Package com.revrobotics

Interface CANPIDController

All Known Implementing Classes:
SparkMaxPIDController
@Deprecated(forRemoval=true) public interface CANPIDController
Deprecated, for removal: This API element is subject to removal in a future version.
Use SparkMaxPIDController instead.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static enum 
    CANPIDController.AccelStrategy
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use SparkMaxPIDController.AccelStrategy instead.
    static enum 
    CANPIDController.ArbFFUnits
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use SparkMaxPIDController.ArbFFUnits instead.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getD()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Derivative Gain constant of the PIDF controller on the SPARK MAX.
    double
    getD(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Derivative Gain constant of the PIDF controller on the SPARK MAX.
    double
    getDFilter(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Derivative Filter constant of the PIDF controller on the SPARK MAX.
    double
    getFF()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Feed-forward Gain constant of the PIDF controller on the SPARK MAX.
    double
    getFF(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Feed-forward Gain constant of the PIDF controller on the SPARK MAX.
    double
    getI()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Integral Gain constant of the PIDF controller on the SPARK MAX.
    double
    getI(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Integral Gain constant of the PIDF controller on the SPARK MAX.
    double
    getIAccum()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the I accumulator of the PID controller.
    double
    getIMaxAccum(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the maximum I accumulator of the PID controller.
    double
    getIZone()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the IZone constant of the PIDF controller on the SPARK MAX.
    double
    getIZone(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the IZone constant of the PIDF controller on the SPARK MAX.
    double
    getOutputMax()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the max output of the PIDF controller on the SPARK MAX.
    double
    getOutputMax(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the max output of the PIDF controller on the SPARK MAX.
    double
    getOutputMin()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the min output of the PIDF controller on the SPARK MAX.
    double
    getOutputMin(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the min output of the PIDF controller on the SPARK MAX.
    double
    getP()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Proportional Gain constant of the PIDF controller on the SPARK MAX.
    double
    getP(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the Proportional Gain constant of the PIDF controller on the SPARK MAX.
    SparkMaxPIDController.AccelStrategy
    getSmartMotionAccelStrategy(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the acceleration strategy used to control acceleration on the motor.
    double
    getSmartMotionAllowedClosedLoopError(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the allowed closed loop error of SmartMotion mode.
    double
    getSmartMotionMaxAccel(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the maximum acceleration of the SmartMotion mode.
    double
    getSmartMotionMaxVelocity(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the maximum velocity of the SmartMotion mode.
    double
    getSmartMotionMinOutputVelocity(int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Get the mimimum velocity of the SmartMotion mode.
    REVLibError
    setD(double gain)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Derivative Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setD(double gain, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Derivative Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setDFilter(double gain)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Derivative Filter constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setDFilter(double gain, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Derivative Filter constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setFeedbackDevice(CANSensor sensor)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use setFeedbackDevice(MotorFeedbackSensor) instead
    REVLibError
    setFeedbackDevice(MotorFeedbackSensor sensor)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the controller's feedback device
    REVLibError
    setFF(double gain)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Feed-froward Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setFF(double gain, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Feed-froward Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setI(double gain)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Integral Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setI(double gain, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Integral Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setIAccum(double iAccum)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the I accumulator of the PID controller.
    REVLibError
    setIMaxAccum(double iMaxAccum, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Configure the maximum I accumulator of the PID controller.
    REVLibError
    setIZone(double IZone)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the IZone range of the PIDF controller on the SPARK MAX.
    REVLibError
    setIZone(double IZone, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the IZone range of the PIDF controller on the SPARK MAX.
    REVLibError
    setOutputRange(double min, double max)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the min amd max output for the closed loop mode.
    REVLibError
    setOutputRange(double min, double max, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the min amd max output for the closed loop mode.
    REVLibError
    setP(double gain)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Proportional Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setP(double gain, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the Proportional Gain constant of the PIDF controller on the SPARK MAX.
    REVLibError
    setReference(double value, CANSparkMax.ControlType ctrl)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the controller reference value based on the selected control mode.
    REVLibError
    setReference(double value, CANSparkMax.ControlType ctrl, int pidSlot)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the controller reference value based on the selected control mode.
    REVLibError
    setReference(double value, CANSparkMax.ControlType ctrl, int pidSlot, double arbFeedforward)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the controller reference value based on the selected control mode.
    REVLibError
    setReference(double value, CANSparkMax.ControlType ctrl, int pidSlot, double arbFeedforward, SparkMaxPIDController.ArbFFUnits arbFFUnits)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set the controller reference value based on the selected control mode.
    REVLibError
    setReference(double value, ControlType ctrl)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use setReference(double, CANSparkMax.ControlType) instead.
    REVLibError
    setReference(double value, ControlType ctrl, int pidSlot)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use setReference(double, CANSparkMax.ControlType, int) instead.
    REVLibError
    setReference(double value, ControlType ctrl, int pidSlot, double arbFeedforward)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use setReference(double, CANSparkMax.ControlType, int, double) instead.
    REVLibError
    setReference(double value, ControlType ctrl, int pidSlot, double arbFeedforward, CANPIDController.ArbFFUnits arbFFUnits)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use setReference(double, CANSparkMax.ControlType, int, double, SparkMaxPIDController.ArbFFUnits) instead.
    REVLibError
    setSmartMotionAccelStrategy(CANPIDController.AccelStrategy accelStrategy, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    NOTE: As of the 2022 FRC season, the firmware only supports the trapezoidal motion profiling acceleration strategy.
    REVLibError
    setSmartMotionAllowedClosedLoopError(double allowedErr, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Configure the allowed closed loop error of SmartMotion mode.
    REVLibError
    setSmartMotionMaxAccel(double maxAccel, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Configure the maximum acceleration of the SmartMotion mode.
    REVLibError
    setSmartMotionMaxVelocity(double maxVel, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Configure the maximum velocity of the SmartMotion mode.
    REVLibError
    setSmartMotionMinOutputVelocity(double minVel, int slotID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Configure the mimimum velocity of the SmartMotion mode.

