Package com.revrobotics.spark.config

Class SmartMotionConfig

java.lang.Object
com.revrobotics.spark.config.BaseConfig
com.revrobotics.spark.config.SmartMotionConfig
public class SmartMotionConfig extends BaseConfig

  • Constructor Details

    • SmartMotionConfig

      public SmartMotionConfig()

  • Method Details

    • apply

      public SmartMotionConfig apply(SmartMotionConfig config)
      Applies settings from another SmartMotionConfig to this one.

      Settings in the provided config will overwrite existing values in this object. Settings not specified in the provided config remain unchanged.

      Parameters:
      config - The SmartMotionConfig to copy settings from
      Returns:
      The updated SmartMotionConfig for method chaining

    • maxVelocity

      @Deprecated(forRemoval=true) public SmartMotionConfig maxVelocity(double maxVelocity)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the maximum velocity for the Smart Motion mode of the controller. This is the cruising velocity of the profile. Natively, the units are in RPM but will be affected by the velocity conversion factor.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use maxVelocity(double, ClosedLoopSlot).

      Parameters:
      maxVelocity - The maximum velocity with the velocity conversion factor applied
      Returns:
      The modified SmartMotionConfig object for method chaining

    • maxVelocity

      @Deprecated(forRemoval=true) public SmartMotionConfig maxVelocity(double maxVelocity, ClosedLoopConfig.ClosedLoopSlot slot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the maximum velocity for the Smart Motion mode of the controller for a specific closed loop slot. This is the cruising velocity of the profile. Natively, the units are in RPM but will be affected by the velocity conversion factor.
      Parameters:
      maxVelocity - The maximum velocity with the velocity conversion factor applied
      slot - The closed loop slot to set the values for
      Returns:
      The modified SmartMotionConfig object for method chaining

    • maxAcceleration

      @Deprecated(forRemoval=true) public SmartMotionConfig maxAcceleration(double maxAcceleration)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the maximum acceleration for the Smart Motion mode of the controller. This is the rate at which the velocity will increase until the max velocity is reached. Natively, the units are in RPM per second but will be affected by the velocity conversion factor.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use maxAcceleration(double, ClosedLoopSlot).

      Parameters:
      maxAcceleration - The maximum acceleration with the velocity conversion factor applied
      Returns:
      The modified SmartMotionConfig object for method chaining

    • maxAcceleration

      @Deprecated(forRemoval=true) public SmartMotionConfig maxAcceleration(double maxAcceleration, ClosedLoopConfig.ClosedLoopSlot slot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the maximum acceleration for the Smart Motion mode of the controller for a specific PID slot. This is the rate at which the velocity will increase until the max velocity is reached. Natively, the units are in RPM per second but will be affected by the velocity conversion factor.
      Parameters:
      maxAcceleration - The maximum acceleration with the velocity conversion factor applied
      slot - The closed loop slot to set the values for
      Returns:
      The modified SmartMotionConfig object for method chaining

    • minOutputVelocity

      @Deprecated(forRemoval=true) public SmartMotionConfig minOutputVelocity(double minVelocity)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the minimum velocity for the Smart Motion mode of the controller. Any requested velocities below this value will be set to 0. Natively, the units are in RPM but will be affected by the velocity conversion factor.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use minOutputVelocity(double, ClosedLoopSlot).

      Parameters:
      minVelocity - The minimum velocity with the velocity conversion factor applied
      Returns:
      The modified SmartMotionConfig object for method chaining

    • minOutputVelocity

      @Deprecated(forRemoval=true) public SmartMotionConfig minOutputVelocity(double minVelocity, ClosedLoopConfig.ClosedLoopSlot slot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the minimum velocity for the Smart Motion mode of the controller for a specific closed loop slot. Any requested velocities below this value will be set to 0. Natively, the units are in RPM but will be affected by the velocity conversion factor.
      Parameters:
      minVelocity - The minimum velocity with the velocity conversion factor applied
      slot - The closed loop slot to set the values for
      Returns:
      The modified SmartMotionConfig object for method chaining

    • allowedClosedLoopError

      @Deprecated(forRemoval=true) public SmartMotionConfig allowedClosedLoopError(double allowedError)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the allowed closed loop error for the Smart Motion mode of the controller. This value is how much deviation from the setpoint is tolerated and is useful in preventing oscillation around the setpoint. Natively, the units are in rotations but will be affected by the position conversion factor.

      This will set the value for closed loop slot 0. To set the value for a specific closed loop slot, use allowedClosedLoopError(double, ClosedLoopSlot).

      Parameters:
      allowedError - The allowed error with the position conversion factor applied
      Returns:
      The modified SmartMotionConfig object for method chaining

    • allowedClosedLoopError

      @Deprecated(forRemoval=true) public SmartMotionConfig allowedClosedLoopError(double allowedError, ClosedLoopConfig.ClosedLoopSlot slot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      It is recommended to migrate to MAXMotion instead.
      Set the allowed closed loop error for the Smart Motion mode of the controller for a specific closed loop slot. This value is how much deviation from the setpoint is tolerated and is useful in preventing oscillation around the setpoint. Natively, the units are in rotations but will be affected by the position conversion factor.
      Parameters:
      allowedError - The allowed error with the position conversion factor applied
      slot - The closed loop slot to set the values for
      Returns:
      The modified SmartMotionConfig object for method chaining