public class Spark extends PWMSpeedController
PWM.PeriodMultiplierkAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecondDEFAULT_SAFETY_EXPIRATION| Constructor and Description |
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Spark(int channel)
Constructor.
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| Modifier and Type | Method and Description |
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protected void |
initSpark()
Common initialization code called by all constructors.
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get, getInverted, pidWrite, set, setInverteddisable, Feed, getDescription, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled, stopMotorenableDeadbandElimination, free, getChannel, getPosition, getRaw, getRawBounds, getSmartDashboardType, getSpeed, getTable, initTable, setBounds, setDisabled, setPeriodMultiplier, setPosition, setRaw, setRawBounds, setSpeed, setZeroLatch, startLiveWindowMode, stopLiveWindowMode, updateTablecheckAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModuleclone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitdisable, stopMotorpublic Spark(int channel)
channel - The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19 are on
the MXP portprotected void initSpark()
Note that the SPARK uses the following bounds for PWM values. These values should work reasonably well for most controllers, but if users experience issues such as asymmetric behavior around the deadband or inability to saturate the controller in either direction, calibration is recommended. The calibration procedure can be found in the Spark User Manual available from REV Robotics.
- 2.003ms = full "forward" - 1.55ms = the "high end" of the deadband range - 1.50ms = center of the deadband range (off) - 1.46ms = the "low end" of the deadband range - .999ms = full "reverse"