Package com.revrobotics.spark.config

Class SparkBaseConfigAccessor

java.lang.Object

com.revrobotics.spark.config.SparkBaseConfigAccessor

Direct Known Subclasses:

SparkFlexConfigAccessor, SparkMaxConfigAccessor

public class SparkBaseConfigAccessor
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final AbsoluteEncoderConfigAccessor	absoluteEncoder	Accessor for parameters relating to the absolute encoder.
final AnalogSensorConfigAccessor	analogSensor	Accessor for parameters relating to the analog sensor.
final ClosedLoopConfigAccessor	closedLoop	Accessor for parameters relating to the closed loop controller.
final EncoderConfigAccessor	encoder	Accessor for parameters relating to the primary encoder.
final LimitSwitchConfigAccessor	limitSwitch	Accessor for parameters relating to the hardware limit switches.
final SignalsConfigAccessor	signals	Accessor for parameters relating to the Status Signals.
final SoftLimitConfigAccessor	softLimit	Accessor for parameters relating to the Software Limits.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	SparkBaseConfigAccessor(long sparkHandle)

Method Summary

Modifier and Type	Method	Description
double	getClosedLoopRampRate()
boolean	getFollowerModeInverted()
int	getFollowerModeLeaderId()
SparkBaseConfig.IdleMode	getIdleMode()
boolean	getInverted()
double	getOpenLoopRampRate()
double	getSecondaryCurrentLimit()
int	getSecondaryCurrentLimitChopCycles()
int	getSmartCurrentFreeLimit()
int	getSmartCurrentLimit()
int	getSmartCurrentRPMLimit()
double	getVoltageCompensation()
boolean	getVoltageCompensationEnabled()

Methods inherited from class java.lang.Object

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

Field Details

absoluteEncoder

public final AbsoluteEncoderConfigAccessor absoluteEncoder

Accessor for parameters relating to the absolute encoder. To configure these values, use AbsoluteEncoderConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

analogSensor

public final AnalogSensorConfigAccessor analogSensor

Accessor for parameters relating to the analog sensor. To configure these values, use AnalogSensorConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

encoder

public final EncoderConfigAccessor encoder

Accessor for parameters relating to the primary encoder. To configure these values, use EncoderConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

limitSwitch

public final LimitSwitchConfigAccessor limitSwitch

Accessor for parameters relating to the hardware limit switches. To configure these values, use LimitSwitchConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

closedLoop

public final ClosedLoopConfigAccessor closedLoop

Accessor for parameters relating to the closed loop controller. To configure these values, use ClosedLoopConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

softLimit

public final SoftLimitConfigAccessor softLimit

Accessor for parameters relating to the Software Limits. To configure these values, use SoftLimitConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

signals

public final SignalsConfigAccessor signals

Accessor for parameters relating to the Status Signals. To configure these values, use SignalsConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode).

NOTE: This uses calls that are blocking to retrieve parameters and should be used infrequently.

Constructor Details

SparkBaseConfigAccessor

protected SparkBaseConfigAccessor(long sparkHandle)

Method Details

getIdleMode

public SparkBaseConfig.IdleMode getIdleMode()

getInverted

public boolean getInverted()

getSmartCurrentLimit

public int getSmartCurrentLimit()

getSmartCurrentFreeLimit

public int getSmartCurrentFreeLimit()

getSmartCurrentRPMLimit

public int getSmartCurrentRPMLimit()

getSecondaryCurrentLimit

public double getSecondaryCurrentLimit()

getSecondaryCurrentLimitChopCycles

public int getSecondaryCurrentLimitChopCycles()

getOpenLoopRampRate

public double getOpenLoopRampRate()

getClosedLoopRampRate

public double getClosedLoopRampRate()

getVoltageCompensation

public double getVoltageCompensation()

getVoltageCompensationEnabled

public boolean getVoltageCompensationEnabled()

getFollowerModeLeaderId

public int getFollowerModeLeaderId()

getFollowerModeInverted

public boolean getFollowerModeInverted()