Package com.revrobotics

Class CANSparkMaxLowLevel

java.lang.Object
com.revrobotics.CANSparkMaxLowLevel
All Implemented Interfaces:
edu.wpi.first.wpilibj.motorcontrol.MotorController, edu.wpi.first.wpilibj.SpeedController, AutoCloseable
Direct Known Subclasses:
CANSparkMax
public abstract class CANSparkMaxLowLevel extends Object implements edu.wpi.first.wpilibj.SpeedController, edu.wpi.first.wpilibj.motorcontrol.MotorController, AutoCloseable

  • Field Details

  • Method Details

    • close

      public void close()
      Closes the SPARK MAX Controller
      Specified by:
      close in interface AutoCloseable

    • 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 or set to 0 to disable periodic sends. Note this is not updated until the next call to Set() or SetReference().

    • getFirmwareString

      public 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

      @Deprecated(forRemoval=true) public CANSparkMaxLowLevel.MotorType getInitialMotorType()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use getMotorType() instead
      Get the motor type setting for the SPARK MAX
      Returns:
      MotorType Motor type setting

    • getMotorType

      public CANSparkMaxLowLevel.MotorType getMotorType()
      Get the motor type setting for the SPARK MAX
      Returns:
      MotorType Motor type setting

    • setPeriodicFramePeriod

      public REVLibError 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:
      REVLibError.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)

    • restoreFactoryDefaults

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

    • restoreFactoryDefaults

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

    • throwIfClosed

      protected void throwIfClosed()