A base class for controlling REV Robotics SPARK motor controllers via CAN bus. More...

#include <SparkBase.hpp>

Inheritance diagram for SparkBase:

Public Member Functions
	SparkBase (const std::string &interfaceName, uint8_t deviceId)
	Initializes SparkBase with the specified CAN interface and ID. More...

virtual	~SparkBase ()
	Destructor for SparkBase. More...

void	ResetFaults ()
	Resets all faults on the SPARK controller. More...

void	ClearStickyFaults ()
	Clears sticky faults on the SPARK controller. More...

void	BurnFlash ()
	Burns the current configuration to the SPARK controller's flash memory. More...

void	FactoryDefaults ()
	Resets the SPARK controller to factory default settings. More...

void	FactoryReset ()
	Performs a factory reset on the SPARK controller. More...

void	Identify ()
	Triggers the SPARK controller to identify itself. More...

void	SetSetpoint (float setpoint)
	Sets the value for the currently set control type. More...

void	SetDutyCycle (float dutyCycle)
	Sets the motor's applied output. More...

void	SetVelocity (float velocity)
	Sets the motor's velocity. More...

void	SetSmartVelocity (float smartVelocity)
	Sets the motor's smart velocity. More...

void	SetPosition (float position)
	Sets the motor's position. More...

void	SetVoltage (float voltage)
	Sets the motor's voltage. More...

void	SetCurrent (float current)
	Sets the motor's current. More...

void	SetSmartMotion (float smartMotion)
	Sets the motor's smart motion. More...

float	GetDutyCycle () const
	Retrieves the current applied output. More...

uint16_t	GetFaults () const
	Retrieves the current faults. More...

uint16_t	GetStickyFaults () const
	Retrieves the sticky faults. More...

bool	GetInverted () const
	Checks if the motor is inverted. More...

bool	GetIdleMode () const
	Gets the current idle mode. More...

bool	IsFollower () const
	Checks if the SPARK controller is in follower mode. More...

float	GetVelocity () const
	Gets the current velocity. More...

float	GetTemperature () const
	Gets the current temperature of the SPARK controller. More...

float	GetVoltage () const
	Gets the current voltage of the SPARK controller. More...

float	GetCurrent () const
	Gets the current drawn by the SPARK controller. More...

float	GetPosition () const
	Gets the current position of the motor. More...

float	GetAnalogVoltage () const
	Gets the current analog voltage. More...

float	GetAnalogVelocity () const
	Gets the current analog velocity. More...

float	GetAnalogPosition () const
	Gets the current analog position. More...

float	GetAlternateEncoderVelocity () const
	Gets the velocity from the alternate encoder. More...

float	GetAlternateEncoderPosition () const
	Gets the position from the alternate encoder. More...

void	SetInputMode (uint8_t mode)
	Sets the input mode. More...

void	SetMotorType (MotorType type)
	Sets the motor type. More...

void	SetSensorType (SensorType sensor)
	Sets the sensor type. More...

void	SetIdleMode (IdleMode mode)
	Sets the idle mode. More...

void	SetInputDeadband (float deadband)
	Sets the input deadband. More...

void	SetInverted (bool inverted)
	Sets whether the motor is inverted. More...

void	SetRampRate (float rate)
	Sets the ramp rate. More...

void	SetMotorKv (uint16_t kv)
	Sets the motor Kv (velocity constant) More...

void	SetMotorR (uint16_t r)
	Sets the motor resistance. More...

void	SetMotorL (uint16_t l)
	Sets the motor inductance. More...

void	SetCtrlType (CtrlType type)
	Sets the control type. More...

void	SetFeedbackSensorPID0 (uint16_t sensor)
	Sets the feedback sensor for PID0. More...

void	SetClosedLoopVoltageMode (uint8_t mode)
	Sets the closed loop voltage mode. More...

void	SetCompensatedNominalVoltage (float voltage)
	Sets the compensated nominal voltage. More...

void	SetPositionPIDWrapEnable (bool enable)
	Enables or disables position PID wrap. More...

void	SetPositionPIDMinInput (float minInput)
	Sets the minimum input for position PID. More...

void	SetPositionPIDMaxInput (float maxInput)
	Sets the maximum input for position PID. More...

void	SetPolePairs (uint16_t pairs)
	Sets the number of pole pairs for brushless motors. More...

void	SetCurrentChop (float chop)
	Sets the current chop limit. More...

void	SetCurrentChopCycles (uint16_t cycles)
	Sets the number of cycles for current chopping. More...

void	SetSmartCurrentStallLimit (uint16_t limit)
	Sets the smart current stall limit. More...

void	SetSmartCurrentFreeLimit (uint16_t limit)
	Sets the smart current free limit. More...

void	SetSmartCurrentConfig (uint16_t config)
	Sets the smart current configuration. More...

void	SetP (uint8_t slot, float p)
	Sets the proportional gain for the specified PID slot. More...

void	SetI (uint8_t slot, float i)
	Sets the integral gain for the specified PID slot. More...

void	SetD (uint8_t slot, float d)
	Sets the derivative gain for the specified PID slot. More...

void	SetF (uint8_t slot, float f)
	Sets the feedforward gain for the specified PID slot. More...

void	SetIZone (uint8_t slot, float iZone)
	Sets the integral zone for the specified PID slot. More...

void	SetDFilter (uint8_t slot, float dFilter)
	Sets the derivative filter for the specified PID slot. More...

void	SetOutputMin (uint8_t slot, float min)
	Sets the output minimum for the specified PID slot. More...

void	SetOutputMax (uint8_t slot, float max)
	Sets the output maximum for the specified PID slot. More...

void	SetHardLimitFwdEn (bool enable)
	Enables or disables the forward hard limit switch. More...

void	SetHardLimitRevEn (bool enable)
	Enables or disables the reverse hard limit switch. More...

void	SetLimitSwitchFwdPolarity (bool polarity)
	Sets the polarity of the forward limit switch. More...

void	SetLimitSwitchRevPolarity (bool polarity)
	Sets the polarity of the reverse limit switch. More...

void	SetSoftLimitFwdEn (bool enable)
	Enables or disables the forward soft limit. More...

