Deprecated API

Contents

• Terminally Deprecated
• Methods
• Enum Constants

Terminally Deprecated Elements

Element	Description
com.revrobotics.spark.config.ClosedLoopConfig.pidf(double, double, double, double)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfig.pidf(double, double, double, double, ClosedLoopSlot)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfig.velocityFF(double)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfig.velocityFF(double, ClosedLoopSlot)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfigAccessor.getFF()	Use FeedForwardConfigAccessor.getkV() to get this gain
com.revrobotics.spark.config.ClosedLoopConfigAccessor.getFF(ClosedLoopSlot)	Use FeedForwardConfigAccessor.getkV(ClosedLoopSlot slot) to get this gain
com.revrobotics.spark.config.MAXMotionConfig.allowedClosedLoopError(double)	Use MAXMotionConfig.allowedProfileError(double) instead.
com.revrobotics.spark.config.MAXMotionConfig.allowedClosedLoopError(double, ClosedLoopSlot)	Use MAXMotionConfig.allowedProfileError(double, ClosedLoopSlot) instead.
com.revrobotics.spark.config.MAXMotionConfig.maxVelocity(double)	Use MAXMotionConfig.cruiseVelocity(double) instead.
com.revrobotics.spark.config.MAXMotionConfig.maxVelocity(double, ClosedLoopSlot)	Use MAXMotionConfig.cruiseVelocity(double, ClosedLoopSlot) instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getAllowedClosedLoopError()	Use MAXMotionConfigAccessor.getAllowedProfileError() instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getAllowedClosedLoopError(ClosedLoopSlot)	Use MAXMotionConfigAccessor.getAllowedProfileError(ClosedLoopSlot) instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getMaxVelocity()	Use MAXMotionConfigAccessor.getCruiseVelocity() instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getMaxVelocity(ClosedLoopSlot)	Use MAXMotionConfigAccessor.getCruiseVelocity(ClosedLoopSlot) instead.
com.revrobotics.spark.config.SmartMotionConfig.allowedClosedLoopError(double)	It is recommended to migrate to MAXMotion instead.
com.revrobotics.spark.config.SmartMotionConfig.allowedClosedLoopError(double, 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, 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, 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, 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.
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType) instead
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType, ClosedLoopSlot)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot) instead
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType, ClosedLoopSlot, double)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double) instead
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType, ClosedLoopSlot, double, SparkClosedLoopController.ArbFFUnits)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double, ArbFFUnits) instead

Deprecated Methods

Method	Description
com.revrobotics.spark.config.ClosedLoopConfig.pidf(double, double, double, double)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfig.pidf(double, double, double, double, ClosedLoopSlot)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfig.velocityFF(double)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfig.velocityFF(double, ClosedLoopSlot)	Use ClosedLoopConfig.feedForward to set feedforward gains
com.revrobotics.spark.config.ClosedLoopConfigAccessor.getFF()	Use FeedForwardConfigAccessor.getkV() to get this gain
com.revrobotics.spark.config.ClosedLoopConfigAccessor.getFF(ClosedLoopSlot)	Use FeedForwardConfigAccessor.getkV(ClosedLoopSlot slot) to get this gain
com.revrobotics.spark.config.LimitSwitchConfig.forwardLimitSwitchEnabled(boolean)	Use the LimitSwitchConfig.forwardLimitSwitchTriggerBehavior(com.revrobotics.spark.config.LimitSwitchConfig.Behavior) instead
com.revrobotics.spark.config.LimitSwitchConfig.reverseLimitSwitchEnabled(boolean)	Use the LimitSwitchConfig.reverseLimitSwitchTriggerBehavior(com.revrobotics.spark.config.LimitSwitchConfig.Behavior) instead
com.revrobotics.spark.config.LimitSwitchConfigAccessor.getForwardLimitSwitchEnabled()
com.revrobotics.spark.config.LimitSwitchConfigAccessor.getReverseLimitSwitchEnabled()
com.revrobotics.spark.config.MAXMotionConfig.allowedClosedLoopError(double)	Use MAXMotionConfig.allowedProfileError(double) instead.
com.revrobotics.spark.config.MAXMotionConfig.allowedClosedLoopError(double, ClosedLoopSlot)	Use MAXMotionConfig.allowedProfileError(double, ClosedLoopSlot) instead.
com.revrobotics.spark.config.MAXMotionConfig.maxVelocity(double)	Use MAXMotionConfig.cruiseVelocity(double) instead.
com.revrobotics.spark.config.MAXMotionConfig.maxVelocity(double, ClosedLoopSlot)	Use MAXMotionConfig.cruiseVelocity(double, ClosedLoopSlot) instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getAllowedClosedLoopError()	Use MAXMotionConfigAccessor.getAllowedProfileError() instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getAllowedClosedLoopError(ClosedLoopSlot)	Use MAXMotionConfigAccessor.getAllowedProfileError(ClosedLoopSlot) instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getMaxVelocity()	Use MAXMotionConfigAccessor.getCruiseVelocity() instead.
com.revrobotics.spark.config.MAXMotionConfigAccessor.getMaxVelocity(ClosedLoopSlot)	Use MAXMotionConfigAccessor.getCruiseVelocity(ClosedLoopSlot) instead.
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, 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, 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, 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, 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.
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType) instead
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType, ClosedLoopSlot)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot) instead
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType, ClosedLoopSlot, double)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double) instead
com.revrobotics.spark.SparkClosedLoopController.setReference(double, SparkBase.ControlType, ClosedLoopSlot, double, SparkClosedLoopController.ArbFFUnits)	Use SparkClosedLoopController.setSetpoint(double, SparkBase.ControlType, ClosedLoopSlot, double, ArbFFUnits) 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.