal voltage for voltage compensation mode.

      • setOpenLoopRampRate

        public REVLibError setOpenLoopRampRate​(double rate)
        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:
        REVLibError.kOk if successful

      • setClosedLoopRampRate

        public REVLibError setClosedLoopRampRate​(double rate)
        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:
        REVLibError.kOk if successful

      • getOpenLoopRampRate

        public double getOpenLoopRampRate()
        Get the configured open loop ramp rate

        This is the maximum rate at which the motor controller's output is allowed to change.

        Returns:
        ramp rate time in seconds to go from 0 to full throttle.

      • getClosedLoopRampRate

        public double getClosedLoopRampRate()
        Get the configured closed loop ramp rate

        This is the maximum rate at which the motor controller's output is allowed to change.

        Returns:
        ramp rate time in seconds to go from 0 to full throttle.

      • follow

        public REVLibError follow​(CANSparkBase leader)
        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.

        The motor will spin in the same direction as the leader. This can be changed by passing a true constant after the leader parameter.

        Following anything other than a CAN-enabled SPARK is not officially supported.

        Parameters:
        leader - The motor controller to follow.
        Returns:
        REVLibError.kOk if successful

      • follow

        public REVLibError follow​(CANSparkBase leader,
                          boolean invert)
        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:
        REVLibError.kOk if successful

      • follow

        public REVLibError follow​(CANSparkBase.ExternalFollower leader,
                          int deviceID)
        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.

        The motor will spin in the same direction as the leader. This can be changed by passing a true constant after the deviceID parameter.

        Following anything other than a CAN-enabled SPARK is not officially supported.

        Parameters:
        leader - The type of motor controller to follow (Talon SRX, SPARK MAX, etc.).
        deviceID - The CAN ID of the device to follow.
        Returns:
        REVLibError.kOk if successful

      • follow

        public REVLibError follow​(CANSparkBase.ExternalFollower leader,
                          int deviceID,
                          boolean invert)
        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 type of motor controller to follow (Talon SRX, SPARK MAX, etc.).
        deviceID - The CAN ID of the device to follow.
        invert - Set the follower to output opposite of the leader
        Returns:
        REVLibError.kOk if successful

      • isFollower

        public boolean isFollower()
        Returns whether the controller is following another controller
        Returns:
        True if this device is following another controller false otherwise

      • getFaults

        public short getFaults()
        Returns:
        All fault bits as a short

      • getStickyFaults

        public short getStickyFaults()
        Returns:
        All sticky fault bits as a short

      • getFault

        public boolean getFault​(CANSparkBase.FaultID faultID)
        Get the value of a specific fault
        Parameters:
        faultID - The ID of the fault to retrive
        Returns:
        True if the fault with the given ID occurred.

      • getStickyFault

        public boolean getStickyFault​(CANSparkBase.FaultID faultID)
        Get the value of a specific sticky fault
        Parameters:
        faultID - The ID of the sticky fault to retrive
        Returns:
        True if the sticky fault with the given ID occurred.

      • getBusVoltage

        public double getBusVoltage()
        Returns:
        The voltage fed into the motor controller.

      • getAppliedOutput

        public double getAppliedOutput()
        Returns:
        The motor controller's applied output duty cycle.

      • getOutputCurrent

        public double getOutputCurrent()
        Returns:
        The motor controller's output current in Amps.

      • getMotorTemperature

        public double getMotorTemperature()
        Returns:
        The motor temperature in Celsius.

      • setCANTimeout

        public REVLibError setCANTimeout​(int milliseconds)
        Sets timeout for sending CAN messages with SetParameter* and GetParameter* calls. These calls will block for up to this amoutn of time before returning a timeout erro. A timeout of 0 will make the SetParameter* calls non-blocking, and instead will check the response in a separate thread. With this configuration, any error messages will appear on the drivestration but will not be returned by the GetLastError() call.
        Parameters:
        milliseconds - The timeout in milliseconds.
        Returns:
        REVLibError.kOk if successful

      • setSoftLimit

        public REVLibError setSoftLimit​(CANSparkBase.SoftLimitDirection direction,
                                float limit)
        Set the soft limit based on position. The default unit is rotations, but will match the unit scaling set by the user.

        Note that this value is not scaled internally so care must be taken to make sure these units match the desired conversion

        Parameters:
        direction - the direction of motion to restrict
        limit - position soft limit of the controller
        Returns:
        REVLibError.kOk if successful

      • getSoftLimit

        public double getSoftLimit​(CANSparkBase.SoftLimitDirection direction)
        Get the soft limit setting in the controller
        Parameters:
        direction - the direction of motion to restrict
        Returns:
        position soft limit setting of the controller

      • isSoftLimitEnabled

        public boolean isSoftLimitEnabled​(CANSparkBase.SoftLimitDirection direction)
        Parameters:
        direction - The direction of the motion to restrict
        Returns:
        true if the soft limit is enabled.

      • getFeedbackDeviceID

        protected int getFeedbackDeviceID()
        Gets the feedback device ID that was set on SPARK itself.
        Returns:
        Feedback device ID on the SPARK

      • getLastError

        public REVLibError getLastError()
        All device errors are tracked on a per thread basis for all devices in that thread. This is meant to be called immediately following another call that has the possibility of returning an error to validate if an error has occurred.
        Returns:
        the last error that was generated.