Package com.revrobotics.spark

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
double	getIAccum()	Get the I accumulator of the closed loop controller.
REVLibError	setIAccum(double iAccum)	Set the I accumulator of the closed loop controller.
REVLibError	setReference(double value, SparkBase.ControlType ctrl)	Set the controller reference value based on the selected control mode.
REVLibError	setReference(double value, SparkBase.ControlType ctrl, ClosedLoopSlot slot)	Set the controller reference value based on the selected control mode.
REVLibError	setReference(double value, SparkBase.ControlType ctrl, ClosedLoopSlot slot, double arbFeedforward)	Set the controller reference value based on the selected control mode.
REVLibError	setReference(double value, SparkBase.ControlType ctrl, ClosedLoopSlot slot, double arbFeedforward, SparkClosedLoopController.ArbFFUnits arbFFUnits)	Set the controller reference value based on the selected control mode.

Methods inherited from class java.lang.Object

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

Method Details

setReference

public REVLibError setReference(double value,
 SparkBase.ControlType ctrl)

Set the controller reference value based on the selected control mode.

Parameters:

value - The value 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

public REVLibError setReference(double value,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot)

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

Parameters:

value - The value 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

public REVLibError setReference(double value,
 SparkBase.ControlType ctrl,
 ClosedLoopSlot slot,
 double arbFeedforward)

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

Parameters:

value - The value 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

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

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

Parameters:

value - The value 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

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 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:

The value of the I accumulator