  • Method Details

    • setReference

      REVLibError setReference(double value, CANSparkMax.ControlType ctrl)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the controller reference value based on the selected control mode.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - the control type
      Returns:
      REVLibError.kOk if successful

    • setReference

      @Deprecated(forRemoval=true) REVLibError setReference(double value, ControlType ctrl)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use setReference(double, CANSparkMax.ControlType) instead.
      Set the controller reference value based on the selected control mode.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - the control type
      Returns:
      REVLibError.kOk if successful

    • setReference

      REVLibError setReference(double value, CANSparkMax.ControlType ctrl, int pidSlot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the controller reference value based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - Is the control type to override with
      pidSlot - for this command
      Returns:
      REVLibError.kOk if successful

    • setReference

      @Deprecated(forRemoval=true) REVLibError setReference(double value, ControlType ctrl, int pidSlot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use setReference(double, CANSparkMax.ControlType, int) instead.
      Set the controller reference value based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - Is the control type to override with
      pidSlot - for this command
      Returns:
      REVLibError.kOk if successful

    • setReference

      REVLibError setReference(double value, CANSparkMax.ControlType ctrl, int pidSlot, double arbFeedforward)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the controller reference value based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - Is the control type to override with
      pidSlot - for this command
      arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.
      Returns:
      REVLibError.kOk if successful

    • setReference

      @Deprecated(forRemoval=true) REVLibError setReference(double value, ControlType ctrl, int pidSlot, double arbFeedforward)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use setReference(double, CANSparkMax.ControlType, int, double) instead.
      Set the controller reference value based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - Is the control type to override with
      pidSlot - for this command
      arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.
      Returns:
      REVLibError.kOk if successful

    • setReference

      REVLibError setReference(double value, CANSparkMax.ControlType ctrl, int pidSlot, double arbFeedforward, SparkMaxPIDController.ArbFFUnits arbFFUnits)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the controller reference value based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - Is the control type to override with
      pidSlot - for this command
      arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.
      arbFFUnits - The units the arbitrary feed forward term is in
      Returns:
      REVLibError.kOk if successful

    • setReference

      @Deprecated(forRemoval=true) REVLibError setReference(double value, ControlType ctrl, int pidSlot, double arbFeedforward, CANPIDController.ArbFFUnits arbFFUnits)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use setReference(double, CANSparkMax.ControlType, int, double, SparkMaxPIDController.ArbFFUnits) instead.
      Set the controller reference value based on the selected control mode. This will override the pre-programmed control mode but not change what is programmed to the controller.
      Parameters:
      value - The value to set depending on the control mode. For basic duty cycle control this should be a value between -1 and 1 Otherwise: Voltage Control: Voltage (volts) Velocity Control: Velocity (RPM) Position Control: Position (Rotations) Current Control: Current (Amps). Native units can be changed using the setPositionConversionFactor() or setVelocityConversionFactor() methods of the CANEncoder class
      ctrl - Is the control type to override with
      pidSlot - for this command
      arbFeedforward - A value from which is represented in voltage applied to the motor after the result of the specified control mode. The units for the parameter is Volts. This value is set after the control mode, but before any current limits or ramp rates.
      arbFFUnits - The units the arbitrary feed forward term is in
      Returns:
      REVLibError.kOk if successful

