Class CANSparkMax

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.SpeedController, java.lang.AutoCloseable

    public class CANSparkMax
    extends CANSparkMaxLowLevel
    implements java.lang.AutoCloseable
    • Constructor Detail

      • CANSparkMax

        public CANSparkMax​(int deviceID,
                           CANSparkMaxLowLevel.MotorType type)
        Create a new SPARK MAX Controller
        Parameters:
        deviceID - The device ID.
        type - The motor type connected to the controller. Brushless motors must be connected to their matching color and the hall sensor plugged in. Brushed motors must be connected to the Red and Black terminals only.
    • Method Detail

      • close

        public void close()
        Closes the SPARK MAX Controller
        Specified by:
        close in interface java.lang.AutoCloseable
      • set

        public void set​(double speed)
        Common interface for setting the speed of a speed controller.
        Specified by:
        set in interface edu.wpi.first.wpilibj.SpeedController
        Parameters:
        speed - The speed to set. Value should be between -1.0 and 1.0.
      • get

        public double get()
        Common interface for getting the current set speed of a speed controller.
        Specified by:
        get in interface edu.wpi.first.wpilibj.SpeedController
        Returns:
        The current set speed. Value is between -1.0 and 1.0.
      • setInverted

        public void setInverted​(boolean isInverted)
        Common interface for inverting direction of a speed controller. This call has no effect if the controller is a follower.
        Specified by:
        setInverted in interface edu.wpi.first.wpilibj.SpeedController
        Parameters:
        isInverted - The state of inversion, true is inverted.
      • getInverted

        public boolean getInverted()
        Common interface for returning the inversion state of a speed controller. This call has no effect if the controller is a follower.
        Specified by:
        getInverted in interface edu.wpi.first.wpilibj.SpeedController
        Returns:
        isInverted The state of inversion, true is inverted.
      • disable

        public void disable()
        Common interface for disabling a motor.
        Specified by:
        disable in interface edu.wpi.first.wpilibj.SpeedController
      • stopMotor

        public void stopMotor()
        Specified by:
        stopMotor in interface edu.wpi.first.wpilibj.SpeedController
      • pidWrite

        public void pidWrite​(double output)
        Specified by:
        pidWrite in interface edu.wpi.first.wpilibj.PIDOutput
      • getEncoder

        public CANEncoder getEncoder()
        Assumes that the encoder the is integrated encoder, ie kHallEffect with 0 counts per revolution.
        Returns:
        An object for interfacing with the integrated encoder.
      • getEncoder

        public CANEncoder getEncoder​(EncoderType sensorType,
                                     int cpr)
        Parameters:
        sensorType - The encoder type for the motor: kHallEffect or kQuadrature
        cpr - The counts per revolution of the encoder
        Returns:
        An object for interfacing with an encoder
      • getAnalog

        public CANAnalog getAnalog​(CANAnalog.AnalogMode mode)
        Parameters:
        mode - The mode of the analog sensor, either absolute or relative
        Returns:
        An object for interfacing with a connected analog sensor.
      • getPIDController

        public CANPIDController getPIDController()
        Returns:
        An object for interfacing with the integrated PID controller.
      • getForwardLimitSwitch

        public CANDigitalInput getForwardLimitSwitch​(CANDigitalInput.LimitSwitchPolarity polarity)
        Parameters:
        polarity - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the integrated forward limit switch.
      • getReverseLimitSwitch

        public CANDigitalInput getReverseLimitSwitch​(CANDigitalInput.LimitSwitchPolarity polarity)
        Parameters:
        polarity - Whether the limit switch is normally open or normally closed.
        Returns:
        An object for interfacing with the integrated reverse limit switch.
      • setSmartCurrentLimit

        public CANError setSmartCurrentLimit​(int limit)
        Sets the current limit in Amps. The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when using the NEO brushless motor. The NEO Brushless Motor has a low internal resistance, which can mean large current spikes that could be enough to cause damage to the motor and controller. This current limit provides a smarter strategy to deal with high current draws and keep the motor and controller operating in a safe region.
        Parameters:
        limit - The current limit in Amps.
        Returns:
        CANError Set to CANError.kOK if successful
      • setSmartCurrentLimit

