This project is not affiliated with, endorsed by, or in any way connected to REV Robotics. All product names, logos, and brands are property of their respective owners. Any references to REV Robotics products, such as the SPARK MAX or SPARK Flex, are purely for identification purposes and do not imply any endorsement or sponsorship.

Setup

A USB to CAN adapter such as a CANable is required. This package has been tested with the Spark MAX and SPARK Flex.

Make sure to use REV Hardware Client to set the device ID for your controllers and modify the values to match them in the examples. Ensure the correct motor type is set to either kBrushed or kBrushless depending on your motor, as it may damage the motor if set to the wrong type.

Installation

sudo apt update
sudo apt upgrade
sudo apt install git cmake
 
sudo add-apt-repository ppa:graysonarendt/sparkcan
sudo apt update
sudo apt install sparkcan
 
git clone https://github.com/grayson-arendt/sparkcan-examples.git
cd sparkcan-examples/
 
chmod +x canable_start.sh
./canable_start.sh
 
mkdir build
cd build
cmake ..
make

Running an Example

./example_control # OR ./example_status