void	SetSoftLimitRevEn (bool enable)
	Enables or disables the reverse soft limit. More...

void	SetSoftLimitFwd (float limit)
	Sets the forward soft limit. More...

void	SetSoftLimitRev (float limit)
	Sets the reverse soft limit. More...

void	SetFollowerID (uint32_t id)
	Sets the follower ID for this SparkBase. More...

void	SetFollowerConfig (uint32_t config)
	Sets the follower configuration. More...

void	SetEncoderCountsPerRev (uint16_t counts)
	Sets the encoder counts per revolution. More...

void	SetEncoderAverageDepth (uint8_t depth)
	Sets the encoder average depth. More...

void	SetEncoderSampleDelta (uint8_t delta)
	Sets the encoder sample delta. More...

void	SetEncoderInverted (bool inverted)
	Sets whether the encoder is inverted. More...

void	SetPositionConversionFactor (float factor)
	Sets the position conversion factor. More...

void	SetVelocityConversionFactor (float factor)
	Sets the velocity conversion factor. More...

void	SetClosedLoopRampRate (float rampRate)
	Sets the closed loop ramp rate. More...

void	SetHallSensorSampleRate (float rate)
	Sets the hall sensor sample rate. More...

void	SetHallSensorAverageDepth (uint16_t depth)
	Sets the hall sensor average depth. More...

void	SetSmartMotionMaxVelocity (uint8_t slot, float maxVel)
	Sets the maximum velocity for Smart Motion in the specified slot. More...

void	SetSmartMotionMaxAccel (uint8_t slot, float maxAccel)
	Sets the maximum acceleration for Smart Motion in the specified slot. More...

void	SetSmartMotionMinVelOutput (uint8_t slot, float minVel)
	Sets the minimum velocity output for Smart Motion in the specified slot. More...

void	SetSmartMotionAllowedClosedLoopError (uint8_t slot, float error)
	Sets the allowed closed loop error for Smart Motion in the specified slot. More...

void	SetSmartMotionAccelStrategy (uint8_t slot, float strategy)
	Sets the acceleration strategy for Smart Motion in the specified slot. More...

void	SetIMaxAccum (uint8_t slot, float maxAccum)
	Sets the maximum accumulator value for the I term in the specified slot. More...

void	SetSlot3Placeholder1 (uint8_t slot, float value)
	Sets a placeholder value for slot 3 (purpose undefined) More...

void	SetSlot3Placeholder2 (uint8_t slot, float value)
	Sets a placeholder value for slot 3 (purpose undefined) More...

void	SetSlot3Placeholder3 (uint8_t slot, float value)
	Sets a placeholder value for slot 3 (purpose undefined) More...

void	SetAnalogPositionConversion (float factor)
	Sets the conversion factor for analog position readings. More...

void	SetAnalogVelocityConversion (float factor)
	Sets the conversion factor for analog velocity readings. More...

void	SetAnalogAverageDepth (uint16_t depth)
	Sets the average depth for analog readings. More...

void	SetAnalogSensorMode (uint8_t mode)
	Sets the analog sensor mode. More...

void	SetAnalogInverted (bool inverted)
	Sets whether the analog sensor is inverted. More...

void	SetAnalogSampleDelta (uint16_t delta)
	Sets the sample delta for analog readings. More...

void	SetDataPortConfig (uint8_t config)
	Configures the data port. More...

void	SetAltEncoderCountsPerRev (uint16_t counts)
	Sets the counts per revolution for the alternate encoder. More...

void	SetAltEncoderAverageDepth (uint8_t depth)
	Sets the average depth for the alternate encoder. More...

void	SetAltEncoderSampleDelta (uint8_t delta)
	Sets the sample delta for the alternate encoder. More...

void	SetAltEncoderInverted (bool inverted)
	Sets whether the alternate encoder is inverted. More...

void	SetAltEncoderPositionFactor (float factor)
	Sets the position factor for the alternate encoder. More...

void	SetAltEncoderVelocityFactor (float factor)
	Sets the velocity factor for the alternate encoder. More...

void	SetDutyCyclePositionFactor (float factor)
	Sets the position factor for the duty cycle encoder. More...

void	SetDutyCycleVelocityFactor (float factor)
	Sets the velocity factor for the duty cycle encoder. More...

void	SetDutyCycleInverted (bool inverted)
	Sets whether the duty cycle encoder is inverted. More...

void	SetDutyCycleAverageDepth (uint8_t depth)
	Sets the average depth for the duty cycle encoder. More...

void	SetDutyCyclePrescalar (uint8_t prescalar)
	Sets the prescalar for the duty cycle encoder. More...

void	SetDutyCycleZeroOffset (float offset)
	Sets the zero offset for the duty cycle encoder. More...

uint8_t	GetMotorType ()
	Get the motor type. More...

uint8_t	GetSensorType ()
	Get the sensor type. More...

uint8_t	GetIdleMode ()
	Get the idle mode. More...

float	GetInputDeadband ()
	Get the input deadband. More...

bool	GetInverted ()
	Get whether the motor is inverted. More...

float	GetRampRate ()
	Get the ramp rate. More...

uint16_t	GetMotorKv ()
	Get the motor Kv rating. More...

uint16_t	GetMotorR ()
	Get the motor resistance. More...

uint16_t	GetMotorL ()
	Get the motor inductance. More...

uint8_t	GetCtrlType ()
	Get the control type. More...

uint16_t	GetFeedbackSensorPID0 ()
	Get the feedback sensor PID0 value. More...

uint8_t	GetClosedLoopVoltageMode ()
	Get the closed loop voltage mode. More...

float	GetCompensatedNominalVoltage ()
	Get the compensated nominal voltage. More...

bool	GetPositionPIDWrapEnable ()
	Get the position PID wrap enable state. More...

float	GetPositionPIDMinInput ()
	Get the position PID minimum input. More...

float	GetPositionPIDMaxInput ()
	Get the position PID maximum input. More...

uint16_t	GetPolePairs ()
	Get the number of pole pairs. More...

float	GetCurrentChop ()
	Get the current chop value. More...

