Deprecated API

Contents

• Terminally Deprecated
• Methods
• Enum Constants

Terminally Deprecated Elements

Element	Description
com.revrobotics.spark.config.SmartMotionConfig.allowedClosedLoopError(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.allowedClosedLoopError(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxAcceleration(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxAcceleration(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxVelocity(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxVelocity(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.minOutputVelocity(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.minOutputVelocity(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.SparkBase.ControlType.kSmartMotion	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.SparkBase.ControlType.kSmartVelocity	It is recommended to migrate to MAXMotion Velocity mode instead.

Deprecated Methods

Method	Description
com.revrobotics.spark.config.SignalsConfig.appliedOutputAlwaysOn(boolean)	Calling this method will have no effect, as status 0 cannot be disabled.
com.revrobotics.spark.config.SignalsConfig.busVoltageAlwaysOn(boolean)	Calling this method will have no effect, as status 0 cannot be disabled.
com.revrobotics.spark.config.SignalsConfig.limitsAlwaysOn(boolean)	Calling this method will have no effect, as status 0 cannot be disabled.
com.revrobotics.spark.config.SignalsConfig.motorTemperatureAlwaysOn(boolean)	Calling this method will have no effect, as status 0 cannot be disabled.
com.revrobotics.spark.config.SignalsConfig.outputCurrentAlwaysOn(boolean)	Calling this method will have no effect, as status 0 cannot be disabled.
com.revrobotics.spark.config.SmartMotionConfig.allowedClosedLoopError(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.allowedClosedLoopError(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxAcceleration(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxAcceleration(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxVelocity(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.maxVelocity(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.minOutputVelocity(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.minOutputVelocity(double, ClosedLoopConfig.ClosedLoopSlot)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.SparkBase.getInverted()	Use SparkBaseConfigAccessor.getInverted() via SparkMax.configAccessor or SparkFlex.configAccessor instead.
com.revrobotics.spark.SparkBase.setInverted(boolean)	Use SparkBaseConfig.inverted(boolean) with SparkBase.configure(SparkBaseConfig, ResetMode, PersistMode) instead.

Deprecated Enum Constants

Enum Constant	Description
com.revrobotics.spark.SparkBase.ControlType.kSmartMotion	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.SparkBase.ControlType.kSmartVelocity	It is recommended to migrate to MAXMotion Velocity mode instead.