Class SparkFlex

java.lang.Object

com.revrobotics.NativeResourceCleaner

com.revrobotics.spark.SparkLowLevel

com.revrobotics.spark.SparkBase

com.revrobotics.spark.SparkFlex

All Implemented Interfaces:

REVDevice, AutoCloseable, org.wpilib.hardware.motor.MotorController

public class SparkFlex
extends SparkBase

Nested Class Summary

Nested classes/interfaces inherited from class SparkBase

SparkBase.ControlType, SparkBase.Faults, SparkBase.PersistMode, SparkBase.ResetMode, SparkBase.Warnings

Nested classes/interfaces inherited from class SparkLowLevel

SparkLowLevel.MotorType, SparkLowLevel.PeriodicFrame, SparkLowLevel.PeriodicStatus0, SparkLowLevel.PeriodicStatus1, SparkLowLevel.PeriodicStatus2, SparkLowLevel.PeriodicStatus3, SparkLowLevel.PeriodicStatus4, SparkLowLevel.PeriodicStatus5, SparkLowLevel.PeriodicStatus6, SparkLowLevel.PeriodicStatus7, SparkLowLevel.PeriodicStatus8, SparkLowLevel.PeriodicStatus9, SparkLowLevel.SparkModel

Nested classes/interfaces inherited from class NativeResourceCleaner

NativeResourceCleaner.OnClean

Field Summary

Fields

Modifier and Type	Field	Description
final SparkFlexConfigAccessor	configAccessor	Accessor for SPARK parameter values.

Fields inherited from class SparkBase

absoluteEncoder, absoluteEncoderLock, analogSensor, analogSensorLock, closedLoopController, closedLoopControllerLock, encoder, encoderLock, forwardLimitSwitch, forwardLimitSwitchLock, forwardSoftLimit, forwardSoftLimitLock, reverseLimitSwitch, reverseLimitSwitchLock, reverseSoftLimit, reverseSoftLimitLock

Fields inherited from class SparkLowLevel

expectedSparkModel, isClosed, kAPIBuildVersion, kAPIMajorVersion, kAPIMinorVersion, kAPIVersion, motorType, sparkHandle

Constructor Summary

Constructors

Constructor	Description
SparkFlex(int busId, int deviceId, SparkLowLevel.MotorType type)	Create a new object to control a SPARK Flex motor Controller

Method Summary

Modifier and Type	Method	Description
RelativeEncoder	getExternalEncoder()	Returns an object for interfacing with an external quadrature encoder

Methods inherited from class SparkBase

clearFaults, configure, configure, configureAsync, configureAsync, disable, getAbsoluteEncoder, getAnalog, getAppliedOutput, getBusVoltage, getClosedLoopController, getEncoder, getFaults, getForwardLimitSwitch, getForwardSoftLimit, getInverted, getLastError, getMotorTemperature, getOutputCurrent, getReverseLimitSwitch, getReverseSoftLimit, getStickyFaults, getStickyWarnings, getThrottle, getWarnings, hasActiveFault, hasActiveWarning, hasStickyFault, hasStickyWarning, isFollower, pauseFollowerMode, pauseFollowerModeAsync, resumeFollowerMode, resumeFollowerModeAsync, setCANTimeout, setInverted, setThrottle, setVoltage, stopMotor

Methods inherited from class SparkLowLevel

close, createSimFaultManager, GetBusId, getCleanAction, getDeviceId, getFirmwareString, getFirmwareVersion, getMotorType, getPeriodicStatus0, getPeriodicStatus1, getPeriodicStatus2, getPeriodicStatus3, getPeriodicStatus4, getPeriodicStatus5, getPeriodicStatus6, getPeriodicStatus7, getPeriodicStatus8, getPeriodicStatus9, getSafeFloat, getSerialNumber, setCANMaxRetries, setControlFramePeriodMs, setPeriodicFrameTimeout, throwIfClosed

Methods inherited from class NativeResourceCleaner

registerCleaner

Methods inherited from class Object

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

Methods inherited from interface org.wpilib.hardware.motor.MotorController

setVoltage

Field Details

configAccessor

public final SparkFlexConfigAccessor configAccessor

Accessor for SPARK parameter values. This object contains fields and methods to retrieve parameters that have been applied to the device. To set parameters, see SparkBaseConfig and SparkBase.configure(SparkBaseConfig, com.revrobotics.ResetMode, com.revrobotics.PersistMode).

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

Constructor Details

SparkFlex

public SparkFlex(int busId,
 int deviceId,
 SparkLowLevel.MotorType type)

Create a new object to control a SPARK Flex motor Controller

Parameters:

busId - The CAN bus ID this device will be on.

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

getExternalEncoder

public RelativeEncoder getExternalEncoder()

Returns an object for interfacing with an external quadrature encoder

Returns:

An object for interfacing with an external quadrature encoder