        public CANError setSmartCurrentLimit​(int stallLimit,
                                             int freeLimit)
        Sets the current limit in Amps. The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when using the NEO brushless motor. The NEO Brushless Motor has a low internal resistance, which can mean large current spikes that could be enough to cause damage to the motor and controller. This current limit provides a smarter strategy to deal with high current draws and keep the motor and controller operating in a safe region. The controller can also limit the current based on the RPM of the motor in a linear fashion to help with controllability in closed loop control. For a response that is linear the entire RPM range leave limit RPM at 0.
        Parameters:
        stallLimit - The current limit in Amps at 0 RPM.
        freeLimit - The current limit at free speed (5700RPM for NEO).
        Returns:
        CANError Set to CANError.kOK if successful
      • setSmartCurrentLimit

        public CANError setSmartCurrentLimit​(int stallLimit,
                                             int freeLimit,
                                             int limitRPM)
        Sets the current limit in Amps. The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when using the NEO brushless motor. The NEO Brushless Motor has a low internal resistance, which can mean large current spikes that could be enough to cause damage to the motor and controller. This current limit provides a smarter strategy to deal with high current draws and keep the motor and controller operating in a safe region. The controller can also limit the current based on the RPM of the motor in a linear fashion to help with controllability in closed loop control. For a response that is linear the entire RPM range leave limit RPM at 0.
        Parameters:
        stallLimit - The current limit in Amps at 0 RPM.
        freeLimit - The current limit at free speed (5700RPM for NEO).
        limitRPM - RPM less than this value will be set to the stallLimit, RPM values greater than limitRPM will scale linearly to freeLimit
        Returns:
        CANError Set to CANError.kOK if successful
      • setSecondaryCurrentLimit

        public CANError setSecondaryCurrentLimit​(double limit)
        Sets the secondary current limit in Amps. The motor controller will disable the output of the controller briefly if the current limit is exceeded to reduce the current. This limit is a simplified 'on/off' controller. This limit is enabled by default but is set higher than the default Smart Current Limit. The time the controller is off after the current limit is reached is determined by the parameter limitCycles, which is the number of PWM cycles (20kHz). The recommended value is the default of 0 which is the minimum time and is part of a PWM cycle from when the over current is detected. This allows the controller to regulate the current close to the limit value. The total time is set by the equation t = (50us - t0) + 50us * limitCycles t = total off time after over current t0 = time from the start of the PWM cycle until over current is detected
        Parameters:
        limit - The current limit in Amps.
        Returns:
        CANError Set to CANError.kOK if successful
      • setSecondaryCurrentLimit

        public CANError setSecondaryCurrentLimit​(double limit,
                                                 int chopCycles)
        Sets the secondary current limit in Amps. The motor controller will disable the output of the controller briefly if the current limit is exceeded to reduce the current. This limit is a simplified 'on/off' controller. This limit is enabled by default but is set higher than the default Smart Current Limit. The time the controller is off after the current limit is reached is determined by the parameter limitCycles, which is the number of PWM cycles (20kHz). The recommended value is the default of 0 which is the minimum time and is part of a PWM cycle from when the over current is detected. This allows the controller to regulate the current close to the limit value. The total time is set by the equation t = (50us - t0) + 50us * limitCycles t = total off time after over current t0 = time from the start of the PWM cycle until over current is detected
        Parameters:
        limit - The current limit in Amps.
        chopCycles - The number of additional PWM cycles to turn the driver off after overcurrent is detected.
        Returns:
        CANError Set to CANError.kOK if successful
      • setIdleMode

        public CANError setIdleMode​(CANSparkMax.IdleMode mode)
        Sets the idle mode setting for the SPARK MAX.
        Parameters:
        mode - Idle mode (coast or brake).
        Returns:
        CANError Set to CANError.kOK if successful
      • getIdleMode

