Class SparkClosedLoopController

java.lang.Object

com.revrobotics.spark.SparkClosedLoopController

public class SparkClosedLoopController
extends Object

Get an instance of this class by using SparkBase.getClosedLoopController().

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SparkClosedLoopController.ArbFFUnits

Method Summary

Modifier and Type	Method	Description
SparkBase.ControlType	getControlType()	Get the selected control type used when setReference(double, SparkBase.ControlType) was last called.
Signal<Double>	getIAccum()	Get the I accumulator of the closed loop controller.
Signal<Double>	getMAXMotionSetpointPosition()	Get the MAXMotion internal setpoint position.
Signal<Double>	getMAXMotionSetpointVelocity()	Get the MAXMotion internal setpoint velocity.
Signal<ClosedLoopSlot>	getSelectedSlot()	Get the selected closed loop PID slot.
Signal<Double>	getSetpoint()	Get the internal setpoint of the closed loop controller.
Signal<Boolean>	isAtSetpoint()	Determine if the setpoint has been reached.
REVLibError	setIAccum(double iAccum)	Set the I accumulator of the closed loop controller.
REVLibError	setReference(double setpoint, SparkBase.ControlType ctrl)	Deprecated, for removal: This API element is subject to removal in a future version. Use setSetpoint(double, SparkBase.ControlType) instead
REVLibError	setReference(double setpoint, SparkBase.ControlType ctrl, ClosedLoopSlot slot)	Deprecated, for removal: This API element is subject to removal in a future version. Use setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot) instead
REVLibError	setReference(double setpoint, SparkBase.ControlType ctrl, ClosedLoopSlot slot, double arbFeedforward)	Deprecated, for removal: This API element is subject to removal in a future version. Use setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double) instead
REVLibError	setReference(double setpoint, SparkBase.ControlType ctrl, ClosedLoopSlot slot, double arbFeedforward, SparkClosedLoopController.ArbFFUnits arbFFUnits)	Deprecated, for removal: This API element is subject to removal in a future version. Use setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double, ArbFFUnits) instead
REVLibError	setSetpoint(double setpoint, SparkBase.ControlType ctrl)	Set the controller setpoint based on the selected control mode.
REVLibError	setSetpoint(double setpoint, SparkBase.ControlType ctrl, ClosedLoopSlot slot)	Set the controller setpoint based on the selected control mode.
REVLibError	setSetpoint(double setpoint, SparkBase.ControlType ctrl, ClosedLoopSlot slot, double arbFeedforward)	Set the controller setpoint based on the selected control mode.
REVLibError	setSetpoint(double setpoint, SparkBase.ControlType ctrl, ClosedLoopSlot slot, double arbFeedforward, SparkClosedLoopController.ArbFFUnits arbFFUnits)	Set the controller setpoint based on the selected control mode.

Methods inherited from class Object

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

Method Details

setSetpoint

public REVLibError setSetpoint(double setpoint,
 SparkBase.ControlType ctrl)

Set the controller setpoint based on the selected control mode.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - the control type

Returns:

REVLibError.kOk if successful

setSetpoint

public REVLibError setSetpoint(double setpoint,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot)

Set the controller setpoint based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - Is the control type to override with

slot - The ClosedLoopSlot to use

Returns:

REVLibError.kOk if successful

setSetpoint

public REVLibError setSetpoint(double setpoint,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot,
 double arbFeedforward)

Set the controller setpoint based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - Is the control type to override with

slot - The ClosedLoopSlot to use

arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

Returns:

REVLibError.kOk if successful

setSetpoint

public REVLibError setSetpoint(double setpoint,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot,
 double arbFeedforward,
 SparkClosedLoopController.ArbFFUnits arbFFUnits)

Set the controller setpoint based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - Is the control type to override with

slot - The ClosedLoopSlot to use

arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

arbFFUnits - The units the arbitrary feed forward term is in

Returns:

REVLibError.kOk if successful

setReference

@Deprecated(forRemoval=true)
public REVLibError setReference(double setpoint,
 SparkBase.ControlType ctrl)

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

Use setSetpoint(double, SparkBase.ControlType) instead

Set the controller setpoint based on the selected control mode.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - the control type

Returns:

REVLibError.kOk if successful

setReference

@Deprecated(forRemoval=true)
public REVLibError setReference(double setpoint,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot)

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

Use setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot) instead

Set the controller setpoint based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - Is the control type to override with

slot - The ClosedLoopSlot to use

Returns:

REVLibError.kOk if successful

setReference

@Deprecated(forRemoval=true)
public REVLibError setReference(double setpoint,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot,
 double arbFeedforward)

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

Use setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double) instead

Set the controller setpoint based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - Is the control type to override with

slot - The ClosedLoopSlot to use

arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

Returns:

REVLibError.kOk if successful

setReference

@Deprecated(forRemoval=true)
public REVLibError setReference(double setpoint,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot,
 double arbFeedforward,
 SparkClosedLoopController.ArbFFUnits arbFFUnits)

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

Use setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double, ArbFFUnits) instead

Set the controller setpoint based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.

Parameters:

setpoint - The setpoint to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using AlternateEncoderConfig.positionConversionFactor(double), or ExternalEncoderConfig.positionConversionFactor(double), or EncoderConfig.positionConversionFactor(double) or AlternateEncoderConfig.velocityConversionFactor(double), or ExternalEncoderConfig.velocityConversionFactor(double), or EncoderConfig.velocityConversionFactor(double)

ctrl - Is the control type to override with

slot - The ClosedLoopSlot to use

arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.

arbFFUnits - The units the arbitrary feed forward term is in

Returns:

REVLibError.kOk if successful

getControlType

public SparkBase.ControlType getControlType()

Get the selected control type used when setReference(double, SparkBase.ControlType) was last called.

Returns:

The selected control type

setIAccum

public REVLibError setIAccum(double iAccum)

Set the I accumulator of the closed loop controller. This is useful when wishing to force a reset on the I accumulator of the closed loop controller. You can also preset values to see how it will respond to certain I characteristics

To use this function, the controller must be in a closed loop control mode by calling setReference()

Parameters:

iAccum - The value to set the I accumulator to

Returns:

REVLibError.kOk if successful

getIAccum

public Signal<Double> getIAccum()

Get the I accumulator of the closed loop controller. This is useful when wishing to see what the I accumulator value is to help with PID tuning

Returns:

Signal containing the value of the I accumulator

getSetpoint

public Signal<Double> getSetpoint()

Get the internal setpoint of the closed loop controller.

Returns:

Signal containing the internal setpoint

isAtSetpoint

public Signal<Boolean> isAtSetpoint()

Determine if the setpoint has been reached.

Returns:

Signal containing true if the setpoint is reached; false otherwise

getSelectedSlot

public Signal<ClosedLoopSlot> getSelectedSlot()

Get the selected closed loop PID slot.

Returns:

Signal containing the selected closed loop PID slot

getMAXMotionSetpointPosition

public Signal<Double> getMAXMotionSetpointPosition()

Get the MAXMotion internal setpoint position.

This will be 0 if the controller is not in a MAXMotion control mode.

Returns:

Signal containing the MAXMotion internal setpoint position in rotations or units specified by the conversion factor.

getMAXMotionSetpointVelocity

public Signal<Double> getMAXMotionSetpointVelocity()

Get the MAXMotion internal setpoint velocity.

This will be 0 if the controller is not in a MAXMotion control mode.

Returns:

Signal containing the MAXMotion internal setpoint velocity in rotations per minute or units specified by the conversion factor.