Class CANSparkMaxLowLevel

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.PIDOutput, edu.wpi.first.wpilibj.SpeedController
    Direct Known Subclasses:
    CANSparkMax

    public abstract class CANSparkMaxLowLevel
    extends java.lang.Object
    implements edu.wpi.first.wpilibj.SpeedController
    • Field Detail

      • kAPIMajorVersion

        public static final int kAPIMajorVersion
      • kAPIMinorVersion

        public static final int kAPIMinorVersion
      • kAPIBuildVersion

        public static final int kAPIBuildVersion
      • kAPIVersion

        public static final int kAPIVersion
      • m_sparkMax

        protected long m_sparkMax
    • Constructor Detail

      • CANSparkMaxLowLevel

        public CANSparkMaxLowLevel​(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

      • getFirmwareVersion

        public int getFirmwareVersion()
        Get the firmware version of the SPARK MAX.
        Returns:
        uint32_t Firmware version integer. Value is represented as 4 bytes, Major.Minor.Build H.Build L
      • setControlFramePeriodMs

        public void setControlFramePeriodMs​(int periodMs)
        Set the control frame send period for the native CAN Send thread.
        Parameters:
        periodMs - The send period in milliseconds between 1ms and 100ms
      • getFirmwareString

        public java.lang.String getFirmwareString()
        Get the firmware version of the SPARK MAX as a string.
        Returns:
        std::string Human readable firmware version string
      • getSerialNumber

        public byte[] getSerialNumber()
        Get the unique serial number of the SPARK MAX. Not currently available.
        Returns:
        byte[] Vector of bytes representig the unique serial number
      • getDeviceId

        public int getDeviceId()
        Get the configured Device ID of the SPARK MAX.
        Returns:
        int device ID
      • getInitialMotorType

        public CANSparkMaxLowLevel.MotorType getInitialMotorType()
        Get the motor type setting from when the SparkMax was created. This does not use the Get Parameter API which means it does not read what motor type is stored on the SparkMax itself. Instead, it reads the stored motor type from when the SparkMax object was first created.
        Returns:
        MotorType Motor type setting
      • setMotorType

        public CANError setMotorType​(CANSparkMaxLowLevel.MotorType type)
        Set the motor type connected to the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called. The recommended method to configure this parameter is to use the SPARK MAX GUI to tune and save parameters.
        Parameters:
        type - The type of motor 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.
        Returns:
        CANError Set to CANError::kOk if successful
      • getMotorType

        public CANSparkMaxLowLevel.MotorType getMotorType()
        Get the motor type 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:
        MotorType Motor type setting
      • setPeriodicFramePeriod

        public CANError setPeriodicFramePeriod​(CANSparkMaxLowLevel.PeriodicFrame frameID,
                                               int periodMs)
        Set the rate of transmission for periodic frames from the SPARK MAX Each motor controller sends back three status frames with different data at set rates. Use this function to change the default rates. Defaults: Status0 - 10ms Status1 - 20ms Status2 - 50ms This value is not stored in the FLASH after calling burnFlash() and is reset on powerup. Refer to the SPARK MAX reference manual on details for how and when to configure this parameter.
        Parameters:
        frameID - The frame ID can be one of PeriodicFrame type
        periodMs - The rate the controller sends the frame to the controller.
        Returns:
        CANError Set to CANError.kOK if successful
      • enableExternalUSBControl

        public static void enableExternalUSBControl​(boolean enable)
        Allow external controllers to recieve control commands over USB. For example, a configuration where the heartbeat (and enable/disable) is sent by the main controller, but control frames are sent by other CAN devices over USB. This is global for all controllers on the same bus. This does not disable sending control frames from this device. To prevent conflicts, do not enable this feature and also send Set() for SetReference() from the controllers you wish to control.
        Parameters:
        enable - Enable or disable external control
      • getSafeFloat

        public float getSafeFloat​(float f)
      • setEncPosition

        protected CANError setEncPosition​(double value)
      • setIAccum

        protected CANError setIAccum​(double value)
      • restoreFactoryDefaults

        public CANError restoreFactoryDefaults()
        Restore motor controller parameters to factory default until the next controller reboot
        Returns:
        CANError Set to CANError::kOk if successful
      • restoreFactoryDefaults

        public CANError restoreFactoryDefaults​(boolean persist)
        Restore motor controller parameters to factory default
        Parameters:
        persist - If true, burn the flash with the factory default parameters
        Returns:
        CANError Set to CANError::kOk if successful