uint16_t	GetCurrentChopCycles ()
	Get the current chop cycles. More...

uint16_t	GetSmartCurrentStallLimit ()
	Get the smart current stall limit. More...

uint16_t	GetSmartCurrentFreeLimit ()
	Get the smart current free limit. More...

uint16_t	GetSmartCurrentConfig ()
	Get the smart current configuration. More...

float	GetP (uint8_t slot)
	Get the proportional (P) constant for a given slot. More...

float	GetI (uint8_t slot)
	Get the integral (I) constant for a given slot. More...

float	GetD (uint8_t slot)
	Get the derivative (D) constant for a given slot. More...

float	GetF (uint8_t slot)
	Get the feedforward (F) constant for a given slot. More...

float	GetIZone (uint8_t slot)
	Get the IZone value for a given slot. More...

float	GetDFilter (uint8_t slot)
	Get the DFilter value for a given slot. More...

float	GetOutputMin (uint8_t slot)
	Get the output minimum value for a given slot. More...

float	GetOutputMax (uint8_t slot)
	Get the output maximum value for a given slot. More...

bool	GetHardLimitFwdEn ()
	Get the forward hard limit enable state. More...

bool	GetHardLimitRevEn ()
	Get the reverse hard limit enable state. More...

bool	GetLimitSwitchFwdPolarity ()
	Get the forward limit switch polarity. More...

bool	GetLimitSwitchRevPolarity ()
	Get the reverse limit switch polarity. More...

bool	GetSoftLimitFwdEn ()
	Get the forward soft limit enable state. More...

bool	GetSoftLimitRevEn ()
	Get the reverse soft limit enable state. More...

float	GetSoftLimitFwd ()
	Get the forward soft limit value. More...

float	GetSoftLimitRev ()
	Get the reverse soft limit value. More...

uint32_t	GetFollowerID ()
	Get the follower ID. More...

uint32_t	GetFollowerConfig ()
	Get the follower configuration. More...

uint16_t	GetEncoderCountsPerRev ()
	Get the encoder counts per revolution. More...

uint8_t	GetEncoderAverageDepth ()
	Get the encoder average depth. More...

uint8_t	GetEncoderSampleDelta ()
	Get the encoder sample delta. More...

bool	GetEncoderInverted ()
	Get the encoder inversion state. More...

float	GetPositionConversionFactor ()
	Get the position conversion factor. More...

float	GetVelocityConversionFactor ()
	Get the velocity conversion factor. More...

float	GetClosedLoopRampRate ()
	Get the closed loop ramp rate. More...

float	GetHallSensorSampleRate ()
	Get the Hall sensor sample rate. More...

uint16_t	GetHallSensorAverageDepth ()
	Get the Hall sensor average depth. More...

float	GetSmartMotionMaxVelocity (uint8_t slot)
	Get the maximum velocity for Smart Motion in a given slot. More...

float	GetSmartMotionMaxAccel (uint8_t slot)
	Get the maximum acceleration for Smart Motion in a given slot. More...

float	GetSmartMotionMinVelOutput (uint8_t slot)
	Get the minimum velocity output for Smart Motion in a given slot. More...

float	GetSmartMotionAllowedClosedLoopError (uint8_t slot)
	Get the allowed closed-loop error for Smart Motion in a given slot. More...

float	GetSmartMotionAccelStrategy (uint8_t slot)
	Get the acceleration strategy for Smart Motion in a given slot. More...

float	GetIMaxAccum (uint8_t slot)
	Get the maximum accumulated I term for Smart Motion in a given slot. More...

float	GetSlot3Placeholder1 (uint8_t slot)
	Get the value for Slot 3 Placeholder 1 in a given slot. More...

float	GetSlot3Placeholder2 (uint8_t slot)
	Get the value for Slot 3 Placeholder 2 in a given slot. More...

float	GetSlot3Placeholder3 (uint8_t slot)
	Get the value for Slot 3 Placeholder 3 in a given slot. More...

float	GetAnalogPositionConversion ()
	Get the analog position conversion factor. More...

float	GetAnalogVelocityConversion ()
	Get the analog velocity conversion factor. More...

uint16_t	GetAnalogAverageDepth ()
	Get the analog average depth. More...

uint8_t	GetAnalogSensorMode ()
	Get the analog sensor mode. More...

bool	GetAnalogInverted ()
	Get the analog inversion state. More...

uint16_t	GetAnalogSampleDelta ()
	Get the analog sample delta. More...

uint8_t	GetDataPortConfig ()
	Get the data port configuration. More...

uint16_t	GetAltEncoderCountsPerRev ()
	Get the alternate encoder counts per revolution. More...

uint8_t	GetAltEncoderAverageDepth ()
	Get the alternate encoder average depth. More...

uint8_t	GetAltEncoderSampleDelta ()
	Get the alternate encoder sample delta. More...

bool	GetAltEncoderInverted ()
	Get the alternate encoder inversion state. More...

float	GetAltEncoderPositionFactor ()
	Get the alternate encoder position factor. More...

float	GetAltEncoderVelocityFactor ()
	Get the alternate encoder velocity factor. More...

float	GetDutyCyclePositionFactor ()
	Get the duty cycle position factor. More...

float	GetDutyCycleVelocityFactor ()
	Get the duty cycle velocity factor. More...

bool	GetDutyCycleInverted ()
	Get the duty cycle inversion state. More...

uint8_t	GetDutyCycleAverageDepth ()
	Get the duty cycle average depth. More...

uint8_t	GetDutyCyclePrescalar ()
	Get the duty cycle prescalar. More...

float	GetDutyCycleZeroOffset ()
	Get the duty cycle zero offset. More...

Static Public Member Functions
static void	Heartbeat ()
	Sends a heartbeat signal to keep all SPARK controllers active. More...

Detailed Description

A base class for controlling REV Robotics SPARK motor controllers via CAN bus.

This class provides methods to configure, control, and monitor SPARK motor controllers. It supports various control modes, parameter settings, and status readings.

Constructor & Destructor Documentation

◆ SparkBase()

SparkBase::SparkBase	(	const std::string &	interfaceName,
		uint8_t	deviceId
	)

Initializes SparkBase with the specified CAN interface and ID.