        public CANSparkMax.IdleMode getIdleMode()
        Gets the idle mode setting for the SPARK MAX. This uses the Get Parameter API and should be used infrequently. This function uses a non-blocking call and will return a cached value if the parameter is not returned by the timeout. The timeout can be changed by calling SetCANTimeout(int milliseconds)
        Returns:
        IdleMode Idle mode setting
      • enableVoltageCompensation

        public CANError enableVoltageCompensation​(double nominalVoltage)
        Sets the voltage compensation setting for all modes on the SPARK MAX and enables voltage compensation.
        Parameters:
        nominalVoltage - Nominal voltage to compensate output to
        Returns:
        CANError Set to CANError.kOK if successful
      • disableVoltageCompensation

        public CANError disableVoltageCompensation()
        Disables the voltage compensation setting for all modes on the SPARK MAX.
        Returns:
        CANError Set to CANError.kOK if successful
      • getVoltageCompensationNominalVoltage

        public double getVoltageCompensationNominalVoltage()
        Get the configured voltage compensation nominal voltage value
        Returns:
        The nominal voltage for voltage compensation mode.
      • setOpenLoopRampRate

        public CANError setOpenLoopRampRate​(double rate)
        Sets the ramp rate for open loop control modes. This is the maximum rate at which the motor controller's output is allowed to change.
        Parameters:
        rate - Time in seconds to go from 0 to full throttle.
        Returns:
        CANError Set to CANError.kOK if successful
      • setClosedLoopRampRate

        public CANError setClosedLoopRampRate​(double rate)
        Sets the ramp rate for closed loop control modes. This is the maximum rate at which the motor controller's output is allowed to change.
        Parameters:
        rate - Time in seconds to go from 0 to full throttle.
        Returns:
        CANError Set to CANError.kOK if successful
      • getOpenLoopRampRate

        public double getOpenLoopRampRate()
        Get the configured open loop ramp rate This is the maximum rate at which the motor controller's output is allowed to change.
        Returns:
        ramp rate time in seconds to go from 0 to full throttle.
      • getClosedLoopRampRate

        public double getClosedLoopRampRate()
        Get the configured closed loop ramp rate This is the maximum rate at which the motor controller's output is allowed to change.
        Returns:
        ramp rate time in seconds to go from 0 to full throttle.
      • follow

        public CANError follow​(CANSparkMax leader)
        Causes this controller's output to mirror the provided leader. Only voltage output is mirrored. Settings changed on the leader do not affect the follower. The motor will spin in the same direction as the leader. This can be changed by passing a true constant after the leader parameter. Following anything other than a CAN SPARK MAX is not officially supported.
        Parameters:
        leader - The motor controller to follow.
        Returns:
        CANError Set to CANError.kOK if successful
      • follow

        public CANError follow​(CANSparkMax leader,
                               boolean invert)
        Causes this controller's output to mirror the provided leader. Only voltage output is mirrored. Settings changed on the leader do not affect the follower. Following anything other than a CAN SPARK MAX is not officially supported.
        Parameters:
        leader - The motor controller to follow.
        invert - Set the follower to output opposite of the leader
        Returns:
        CANError Set to CANError.kOK if successful
      • follow

        public CANError follow​(CANSparkMax.ExternalFollower leader,
                               int deviceID)
        Causes this controller's output to mirror the provided leader. Only voltage output is mirrored. Settings changed on the leader do not affect the follower. The motor will spin in the same direction as the leader. This can be changed by passing a true constant after the deviceID parameter. Following anything other than a CAN SPARK MAX is not officially supported.
        Parameters:
        leader - The type of motor controller to follow (Talon SRX, Spark Max, etc.).
        deviceID - The CAN ID of the device to follow.
        Returns:
        CANError Set to CANError.kOK if successful
      • follow

        public CANError follow​(CANSparkMax.ExternalFollower leader,
                               int deviceID,
                               boolean invert)
        Causes this controller's output to mirror the provided leader. Only voltage output is mirrored. Settings changed on the leader do not affect the follower. Following anything other than a CAN SPARK MAX is not officially supported.
        Parameters:
        leader - The type of motor controller to follow (Talon SRX, Spark Max, etc.).
        deviceID - The CAN ID of the device to follow.
        invert - Set the follower to output opposite of the leader
        Returns:
        CANError Set to CANError.kOK if successful
      • isFollower

