Package com.revrobotics.spark

Class SparkBase

java.lang.Object
com.revrobotics.spark.SparkLowLevel
com.revrobotics.spark.SparkBase
All Implemented Interfaces:
MotorController, AutoCloseable
Direct Known Subclasses:
SparkFlex, SparkMax
public abstract class SparkBase extends SparkLowLevel

  • Field Details

    • encoder

      protected SparkRelativeEncoder encoder

    • encoderLock

      protected final Object encoderLock

    • analogSensor

      protected SparkAnalogSensor analogSensor

    • analogSensorLock

      protected final Object analogSensorLock

    • absoluteEncoder

      protected SparkAbsoluteEncoder absoluteEncoder

    • absoluteEncoderLock

      protected final Object absoluteEncoderLock

    • closedLoopController

      protected SparkClosedLoopController closedLoopController

    • closedLoopControllerLock

      protected final Object closedLoopControllerLock

    • forwardLimitSwitch

      protected SparkLimitSwitch forwardLimitSwitch

    • forwardLimitSwitchLock

      protected final Object forwardLimitSwitchLock

    • reverseLimitSwitch

      protected SparkLimitSwitch reverseLimitSwitch

    • reverseLimitSwitchLock

      protected final Object reverseLimitSwitchLock

    • forwardSoftLimit

      protected SparkSoftLimit forwardSoftLimit

    • forwardSoftLimitLock

      protected final Object forwardSoftLimitLock

    • reverseSoftLimit

      protected SparkSoftLimit reverseSoftLimit

    • reverseSoftLimitLock

      protected final Object reverseSoftLimitLock

  • Constructor Details

    • SparkBase

      public SparkBase(int deviceId, SparkLowLevel.MotorType type, SparkLowLevel.SparkModel model)
      Create a new object to control a SPARK 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 Details

    • set

      public void set(double speed)
      Common interface for setting the speed of a speed controller.
      Parameters:
      speed - The speed to set. Value should be between -1.0 and 1.0.

    • setVoltage

      public void setVoltage(double outputVolts)
      Sets the voltage output of the SpeedController. This is equivillant to a call to SetReference(output, rev::ControlType::kVoltage). The behavior of this call differs slightly from the WPILib documetation for this call since the device internally sets the desired voltage (not a compensation value). That means that this *can* be a 'set-and-forget' call.
      Parameters:
      outputVolts - The voltage to output.

    • get

      public double get()
      Common interface for getting the current set speed of a speed controller.
      Returns:
      The current set speed. Value is between -1.0 and 1.0.

    • setInverted

      @Deprecated public void setInverted(boolean isInverted)
      Deprecated.
      Use SparkBaseConfig.inverted(boolean) with configure(SparkBaseConfig, ResetMode, PersistMode) instead.
      Common interface for inverting direction of a speed controller.

      This call has no effect if the controller is a follower. To invert a follower, see the follow() method.

      Parameters:
      isInverted - The state of inversion, true is inverted.

    • getInverted

      @Deprecated public boolean getInverted()
      Deprecated.
      Use SparkBaseConfigAccessor.getInverted() via SparkMax.configAccessor or SparkFlex.configAccessor instead.
      Common interface for returning the inversion state of a speed controller.

      This call has no effect if the controller is a follower.

      Returns:
      isInverted The state of inversion, true is inverted.

    • disable

      public void disable()
      Common interface for disabling a motor.

    • stopMotor

      public void stopMotor()

    • configure

      public REVLibError configure(SparkBaseConfig config, SparkBase.ResetMode resetMode, SparkBase.PersistMode persistMode)
      Set the configuration for the SPARK.

      If resetMode is SparkBase.ResetMode.kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration. The following parameters will not be reset by this action: CAN ID, Motor Type, Idle Mode, PWM Input Deadband, and Duty Cycle Offset.

      If persistMode is SparkBase.PersistMode.kPersistParameters, this method will save all parameters to the SPARK's non-volatile memory after setting the given configuration. This will allow parameters to persist across power cycles.

      Parameters:
      config - The desired SPARK configuration
      resetMode - Whether to reset safe parameters before setting the configuration
      persistMode - Whether to persist the parameters after setting the configuration
      Returns:
      REVLibError.kOk if successful

    • configureAsync

      public REVLibError configureAsync(SparkBaseConfig config, SparkBase.ResetMode resetMode, SparkBase.PersistMode persistMode)
      Set the configuration for the SPARK without waiting for a response.

      If resetMode is SparkBase.ResetMode.kResetSafeParameters, this method will reset safe writable parameters to their default values before setting the given configuration. The following parameters will not be reset by this action: CAN ID, Motor Type, Idle Mode, PWM Input Deadband, and Duty Cycle Offset.

      If persistMode is SparkBase.PersistMode.kPersistParameters, this method will save all parameters to the SPARK's non-volatile memory after setting the given configuration. This will allow parameters to persist across power cycles.

      NOTE: This method will immediately return REVLibError.kOk and the action will be done in the background. Any errors that occur will be reported to the driver station.

      Parameters:
      config - The desired SPARK configuration
      resetMode - Whether to reset safe parameters before setting the configuration
      persistMode - Whether to persist the parameters after setting the configuration
      Returns:
      REVLibError.kOk

    • getEncoder

      public RelativeEncoder getEncoder()
      Returns an object for interfacing with the encoder connected to the encoder pins or front port of the SPARK MAX or the motor interface of the SPARK Flex.
      Returns:
      An object for interfacing with an encoder

    • getAnalog

      public SparkAnalogSensor getAnalog()
      Returns an object for interfacing with a connected analog sensor.
      Returns:
      An object for interfacing with a connected analog sensor.