Parameters

interfaceName	The name of the CAN interface (e.g., "can0")
deviceId	The CAN ID of the SPARK controller (0-62)

Exceptions

std::out_of_range	if deviceId is greater than 62
std::system_error	if socket creation fails, with detailed error information
std::runtime_error	if IOCTL fails or binding to the interface fails, with detailed error information

This constructor attempts to initialize the CAN bus connection. If it fails, it will throw an exception with a detailed error message that includes possible causes and suggested solutions. Common issues that may cause exceptions include:

Invalid device ID
CAN modules not loaded
System resource limitations
CAN interface not existing
CAN interface not being up
CAN bus not initialized
Interface already bound to another program

◆ ~SparkBase()

SparkBase::~SparkBase ( )

virtual

Destructor for SparkBase.

Closes the socket connection

Member Function Documentation

◆ BurnFlash()

void SparkBase::BurnFlash ( )

Burns the current configuration to the SPARK controller's flash memory.

◆ ClearStickyFaults()

void SparkBase::ClearStickyFaults ( )

Clears sticky faults on the SPARK controller.

◆ FactoryDefaults()

void SparkBase::FactoryDefaults ( )

Resets the SPARK controller to factory default settings.

◆ FactoryReset()

void SparkBase::FactoryReset ( )

Performs a factory reset on the SPARK controller.

◆ GetAltEncoderAverageDepth()

uint8_t SparkBase::GetAltEncoderAverageDepth ( )

Get the alternate encoder average depth.

Returns: Alternate encoder average depth as uint8_t.

◆ GetAltEncoderCountsPerRev()

uint16_t SparkBase::GetAltEncoderCountsPerRev ( )

Get the alternate encoder counts per revolution.

Returns: Alternate encoder counts per revolution as uint16_t.

◆ GetAltEncoderInverted()

bool SparkBase::GetAltEncoderInverted ( )

Get the alternate encoder inversion state.

Returns: Alternate encoder inversion state as bool.

◆ GetAltEncoderPositionFactor()

float SparkBase::GetAltEncoderPositionFactor ( )

Get the alternate encoder position factor.

Returns: Alternate encoder position factor as float.

◆ GetAltEncoderSampleDelta()

uint8_t SparkBase::GetAltEncoderSampleDelta ( )

Get the alternate encoder sample delta.

Returns: Alternate encoder sample delta as uint8_t.

◆ GetAltEncoderVelocityFactor()

float SparkBase::GetAltEncoderVelocityFactor ( )

Get the alternate encoder velocity factor.

Returns: Alternate encoder velocity factor as float.

◆ GetAlternateEncoderPosition()

float SparkBase::GetAlternateEncoderPosition ( ) const

Gets the position from the alternate encoder.

Returns: float The alternate encoder position in ticks

◆ GetAlternateEncoderVelocity()

float SparkBase::GetAlternateEncoderVelocity ( ) const

Gets the velocity from the alternate encoder.

Returns: float The alternate encoder velocity in RPM

◆ GetAnalogAverageDepth()

uint16_t SparkBase::GetAnalogAverageDepth ( )

Get the analog average depth.

Returns: Analog average depth as uint16_t.

◆ GetAnalogInverted()

bool SparkBase::GetAnalogInverted ( )

Get the analog inversion state.

Returns: Analog inversion state as bool.

◆ GetAnalogPosition()

float SparkBase::GetAnalogPosition ( ) const

Gets the current analog position.

Returns: float The analog position in ticks

◆ GetAnalogPositionConversion()

float SparkBase::GetAnalogPositionConversion ( )

Get the analog position conversion factor.

Returns: Analog position conversion factor as float.

◆ GetAnalogSampleDelta()

uint16_t SparkBase::GetAnalogSampleDelta ( )

Get the analog sample delta.

Returns: Analog sample delta as uint16_t.

◆ GetAnalogSensorMode()

uint8_t SparkBase::GetAnalogSensorMode ( )

Get the analog sensor mode.

Returns: Analog sensor mode as uint8_t.

◆ GetAnalogVelocity()

float SparkBase::GetAnalogVelocity ( ) const

Gets the current analog velocity.

Returns: float The analog velocity in RPM

◆ GetAnalogVelocityConversion()

float SparkBase::GetAnalogVelocityConversion ( )

Get the analog velocity conversion factor.

Returns: Analog velocity conversion factor as float.

◆ GetAnalogVoltage()

float SparkBase::GetAnalogVoltage ( ) const

Gets the current analog voltage.

Returns: float The analog voltage in volts

◆ GetClosedLoopRampRate()

float SparkBase::GetClosedLoopRampRate ( )

Get the closed loop ramp rate.

Returns: Closed loop ramp rate as float.

◆ GetClosedLoopVoltageMode()

uint8_t SparkBase::GetClosedLoopVoltageMode ( )

Get the closed loop voltage mode.

Returns: Closed loop voltage mode as uint8_t.

◆ GetCompensatedNominalVoltage()

float SparkBase::GetCompensatedNominalVoltage ( )

Get the compensated nominal voltage.

Returns: Compensated nominal voltage as float.

◆ GetCtrlType()

uint8_t SparkBase::GetCtrlType ( )

Get the control type.

Returns: Control type as uint8_t. (0 = Duty Cycle, 1 = Velocity, 2 = Voltage, 3 = Position)

◆ GetCurrent()

float SparkBase::GetCurrent ( ) const

Gets the current drawn by the SPARK controller.

Returns: float The current in amperes

◆ GetCurrentChop()

float SparkBase::GetCurrentChop ( )

Get the current chop value.

Returns: Current chop as float.

◆ GetCurrentChopCycles()

uint16_t SparkBase::GetCurrentChopCycles ( )

Get the current chop cycles.

Returns: Current chop cycles as uint16_t.

◆ GetD()

float SparkBase::GetD ( uint8_t slot )

Get the derivative (D) constant for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: Derivative constant as float.

◆ GetDataPortConfig()

uint8_t SparkBase::GetDataPortConfig ( )

Get the data port configuration.

Returns: Data port config as uint8_t.