        public boolean isFollower()
        Returns whether the controller is following another controller
        Returns:
        True if this device is following another controller false otherwise
      • getFaults

        public short getFaults()
        Returns:
        All fault bits as a short
      • getStickyFaults

        public short getStickyFaults()
        Returns:
        All sticky fault bits as a short
      • getFault

        public boolean getFault​(CANSparkMax.FaultID faultID)
        Get the value of a specific fault
        Parameters:
        faultID - The ID of the fault to retrive
        Returns:
        True if the fault with the given ID occurred.
      • getStickyFault

        public boolean getStickyFault​(CANSparkMax.FaultID faultID)
        Get the value of a specific sticky fault
        Parameters:
        faultID - The ID of the sticky fault to retrive
        Returns:
        True if the sticky fault with the given ID occurred.
      • getBusVoltage

        public double getBusVoltage()
        Returns:
        The voltage fed into the motor controller.
      • getAppliedOutput

        public double getAppliedOutput()
        Returns:
        The motor controller's applied output duty cycle.
      • getOutputCurrent

        public double getOutputCurrent()
        Returns:
        The motor controller's output current in Amps.
      • getMotorTemperature

        public double getMotorTemperature()
        Returns:
        The motor temperature in Celsius.
      • clearFaults

        public CANError clearFaults()
        Clears all sticky faults.
        Returns:
        CANError Set to CANError.kOK if successful
      • burnFlash

        public CANError burnFlash()
        Writes all settings to flash.
        Returns:
        CANError Set to CANError.kOK if successful
      • setCANTimeout

        public CANError setCANTimeout​(int milliseconds)
        Sets timeout for sending CAN messages with SetParameter* and GetParameter* calls. These calls will block for up to this amoutn of time before returning a timeout erro. A timeout of 0 will make the SetParameter* calls non-blocking, and instead will check the response in a separate thread. With this configuration, any error messages will appear on the drivestration but will not be returned by the GetLastError() call.
        Parameters:
        milliseconds - The timeout in milliseconds.
        Returns:
        CANError Set to CANError.kOK if successful
      • enableSoftLimit

        public CANError enableSoftLimit​(CANSparkMax.SoftLimitDirection direction,
                                        boolean enable)
        Enable soft limits
        Parameters:
        direction - the direction of motion to restrict
        enable - set true to enable soft limits
        Returns:
        CANError Set to CANError.kOK if successful
      • setSoftLimit

        public CANError setSoftLimit​(CANSparkMax.SoftLimitDirection direction,
                                     float limit)
        Set the soft limit based on position. The default unit is rotations, but will match the unit scaling set by the user. Note that this value is not scaled internally so care must be taken to make sure these units match the desired conversion
        Parameters:
        direction - the direction of motion to restrict
        limit - position soft limit of the controller
        Returns:
        CANError Set to CANError.kOK if successful
      • getSoftLimit

        public double getSoftLimit​(CANSparkMax.SoftLimitDirection direction)
        Get the soft limit setting in the controller
        Parameters:
        direction - the direction of motion to restrict
        Returns:
        position soft limit setting of the controller
      • isSoftLimitEnabled

        public boolean isSoftLimitEnabled​(CANSparkMax.SoftLimitDirection direction)
        Parameters:
        direction - The direction of the motion to restrict
        Returns:
        true if the soft limit is enabled.
      • getFeedbackDeviceID

        protected int getFeedbackDeviceID()
        Gets the feedback device ID that was set on SparkMax itself.
        Returns:
        Feedback device ID on the SparkMax
      • getLastError

        public CANError getLastError()
        All device errors are tracked on a per thread basis for all devices in that thread. This is meant to be called immediately following another call that has the possibility of returning an error to validate if an error has occurred.
        Returns:
        the last error that was generated.