    • setP

      REVLibError setP(double gain)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Proportional Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The proportional gain value, must be positive
      Returns:
      REVLibError.kOk if successful

    • setP

      REVLibError setP(double gain, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Proportional Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The proportional gain value, must be positive
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setI

      REVLibError setI(double gain)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Integral Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The integral gain value, must be positive
      Returns:
      REVLibError.kOk if successful

    • setI

      REVLibError setI(double gain, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Integral Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The integral gain value, must be positive
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setD

      REVLibError setD(double gain)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Derivative Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The derivative gain value, must be positive
      Returns:
      REVLibError.kOk if successful

    • setD

      REVLibError setD(double gain, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Derivative Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The derivative gain value, must be positive
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setDFilter

      REVLibError setDFilter(double gain)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Derivative Filter constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called.
      Parameters:
      gain - The derivative filter value, must be a positive number between 0 and 1
      Returns:
      REVLibError.kOk if successful

    • setDFilter

      REVLibError setDFilter(double gain, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Derivative Filter constant of the PIDF controller on the SPARK MAX. This uses the Set Parameter API and should be used infrequently. The parameter does not presist unless burnFlash() is called.
      Parameters:
      gain - The derivative filter value, must be a positive number between 0 and 1
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setFF

      REVLibError setFF(double gain)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Feed-froward Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The feed-forward gain value
      Returns:
      REVLibError.kOk if successful

    • setFF

      REVLibError setFF(double gain, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the Feed-froward Gain constant of the PIDF controller on 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 use to SPARK MAX GUI to tune and save parameters.
      Parameters:
      gain - The feed-forward gain value
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setIZone

      REVLibError setIZone(double IZone)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the IZone range of the PIDF controller on the SPARK MAX. This value specifies the range the |error| must be within for the integral constant to take effect.

      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:
      IZone - The IZone value, must be positive. Set to 0 to disable
      Returns:
      REVLibError.kOk if successful

    • setIZone

      REVLibError setIZone(double IZone, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the IZone range of the PIDF controller on the SPARK MAX. This value specifies the range the |error| must be within for the integral constant to take effect.

      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:
      IZone - The IZone value, must be positive. Set to 0 to disable
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setOutputRange

      REVLibError setOutputRange(double min, double max)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the min amd max output for the closed loop mode.

      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:
      min - Reverse power minimum to allow the controller to output
      max - Forward power maximum to allow the controller to output
      Returns:
      REVLibError.kOk if successful

    • setOutputRange

      REVLibError setOutputRange(double min, double max, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the min amd max output for the closed loop mode.

      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:
      min - Reverse power minimum to allow the controller to output
      max - Forward power maximum to allow the controller to output
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • getP

      double getP()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Proportional Gain constant of the PIDF controller on 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:
      double P Gain value

    • getP

      double getP(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Proportional Gain constant of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double P Gain value

    • getI

      double getI()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Integral Gain constant of the PIDF controller on 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:
      double I Gain value

    • getI

      double getI(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Integral Gain constant of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double I Gain value

    • getD

      double getD()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Derivative Gain constant of the PIDF controller on 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:
      double D Gain value

    • getD

      double getD(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Derivative Gain constant of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double D Gain value

    • getDFilter

      double getDFilter(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Derivative Filter constant of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double D Filter value

    • getFF

      double getFF()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Feed-forward Gain constant of the PIDF controller on 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:
      double F Gain value

    • getFF

      double getFF(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the Feed-forward Gain constant of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double F Gain value

    • getIZone

      double getIZone()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the IZone constant of the PIDF controller on 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:
      double IZone value

    • getIZone

      double getIZone(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the IZone constant of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double IZone value

    • getOutputMin

      double getOutputMin()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the min output of the PIDF controller on 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:
      double min value

    • getOutputMin

      double getOutputMin(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the min output of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double min value

    • getOutputMax

      double getOutputMax()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the max output of the PIDF controller on 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:
      double max value

    • getOutputMax

      double getOutputMax(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the max output of the PIDF controller on 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)

      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      double max value

    • setSmartMotionMaxVelocity

      REVLibError setSmartMotionMaxVelocity(double maxVel, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Configure the maximum velocity of the SmartMotion mode. This is the velocity that is reached in the middle of the profile and is what the motor should spend most of its time at
      Parameters:
      maxVel - The maxmimum cruise velocity for the motion profile in RPM
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setSmartMotionMaxAccel