◆ GetDFilter()

float SparkBase::GetDFilter ( uint8_t slot )

Get the DFilter value for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: DFilter value as float.

◆ GetDutyCycle()

float SparkBase::GetDutyCycle ( ) const

Retrieves the current applied output.

Returns: float The applied output, range: [-1.0, 1.0]

◆ GetDutyCycleAverageDepth()

uint8_t SparkBase::GetDutyCycleAverageDepth ( )

Get the duty cycle average depth.

Returns: Duty cycle average depth as uint8_t.

◆ GetDutyCycleInverted()

bool SparkBase::GetDutyCycleInverted ( )

Get the duty cycle inversion state.

Returns: Duty cycle inversion state as bool.

◆ GetDutyCyclePositionFactor()

float SparkBase::GetDutyCyclePositionFactor ( )

Get the duty cycle position factor.

Returns: Duty cycle position factor as float.

◆ GetDutyCyclePrescalar()

uint8_t SparkBase::GetDutyCyclePrescalar ( )

Get the duty cycle prescalar.

Returns: Duty cycle prescalar as uint8_t.

◆ GetDutyCycleVelocityFactor()

float SparkBase::GetDutyCycleVelocityFactor ( )

Get the duty cycle velocity factor.

Returns: Duty cycle velocity factor as float.

◆ GetDutyCycleZeroOffset()

float SparkBase::GetDutyCycleZeroOffset ( )

Get the duty cycle zero offset.

Returns: Duty cycle zero offset as float.

◆ GetEncoderAverageDepth()

uint8_t SparkBase::GetEncoderAverageDepth ( )

Get the encoder average depth.

Returns: Encoder average depth as uint8_t.

◆ GetEncoderCountsPerRev()

uint16_t SparkBase::GetEncoderCountsPerRev ( )

Get the encoder counts per revolution.

Returns: Encoder counts per revolution as uint16_t.

◆ GetEncoderInverted()

bool SparkBase::GetEncoderInverted ( )

Get the encoder inversion state.

Returns: Encoder inversion state as bool.

◆ GetEncoderSampleDelta()

uint8_t SparkBase::GetEncoderSampleDelta ( )

Get the encoder sample delta.

Returns: Encoder sample delta as uint8_t.

◆ GetF()

float SparkBase::GetF ( uint8_t slot )

Get the feedforward (F) constant for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: Feedforward constant as float.

◆ GetFaults()

uint16_t SparkBase::GetFaults ( ) const

Retrieves the current faults.

Returns: uint16_t A bitfield representing the current faults

◆ GetFeedbackSensorPID0()

uint16_t SparkBase::GetFeedbackSensorPID0 ( )

Get the feedback sensor PID0 value.

Returns: Feedback sensor PID0 as uint16_t.

◆ GetFollowerConfig()

uint32_t SparkBase::GetFollowerConfig ( )

Get the follower configuration.

Returns: Follower configuration as uint32_t.

◆ GetFollowerID()

uint32_t SparkBase::GetFollowerID ( )

Get the follower ID.

Returns: Follower ID as uint32_t.

◆ GetHallSensorAverageDepth()

uint16_t SparkBase::GetHallSensorAverageDepth ( )

Get the Hall sensor average depth.

Returns: Hall sensor average depth as uint16_t.

◆ GetHallSensorSampleRate()

float SparkBase::GetHallSensorSampleRate ( )

Get the Hall sensor sample rate.

Returns: Hall sensor sample rate as float.

◆ GetHardLimitFwdEn()

bool SparkBase::GetHardLimitFwdEn ( )

Get the forward hard limit enable state.

Returns: Forward hard limit enable state as bool.

◆ GetHardLimitRevEn()

bool SparkBase::GetHardLimitRevEn ( )

Get the reverse hard limit enable state.

Returns: Reverse hard limit enable state as bool.

◆ GetI()

float SparkBase::GetI ( uint8_t slot )

Get the integral (I) constant for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: Integral constant as float.

◆ GetIdleMode() [1/2]

uint8_t SparkBase::GetIdleMode ( )

Get the idle mode.

Returns: Idle mode as uint8_t. (0 = Coast, 1 = Brake)

◆ GetIdleMode() [2/2]

bool SparkBase::GetIdleMode ( ) const

Gets the current idle mode.

Returns: bool True if in brake mode, false if in coast mode

◆ GetIMaxAccum()

float SparkBase::GetIMaxAccum ( uint8_t slot )

Get the maximum accumulated I term for Smart Motion in a given slot.

Parameters

slot	The Smart Motion slot (0-3).

Returns: Maximum I term accumulation as float.

◆ GetInputDeadband()

float SparkBase::GetInputDeadband ( )

Get the input deadband.

Returns: Input deadband as float.

◆ GetInverted() [1/2]

bool SparkBase::GetInverted ( )

Get whether the motor is inverted.

Returns: Inverted state as bool.

◆ GetInverted() [2/2]

bool SparkBase::GetInverted ( ) const

Checks if the motor is inverted.

Returns: bool True if the motor is inverted, false otherwise

◆ GetIZone()

float SparkBase::GetIZone ( uint8_t slot )

Get the IZone value for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: IZone value as float.

◆ GetLimitSwitchFwdPolarity()

bool SparkBase::GetLimitSwitchFwdPolarity ( )

Get the forward limit switch polarity.

Returns: Forward limit switch polarity as bool.

◆ GetLimitSwitchRevPolarity()

bool SparkBase::GetLimitSwitchRevPolarity ( )

Get the reverse limit switch polarity.

Returns: Reverse limit switch polarity as bool.

◆ GetMotorKv()

uint16_t SparkBase::GetMotorKv ( )

Get the motor Kv rating.

Returns: Motor Kv as uint16_t.

◆ GetMotorL()

uint16_t SparkBase::GetMotorL ( )

Get the motor inductance.

Returns: Motor inductance as uint16_t.

◆ GetMotorR()

uint16_t SparkBase::GetMotorR ( )

Get the motor resistance.

Returns: Motor resistance as uint16_t.

◆ GetMotorType()

uint8_t SparkBase::GetMotorType ( )

Get the motor type.

