Package com.revrobotics

Class CANSparkFlex

java.lang.Object

com.revrobotics.CANSparkLowLevel

com.revrobotics.CANSparkBase

com.revrobotics.CANSparkFlex

All Implemented Interfaces:

edu.wpi.first.wpilibj.motorcontrol.MotorController, java.lang.AutoCloseable

public class CANSparkFlex
extends CANSparkBase

Nested Class Summary

Nested classes/interfaces inherited from class com.revrobotics.CANSparkBase

CANSparkBase.ControlType, CANSparkBase.ExternalFollower, CANSparkBase.FaultID, CANSparkBase.IdleMode, CANSparkBase.InputMode, CANSparkBase.SoftLimitDirection

Nested classes/interfaces inherited from class com.revrobotics.CANSparkLowLevel

CANSparkLowLevel.FollowConfig, CANSparkLowLevel.MotorType, CANSparkLowLevel.PeriodicFrame, CANSparkLowLevel.PeriodicStatus0, CANSparkLowLevel.PeriodicStatus1, CANSparkLowLevel.PeriodicStatus2, CANSparkLowLevel.SparkModel

Field Summary

Fields inherited from class com.revrobotics.CANSparkLowLevel

expectedSparkModel, isClosed, kAPIBuildVersion, kAPIMajorVersion, kAPIMinorVersion, kAPIVersion, motorType, sparkMaxHandle

Constructor Summary

Constructors

Constructor	Description
CANSparkFlex(int deviceId, CANSparkLowLevel.MotorType type)	Create a new object to control a SPARK Flex motor Controller

Method Summary

Modifier and Type	Method	Description
RelativeEncoder	getEncoder()	Returns an object for interfacing with the encoder connected through the the motor interface of the SPARK Flex.
RelativeEncoder	getExternalEncoder(int countsPerRev)	Returns an object for interfacing with an external quadrature encoder
RelativeEncoder	getExternalEncoder(SparkFlexExternalEncoder.Type encoderType, int countsPerRev)	Returns an object for interfacing with an external quadrature encoder

Methods inherited from class com.revrobotics.CANSparkBase

burnFlash, clearFaults, disable, disableVoltageCompensation, enableSoftLimit, enableVoltageCompensation, follow, follow, follow, follow, get, getAbsoluteEncoder, getAbsoluteEncoder, getAbsoluteEncoder, getAnalog, getAnalog, getAnalog, getAnalog, getAppliedOutput, getBusVoltage, getClosedLoopRampRate, getEncoder, getEncoder, getEncoder, getFault, getFaults, getFeedbackDeviceID, getForwardLimitSwitch, getForwardLimitSwitch, getForwardLimitSwitch, getIdleMode, getInverted, getLastError, getMotorTemperature, getOpenLoopRampRate, getOutputCurrent, getPIDController, getReverseLimitSwitch, getReverseLimitSwitch, getReverseLimitSwitch, getSoftLimit, getStickyFault, getStickyFaults, getVoltageCompensationNominalVoltage, isFollower, isSoftLimitEnabled, set, setCANTimeout, setClosedLoopRampRate, setIdleMode, setInverted, setOpenLoopRampRate, setSecondaryCurrentLimit, setSecondaryCurrentLimit, setSmartCurrentLimit, setSmartCurrentLimit, setSmartCurrentLimit, setSoftLimit, setVoltage, stopMotor

Methods inherited from class com.revrobotics.CANSparkLowLevel

close, enableExternalUSBControl, getDeviceId, getFirmwareString, getFirmwareVersion, getInitialMotorType, getMotorType, getSafeFloat, getSerialNumber, restoreFactoryDefaults, restoreFactoryDefaults, setCANMaxRetries, setControlFramePeriodMs, setPeriodicFramePeriod, setPeriodicFramePeriod, setPeriodicFrameTimeout, throwIfClosed

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CANSparkFlex

public CANSparkFlex(int deviceId,
                    CANSparkLowLevel.MotorType type)

Create a new object to control a SPARK Flex 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

getEncoder

public RelativeEncoder getEncoder()

Returns an object for interfacing with the encoder connected through the the motor interface of the SPARK Flex.

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

For a SPARK Flex in brushed mode, use CANSparkBase.getEncoder(com.revrobotics.SparkRelativeEncoder.Type, int)

Specified by:

getEncoder in class CANSparkBase

Returns:

An object for interfacing with the integrated encoder.

getExternalEncoder

public RelativeEncoder getExternalEncoder(int countsPerRev)

Returns an object for interfacing with an external quadrature encoder

Parameters:

countsPerRev - The counts per revolution of the encoder

Returns:

An object for interfacing with an external quadrature encoder

getExternalEncoder

public RelativeEncoder getExternalEncoder(SparkFlexExternalEncoder.Type encoderType,
                                          int countsPerRev)

Returns an object for interfacing with an external quadrature encoder

Parameters:

encoderType - The encoder type for the motor: currently only kQuadrature

countsPerRev - The counts per revolution of the encoder

Returns:

An object for interfacing with an external quadrature encoder