Package com.revrobotics.spark

Class SparkMax

java.lang.Object

com.revrobotics.spark.SparkLowLevel

com.revrobotics.spark.SparkBase

com.revrobotics.spark.SparkMax

All Implemented Interfaces:

MotorController, AutoCloseable

public class SparkMax
extends SparkBase

Nested Class Summary

Nested classes/interfaces inherited from class com.revrobotics.spark.SparkBase

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

Nested classes/interfaces inherited from class com.revrobotics.spark.SparkLowLevel

SparkLowLevel.MotorType, SparkLowLevel.PeriodicFrame, SparkLowLevel.PeriodicStatus0, SparkLowLevel.PeriodicStatus1, SparkLowLevel.PeriodicStatus2, SparkLowLevel.SparkModel

Field Summary

Fields

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

Fields inherited from class com.revrobotics.spark.SparkBase

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

Fields inherited from class com.revrobotics.spark.SparkLowLevel

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
REVLibError	configure(SparkBaseConfig config, SparkBase.ResetMode resetMode, SparkBase.PersistMode persistMode)	Set the configuration for the SPARK.
SparkAbsoluteEncoder	getAbsoluteEncoder()	Returns an object for interfacing with a connected absolute encoder.
RelativeEncoder	getAlternateEncoder()	Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins.
SparkLimitSwitch	getForwardLimitSwitch()	Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.
SparkLimitSwitch	getReverseLimitSwitch()	Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.

Methods inherited from class com.revrobotics.spark.SparkBase

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

Methods inherited from class com.revrobotics.spark.SparkLowLevel

close, createSimFaultManager, getDeviceId, getFirmwareString, getFirmwareVersion, getMotorType, getSafeFloat, getSerialNumber, setCANMaxRetries, setControlFramePeriodMs, setPeriodicFrameTimeout, throwIfClosed

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.motorcontrol.MotorController

setVoltage

Field Details

configAccessor

public final SparkMaxConfigAccessor 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, SparkBase.ResetMode, SparkBase.PersistMode).

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

Constructor Details

SparkMax

public SparkMax(int deviceId,
 SparkLowLevel.MotorType type)

Create a new object to control a SPARK MAX 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

configure

public REVLibError configure(SparkBaseConfig config,
 SparkBase.ResetMode resetMode,
 SparkBase.PersistMode persistMode)

Description copied from class: SparkBase

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.

Overrides:

configure in class SparkBase

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

getAlternateEncoder

public RelativeEncoder getAlternateEncoder()

Returns an object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins. These are defined as:

• Pin 4 (Forward Limit Switch): Index
• Pin 6 (Multi-function): Encoder A
• Pin 8 (Reverse Limit Switch): Encoder B

This call will disable support for the limit switch inputs.

Returns:

An object for interfacing with a quadrature encoder connected to the alternate encoder mode data port pins

getAbsoluteEncoder

public SparkAbsoluteEncoder getAbsoluteEncoder()

Description copied from class: SparkBase

Returns an object for interfacing with a connected absolute encoder.

Overrides:

getAbsoluteEncoder in class SparkBase

Returns:

An object for interfacing with a connected absolute encoder

getForwardLimitSwitch

public SparkLimitSwitch getForwardLimitSwitch()

Description copied from class: SparkBase

Returns an object for interfacing with the forward limit switch connected to the appropriate pins on the data port.

Overrides:

getForwardLimitSwitch in class SparkBase

Returns:

An object for interfacing with the forward limit switch.

getReverseLimitSwitch

public SparkLimitSwitch getReverseLimitSwitch()

Description copied from class: SparkBase

Returns an object for interfacing with the reverse limit switch connected to the appropriate pins on the data port.

Overrides:

getReverseLimitSwitch in class SparkBase

Returns:

An object for interfacing with the reverse limit switch.