Returns: Motor type as uint8_t. (0 = Brushed, 1 = Brushless)

◆ GetOutputMax()

float SparkBase::GetOutputMax ( uint8_t slot )

Get the output maximum value for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: Output maximum value as float.

◆ GetOutputMin()

float SparkBase::GetOutputMin ( uint8_t slot )

Get the output minimum value for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: Output minimum value as float.

◆ GetP()

float SparkBase::GetP ( uint8_t slot )

Get the proportional (P) constant for a given slot.

Parameters

slot	The PID slot (0-3).

Returns: Proportional constant as float.

◆ GetPolePairs()

uint16_t SparkBase::GetPolePairs ( )

Get the number of pole pairs.

Returns: Pole pairs as uint16_t.

◆ GetPosition()

float SparkBase::GetPosition ( ) const

Gets the current position of the motor.

Returns: float The position in ticks

◆ GetPositionConversionFactor()

float SparkBase::GetPositionConversionFactor ( )

Get the position conversion factor.

Returns: Position conversion factor as float.

◆ GetPositionPIDMaxInput()

float SparkBase::GetPositionPIDMaxInput ( )

Get the position PID maximum input.

Returns: Position PID maximum input as float.

◆ GetPositionPIDMinInput()

float SparkBase::GetPositionPIDMinInput ( )

Get the position PID minimum input.

Returns: Position PID minimum input as float.

◆ GetPositionPIDWrapEnable()

bool SparkBase::GetPositionPIDWrapEnable ( )

Get the position PID wrap enable state.

Returns: Position PID wrap enable state as bool.

◆ GetRampRate()

float SparkBase::GetRampRate ( )

Get the ramp rate.

Returns: Ramp rate as float.

◆ GetSensorType()

uint8_t SparkBase::GetSensorType ( )

Get the sensor type.

Returns: Sensor type as uint8_t. (0 = No Sensor, 1 = Hall Sensor, 2 = Encoder)

◆ GetSlot3Placeholder1()

float SparkBase::GetSlot3Placeholder1 ( uint8_t slot )

Get the value for Slot 3 Placeholder 1 in a given slot.

Parameters

slot	The slot (0-3).

Returns: Placeholder value as float.

◆ GetSlot3Placeholder2()

float SparkBase::GetSlot3Placeholder2 ( uint8_t slot )

Get the value for Slot 3 Placeholder 2 in a given slot.

Parameters

slot	The slot (0-3).

Returns: Placeholder value as float.

◆ GetSlot3Placeholder3()

float SparkBase::GetSlot3Placeholder3 ( uint8_t slot )

Get the value for Slot 3 Placeholder 3 in a given slot.

Parameters

slot	The slot (0-3).

Returns: Placeholder value as float.

◆ GetSmartCurrentConfig()

uint16_t SparkBase::GetSmartCurrentConfig ( )

Get the smart current configuration.

Returns: Smart current config as uint16_t.

◆ GetSmartCurrentFreeLimit()

uint16_t SparkBase::GetSmartCurrentFreeLimit ( )

Get the smart current free limit.

Returns: Smart current free limit as uint16_t.

◆ GetSmartCurrentStallLimit()

uint16_t SparkBase::GetSmartCurrentStallLimit ( )

Get the smart current stall limit.

Returns: Smart current stall limit as uint16_t.

◆ GetSmartMotionAccelStrategy()

float SparkBase::GetSmartMotionAccelStrategy ( uint8_t slot )

Get the acceleration strategy for Smart Motion in a given slot.

Parameters

slot	The Smart Motion slot (0-3).

Returns: Acceleration strategy as float.

◆ GetSmartMotionAllowedClosedLoopError()

float SparkBase::GetSmartMotionAllowedClosedLoopError ( uint8_t slot )

Get the allowed closed-loop error for Smart Motion in a given slot.

Parameters

slot	The Smart Motion slot (0-3).

Returns: Allowed closed-loop error as float.

◆ GetSmartMotionMaxAccel()

float SparkBase::GetSmartMotionMaxAccel ( uint8_t slot )

Get the maximum acceleration for Smart Motion in a given slot.

Parameters

slot	The Smart Motion slot (0-3).

Returns: Maximum acceleration as float.

◆ GetSmartMotionMaxVelocity()

float SparkBase::GetSmartMotionMaxVelocity ( uint8_t slot )

Get the maximum velocity for Smart Motion in a given slot.

Parameters

slot	The Smart Motion slot (0-3).

Returns: Maximum velocity as float.

◆ GetSmartMotionMinVelOutput()

float SparkBase::GetSmartMotionMinVelOutput ( uint8_t slot )

Get the minimum velocity output for Smart Motion in a given slot.

Parameters

slot	The Smart Motion slot (0-3).

Returns: Minimum velocity output as float.

◆ GetSoftLimitFwd()

float SparkBase::GetSoftLimitFwd ( )

Get the forward soft limit value.

Returns: Forward soft limit as float.

◆ GetSoftLimitFwdEn()

bool SparkBase::GetSoftLimitFwdEn ( )

Get the forward soft limit enable state.

Returns: Forward soft limit enable state as bool.

◆ GetSoftLimitRev()

float SparkBase::GetSoftLimitRev ( )

Get the reverse soft limit value.

Returns: Reverse soft limit as float.

◆ GetSoftLimitRevEn()

bool SparkBase::GetSoftLimitRevEn ( )

Get the reverse soft limit enable state.

Returns: Reverse soft limit enable state as bool.

◆ GetStickyFaults()

uint16_t SparkBase::GetStickyFaults ( ) const

Retrieves the sticky faults.

Returns: uint16_t A bitfield representing the sticky faults

◆ GetTemperature()

float SparkBase::GetTemperature ( ) const

Gets the current temperature of the SPARK controller.

Returns: float The temperature in degrees Celsius

◆ GetVelocity()

float SparkBase::GetVelocity ( ) const

Gets the current velocity.

Returns: float The current velocity in RPM

◆ GetVelocityConversionFactor()

float SparkBase::GetVelocityConversionFactor ( )

Get the velocity conversion factor.

Returns: Velocity conversion factor as float.