      REVLibError setSmartMotionMaxAccel(double maxAccel, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Configure the maximum acceleration of the SmartMotion mode. This is the accleration that the motor velocity will increase at until the max velocity is reached
      Parameters:
      maxAccel - The maxmimum acceleration for the motion profile in RPM per second
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setSmartMotionMinOutputVelocity

      REVLibError setSmartMotionMinOutputVelocity(double minVel, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Configure the mimimum velocity of the SmartMotion mode. Any requested velocities below this value will be set to 0.
      Parameters:
      minVel - The minimum velocity for the motion profile in RPM
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setSmartMotionAllowedClosedLoopError

      REVLibError setSmartMotionAllowedClosedLoopError(double allowedErr, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Configure the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.
      Parameters:
      allowedErr - The allowed deviation for your setpoint vs actual position in rotations
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • setSmartMotionAccelStrategy

      REVLibError setSmartMotionAccelStrategy(CANPIDController.AccelStrategy accelStrategy, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      NOTE: As of the 2022 FRC season, the firmware only supports the trapezoidal motion profiling acceleration strategy.

      Configure the acceleration strategy used to control acceleration on the motor.

      Parameters:
      accelStrategy - The acceleration strategy to use for the automatically generated motion profile
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • getSmartMotionMaxVelocity

      double getSmartMotionMaxVelocity(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the maximum velocity of the SmartMotion mode. This is the velocity that is reached in the middle of the profile and is what the motor should spend most of its time at
      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      The maxmimum cruise velocity for the motion profile in RPM

    • getSmartMotionMaxAccel

      double getSmartMotionMaxAccel(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the maximum acceleration of the SmartMotion mode. This is the accleration that the motor velocity will increase at until the max velocity is reached
      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      The maxmimum acceleration for the motion profile in RPM per second

    • getSmartMotionMinOutputVelocity

      double getSmartMotionMinOutputVelocity(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the mimimum velocity of the SmartMotion mode. Any requested velocities below this value will be set to 0.
      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      The minimum velocity for the motion profile in RPM

    • getSmartMotionAllowedClosedLoopError

      double getSmartMotionAllowedClosedLoopError(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the allowed closed loop error of SmartMotion mode. This value is how much deviation from your setpoint is tolerated and is useful in preventing oscillation around your setpoint.
      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      The allowed deviation for your setpoint vs actual position in rotations

    • getSmartMotionAccelStrategy

      SparkMaxPIDController.AccelStrategy getSmartMotionAccelStrategy(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the acceleration strategy used to control acceleration on the motor. As of the 2022 FRC season, the strategy is always trapezoidal motion profiling, regardless of what the device may report.
      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      The acceleration strategy to use for the automatically generated motion profile.

    • setIMaxAccum

      REVLibError setIMaxAccum(double iMaxAccum, int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Configure the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up
      Parameters:
      iMaxAccum - The max value to contrain the I accumulator to
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      REVLibError.kOk if successful

    • getIMaxAccum

      double getIMaxAccum(int slotID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the maximum I accumulator of the PID controller. This value is used to constrain the I accumulator to help manage integral wind-up
      Parameters:
      slotID - Is the gain schedule slot, the value is a number between 0 and 3. Each slot has its own set of gain values and can be changed in each control frame using SetReference().
      Returns:
      The max value to contrain the I accumulator to

    • setIAccum

      REVLibError setIAccum(double iAccum)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the I accumulator of the PID controller. This is useful when wishing to force a reset on the I accumulator of the PID controller. You can also preset values to see how it will respond to certain I characteristics

      To use this function, the controller must be in a closed loop control mode by calling setReference()

      Parameters:
      iAccum - The value to set the I accumulator to
      Returns:
      REVLibError.kOk if successful

    • getIAccum

      double getIAccum()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Get the I accumulator of the PID controller. This is useful when wishing to see what the I accumulator value is to help with PID tuning
      Returns:
      The value of the I accumulator

    • setFeedbackDevice

      REVLibError setFeedbackDevice(MotorFeedbackSensor sensor)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set the controller's feedback device

      The default feedback device in brushless mode is assumed to be the integrated encoder and the default feedback device in brushed mode is assumed to be a quadrature encoder. This is used to changed to another feedback device for the controller, such as an analog sensor.

      If there is a limited range on the feedback sensor that should be observed by the PIDController, it can be set by calling SetFeedbackSensorRange() on the sensor object.

      Parameters:
      sensor - The sensor to use as a feedback device
      Returns:
      REVLibError.kOk if successful

    • setFeedbackDevice

      @Deprecated(forRemoval=true) REVLibError setFeedbackDevice(CANSensor sensor)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use setFeedbackDevice(MotorFeedbackSensor) instead