    • getAbsoluteEncoder

      public SparkAbsoluteEncoder getAbsoluteEncoder()
      Returns an object for interfacing with a connected absolute encoder.
      Returns:
      An object for interfacing with a connected absolute encoder

    • getClosedLoopController

      public SparkClosedLoopController getClosedLoopController()
      Returns:
      An object for interfacing with the integrated closed loop controller.

    • getForwardLimitSwitch

      public SparkLimitSwitch getForwardLimitSwitch()
      Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.
      Returns:
      An object for interfacing with the forward limit switch.

    • getReverseLimitSwitch

      public SparkLimitSwitch getReverseLimitSwitch()
      Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.
      Returns:
      An object for interfacing with the reverse limit switch.

    • getForwardSoftLimit

      public SparkSoftLimit getForwardSoftLimit()
      Returns an object for interfacing with the forward soft limit.
      Returns:
      An object for interfacing with the forward soft limit.

    • getReverseSoftLimit

      public SparkSoftLimit getReverseSoftLimit()
      Returns an object for interfacing with the reverse soft limit.
      Returns:
      An object for interfacing with the reverse soft limit.

    • resumeFollowerMode

      public REVLibError resumeFollowerMode()
      Resume follower mode if the SPARK has a valid follower mode config.

      NOTE: Follower mode will start automatically upon configuring follower mode. If the SPARK experiences a power cycle and has follower mode configured, follower mode will automatically restart. This method is only useful after pauseFollowerMode() has been called.

      Returns:
      REVLibError.kOk if successful

    • resumeFollowerModeAsync

      public REVLibError resumeFollowerModeAsync()
      Resume follower mode if the SPARK has a valid follower mode config without waiting for a response.

      NOTE: Follower mode will start automatically upon configuring follower mode. If the SPARK experiences a power cycle and has follower mode configured, follower mode will automatically restart. This method is only useful after pauseFollowerMode() has been called.

      NOTE: This method will immediately return REVLibError.kOk and the action will be done in the background. Any errors that occur will be reported to the driver station.

      Returns:
      REVLibError.kOk
      See Also:

    • pauseFollowerMode

      public REVLibError pauseFollowerMode()
      Pause follower mode.

      NOTE: If the SPARK experiences a power cycle and has follower mode configured, follower mode will automatically restart.

      Returns:
      REVLibError.kOk if successful

    • pauseFollowerModeAsync

      public REVLibError pauseFollowerModeAsync()
      Pause follower mode without waiting for a response

      NOTE: If the SPARK experiences a power cycle and has follower mode configured, follower mode will automatically restart.

      NOTE: This method will immediately return REVLibError.kOk and the action will be done in the background. Any errors that occur will be reported to the driver station.

      Returns:
      REVLibError.kOk
      See Also:

    • isFollower

      public boolean isFollower()
      Returns whether the controller is following another controller
      Returns:
      True if this device is following another controller false otherwise

    • hasActiveFault

      public boolean hasActiveFault()
      Get whether the SPARK has one or more active faults.
      Returns:
      true if there is an active fault
      See Also:

    • hasStickyFault

      public boolean hasStickyFault()
      Get whether the SPARK has one or more sticky faults.
      Returns:
      true if there is a sticky fault
      See Also:

    • hasActiveWarning

      public boolean hasActiveWarning()
      Get whether the SPARK has one or more active warnings.
      Returns:
      true if there is an active warning
      See Also:

    • hasStickyWarning

      public boolean hasStickyWarning()
      Get whether the SPARK has one or more sticky warnings.
      Returns:
      true if there is a sticky warning
      See Also:

    • getFaults

      public SparkBase.Faults getFaults()
      Get the active faults that are currently present on the SPARK. Faults are fatal errors that prevent the motor from running.
      Returns:
      A struct with each fault and their active value

    • getStickyFaults

      public SparkBase.Faults getStickyFaults()
      Get the sticky faults that were present on the SPARK at one point since the sticky faults were last cleared. Faults are fatal errors that prevent the motor from running.

      Sticky faults can be cleared with clearFaults().

      Returns:
      A struct with each fault and their sticky value

    • getWarnings

      public SparkBase.Warnings getWarnings()
      Get the active warnings that are currently present on the SPARK. Warnings are non-fatal errors.
      Returns:
      A struct with each warning and their active value

    • getStickyWarnings

      public SparkBase.Warnings getStickyWarnings()
      Get the sticky warnings that were present on the SPARK at one point since the sticky warnings were last cleared. Warnings are non-fatal errors.

      Sticky warnings can be cleared with clearFaults().

      Returns:
      A struct with each warning and their sticky value

    • getBusVoltage

      public double getBusVoltage()
      Returns:
      The voltage fed into the motor controller.

    • getAppliedOutput

      public double getAppliedOutput()
      Simulation note: this value will not be updated during simulation unless SparkSim.iterate(double, double, double) is called
      Returns:
      The motor controller's applied output duty cycle.

    • getOutputCurrent

      public double getOutputCurrent()
      Returns:
      The motor controller's output current in Amps.

    • getMotorTemperature

      public double getMotorTemperature()
      Returns:
      The motor temperature in Celsius.

    • clearFaults

      public REVLibError clearFaults()
      Clears all sticky faults.
      Returns:
      REVLibError.kOk if successful

    • setCANTimeout

      public REVLibError setCANTimeout(int milliseconds)
      Sets the timeout duration for waiting for CAN responses from the device.
      Parameters:
      milliseconds - The timeout in milliseconds.
      Returns:
      REVLibError.kOk if successful

    • getLastError

      public REVLibError getLastError()
      All device errors are tracked on a per thread basis for all devices in that thread. This is meant to be called immediately following another call that has the possibility of returning an error to validate if an error has occurred.
      Returns:
      the last error that was generated.