◆ GetVoltage()

float SparkBase::GetVoltage ( ) const

Gets the current voltage of the SPARK controller.

Returns: float The voltage in volts

◆ Heartbeat()

void SparkBase::Heartbeat ( )

static

Sends a heartbeat signal to keep all SPARK controllers active.

◆ Identify()

void SparkBase::Identify ( )

Triggers the SPARK controller to identify itself.

◆ IsFollower()

bool SparkBase::IsFollower ( ) const

Checks if the SPARK controller is in follower mode.

Returns: bool True if in follower mode, false otherwise

◆ ResetFaults()

void SparkBase::ResetFaults ( )

Resets all faults on the SPARK controller.

◆ SetAltEncoderAverageDepth()

void SparkBase::SetAltEncoderAverageDepth ( uint8_t depth )

Sets the average depth for the alternate encoder.

Parameters

depth The average depth (1-64)

◆ SetAltEncoderCountsPerRev()

void SparkBase::SetAltEncoderCountsPerRev ( uint16_t counts )

Sets the counts per revolution for the alternate encoder.

Parameters

counts The number of counts per revolution

◆ SetAltEncoderInverted()

void SparkBase::SetAltEncoderInverted ( bool inverted )

Sets whether the alternate encoder is inverted.

Parameters

inverted True to invert the encoder, false otherwise

◆ SetAltEncoderPositionFactor()

void SparkBase::SetAltEncoderPositionFactor ( float factor )

Sets the position factor for the alternate encoder.

Parameters

factor The position factor

◆ SetAltEncoderSampleDelta()

void SparkBase::SetAltEncoderSampleDelta ( uint8_t delta )

Sets the sample delta for the alternate encoder.

Parameters

delta The sample delta (1-255)

◆ SetAltEncoderVelocityFactor()

void SparkBase::SetAltEncoderVelocityFactor ( float factor )

Sets the velocity factor for the alternate encoder.

Parameters

factor The velocity factor

◆ SetAnalogAverageDepth()

void SparkBase::SetAnalogAverageDepth ( uint16_t depth )

Sets the average depth for analog readings.

Parameters

depth The average depth

◆ SetAnalogInverted()

void SparkBase::SetAnalogInverted ( bool inverted )

Sets whether the analog sensor is inverted.

Parameters

inverted True to invert the sensor, false otherwise

◆ SetAnalogPositionConversion()

void SparkBase::SetAnalogPositionConversion ( float factor )

Sets the conversion factor for analog position readings.

Parameters

factor The conversion factor to apply to raw analog readings

◆ SetAnalogSampleDelta()

void SparkBase::SetAnalogSampleDelta ( uint16_t delta )

Sets the sample delta for analog readings.

Parameters

delta The sample delta

◆ SetAnalogSensorMode()

void SparkBase::SetAnalogSensorMode ( uint8_t mode )

Sets the analog sensor mode.

Parameters

mode	0 for Absolute, 1 for Relative

◆ SetAnalogVelocityConversion()

void SparkBase::SetAnalogVelocityConversion ( float factor )

Sets the conversion factor for analog velocity readings.

Parameters

factor The conversion factor to apply to raw analog readings

◆ SetClosedLoopRampRate()

void SparkBase::SetClosedLoopRampRate ( float rampRate )

Sets the closed loop ramp rate.

Parameters

rampRate The ramp rate in seconds from neutral to full output

◆ SetClosedLoopVoltageMode()

void SparkBase::SetClosedLoopVoltageMode ( uint8_t mode )

Sets the closed loop voltage mode.

Parameters

mode	0 for Disabled, 1 for Control Loop Voltage Output Mode, 2 for Voltage Compensation Mode

◆ SetCompensatedNominalVoltage()

void SparkBase::SetCompensatedNominalVoltage ( float voltage )

Sets the compensated nominal voltage.

Parameters

voltage The nominal voltage to compensate for

◆ SetCtrlType()

void SparkBase::SetCtrlType ( CtrlType type )

Sets the control type.

Parameters

type	CtrlType::kDutyCycle for Duty Cycle, CtrlType::kVelocity for Velocity, CtrlType::kVoltage for Voltage, CtrlType::kPosition for Position

◆ SetCurrent()

void SparkBase::SetCurrent ( float current )

Sets the motor's current.

Parameters

current The desired current

◆ SetCurrentChop()

void SparkBase::SetCurrentChop ( float chop )

Sets the current chop limit.

Parameters

chop	The current chop limit (0-125 amps)

◆ SetCurrentChopCycles()

void SparkBase::SetCurrentChopCycles ( uint16_t cycles )

Sets the number of cycles for current chopping.

Parameters

cycles The number of cycles

◆ SetD()

void SparkBase::SetD	(	uint8_t	slot,
		float	d
	)

Sets the derivative gain for the specified PID slot.

Parameters

slot	The PID slot (0-3)
d	The derivative gain value

Exceptions

std::out_of_range if slot is greater than 3

◆ SetDataPortConfig()

void SparkBase::SetDataPortConfig ( uint8_t config )

Configures the data port.

Parameters

config 0 for Default, 1 for Alternate Encoder Mode

◆ SetDFilter()

void SparkBase::SetDFilter	(	uint8_t	slot,
		float	dFilter
	)

Sets the derivative filter for the specified PID slot.

Parameters

slot	The PID slot (0-3)
dFilter	The derivative filter value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetDutyCycle()

void SparkBase::SetDutyCycle ( float dutyCycle )

Sets the motor's applied output.

Parameters

dutyCycle The desired applied output, range: [-1.0, 1.0]

◆ SetDutyCycleAverageDepth()

void SparkBase::SetDutyCycleAverageDepth ( uint8_t depth )

Sets the average depth for the duty cycle encoder.

Parameters

depth The average depth (0-7)

◆ SetDutyCycleInverted()

void SparkBase::SetDutyCycleInverted ( bool inverted )

Sets whether the duty cycle encoder is inverted.

Parameters

inverted True to invert the encoder, false otherwise

◆ SetDutyCyclePositionFactor()

void SparkBase::SetDutyCyclePositionFactor ( float factor )

Sets the position factor for the duty cycle encoder.

