Package com.revrobotics

Class CANSparkMax

java.lang.Object

com.revrobotics.CANSparkLowLevel

com.revrobotics.CANSparkBase

com.revrobotics.CANSparkMax

All Implemented Interfaces:

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

public class CANSparkMax
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
CANSparkMax(int deviceId, CANSparkLowLevel.MotorType type)	Create a new object to control a SPARK MAX motor Controller
CANSparkMax(int deviceId, CANSparkMaxLowLevel.MotorType type)	Deprecated, for removal: This API element is subject to removal in a future version. Use CANSparkMax(int, CANSparkLowLevel.MotorType) instead

Method Summary

Modifier and Type	Method	Description
RelativeEncoder	getAlternateEncoder(int countsPerRev)	Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins.
RelativeEncoder	getAlternateEncoder(AlternateEncoderType encoderType, int countsPerRev)	Deprecated, for removal: This API element is subject to removal in a future version.
RelativeEncoder	getAlternateEncoder(SparkMaxAlternateEncoder.Type encoderType, int countsPerRev)	Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins.
RelativeEncoder	getEncoder()	Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX.

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

CANSparkMax

public CANSparkMax(int deviceId,
                   CANSparkLowLevel.MotorType type)

Create a new object to control a SPARK MAX 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.

CANSparkMax

@Deprecated(forRemoval=true)
public CANSparkMax(int deviceId,
                   CANSparkMaxLowLevel.MotorType type)

Deprecated, for removal: This API element is subject to removal in a future version.

Use CANSparkMax(int, CANSparkLowLevel.MotorType) instead

Create a new object to control a SPARK MAX 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 to the encoder pins or front port of the SPARK MAX.

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 MAX 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.

getAlternateEncoder

public RelativeEncoder getAlternateEncoder(int countsPerRev)

Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:

• Pin 4 (Forward Limit Switch): Index
• Pin 6 (Multi-function): Encoder A
• Pin 8 (Reverse Limit Switch): Encoder B

This call will disable support for the limit switch inputs.

Parameters:

countsPerRev - The counts per revolution of the encoder

Returns:

An object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins

getAlternateEncoder

public RelativeEncoder getAlternateEncoder(SparkMaxAlternateEncoder.Type encoderType,
                                           int countsPerRev)

Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:

• Pin 4 (Forward Limit Switch): Index
• Pin 6 (Multi-function): Encoder A
• Pin 8 (Reverse Limit Switch): Encoder B

This call will disable support for the limit switch inputs.

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 a quadrature encoder connected to the alternate encoder mode data port pins

getAlternateEncoder

@Deprecated(forRemoval=true)
public RelativeEncoder getAlternateEncoder(AlternateEncoderType encoderType,
                                           int countsPerRev)

Deprecated, for removal: This API element is subject to removal in a future version.

Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:

• Pin 4 (Forward Limit Switch): Index
• Pin 6 (Multi-function): Encoder A
• Pin 8 (Reverse Limit Switch): Encoder B

This call will disable support for the limit switch inputs.

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 a quadrature encoder connected to the alternate encoder mode data port pins