Parameters

factor The position factor

◆ SetDutyCyclePrescalar()

void SparkBase::SetDutyCyclePrescalar ( uint8_t prescalar )

Sets the prescalar for the duty cycle encoder.

Parameters

prescalar The prescalar value (0-71)

◆ SetDutyCycleVelocityFactor()

void SparkBase::SetDutyCycleVelocityFactor ( float factor )

Sets the velocity factor for the duty cycle encoder.

Parameters

factor The velocity factor

◆ SetDutyCycleZeroOffset()

void SparkBase::SetDutyCycleZeroOffset ( float offset )

Sets the zero offset for the duty cycle encoder.

Parameters

offset The zero offset (0-1)

◆ SetEncoderAverageDepth()

void SparkBase::SetEncoderAverageDepth ( uint8_t depth )

Sets the encoder average depth.

Parameters

depth The average depth (1-64)

◆ SetEncoderCountsPerRev()

void SparkBase::SetEncoderCountsPerRev ( uint16_t counts )

Sets the encoder counts per revolution.

Parameters

counts The number of counts per revolution

◆ SetEncoderInverted()

void SparkBase::SetEncoderInverted ( bool inverted )

Sets whether the encoder is inverted.

Parameters

inverted True to invert the encoder, false otherwise

◆ SetEncoderSampleDelta()

void SparkBase::SetEncoderSampleDelta ( uint8_t delta )

Sets the encoder sample delta.

Parameters

delta The sample delta (1-255)

◆ SetF()

void SparkBase::SetF	(	uint8_t	slot,
		float	f
	)

Sets the feedforward gain for the specified PID slot.

Parameters

slot	The PID slot (0-3)
f	The feedforward gain value

Exceptions

std::out_of_range if slot is greater than 3

◆ SetFeedbackSensorPID0()

void SparkBase::SetFeedbackSensorPID0 ( uint16_t sensor )

Sets the feedback sensor for PID0.

Parameters

sensor The sensor type

◆ SetFollowerConfig()

void SparkBase::SetFollowerConfig ( uint32_t config )

Sets the follower configuration.

Parameters

config The follower configuration value

◆ SetFollowerID()

void SparkBase::SetFollowerID ( uint32_t id )

Sets the follower ID for this SparkBase.

Parameters

id	The CAN ID of the SPARK controller to follow

◆ SetHallSensorAverageDepth()

void SparkBase::SetHallSensorAverageDepth ( uint16_t depth )

Sets the hall sensor average depth.

Parameters

depth The average depth

◆ SetHallSensorSampleRate()

void SparkBase::SetHallSensorSampleRate ( float rate )

Sets the hall sensor sample rate.

Parameters

rate	The sample rate in Hz

◆ SetHardLimitFwdEn()

void SparkBase::SetHardLimitFwdEn ( bool enable )

Enables or disables the forward hard limit switch.

Parameters

enable True to enable, false to disable

◆ SetHardLimitRevEn()

void SparkBase::SetHardLimitRevEn ( bool enable )

Enables or disables the reverse hard limit switch.

Parameters

enable True to enable, false to disable

◆ SetI()

void SparkBase::SetI	(	uint8_t	slot,
		float	i
	)

Sets the integral gain for the specified PID slot.

Parameters

slot	The PID slot (0-3)
i	The integral gain value

Exceptions

std::out_of_range if slot is greater than 3

◆ SetIdleMode()

void SparkBase::SetIdleMode ( IdleMode mode )

Sets the idle mode.

Parameters

mode	IdleMode::kCoast for Coast, IdleMode::kBrake for Brake

◆ SetIMaxAccum()

void SparkBase::SetIMaxAccum	(	uint8_t	slot,
		float	maxAccum
	)

Sets the maximum accumulator value for the I term in the specified slot.

Parameters

slot	The PID slot (0-3)
maxAccum	The maximum accumulator value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetInputDeadband()

void SparkBase::SetInputDeadband ( float deadband )

Sets the input deadband.

Parameters

deadband The deadband value

◆ SetInputMode()

void SparkBase::SetInputMode ( uint8_t mode )

Sets the input mode.

Parameters

mode	The input mode

◆ SetInverted()

void SparkBase::SetInverted ( bool inverted )

Sets whether the motor is inverted.

Parameters

inverted True to invert the motor, false otherwise

◆ SetIZone()

void SparkBase::SetIZone	(	uint8_t	slot,
		float	iZone
	)

Sets the integral zone for the specified PID slot.

Parameters

slot	The PID slot (0-3)
iZone	The integral zone value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetLimitSwitchFwdPolarity()

void SparkBase::SetLimitSwitchFwdPolarity ( bool polarity )

Sets the polarity of the forward limit switch.

Parameters

polarity True for normally open, false for normally closed

◆ SetLimitSwitchRevPolarity()

void SparkBase::SetLimitSwitchRevPolarity ( bool polarity )

Sets the polarity of the reverse limit switch.

Parameters

polarity True for normally open, false for normally closed

◆ SetMotorKv()

void SparkBase::SetMotorKv ( uint16_t kv )

Sets the motor Kv (velocity constant)

Parameters

kv	The Kv value

◆ SetMotorL()

void SparkBase::SetMotorL ( uint16_t l )

Sets the motor inductance.

Parameters

l	The inductance value

◆ SetMotorR()

void SparkBase::SetMotorR ( uint16_t r )

Sets the motor resistance.

Parameters

r	The resistance value

◆ SetMotorType()

void SparkBase::SetMotorType ( MotorType type )

Sets the motor type.

Parameters

type	MotorType::kBrushed for Brushed, MotorType::kBrushless for Brushless

◆ SetOutputMax()

void SparkBase::SetOutputMax	(	uint8_t	slot,
		float	max
	)

Sets the output maximum for the specified PID slot.

Parameters

slot	The PID slot (0-3)
max	The maximum output value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetOutputMin()

void SparkBase::SetOutputMin	(	uint8_t	slot,
		float	min
	)

Sets the output minimum for the specified PID slot.

Parameters

slot	The PID slot (0-3)
min	The minimum output value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetP()

void SparkBase::SetP	(	uint8_t	slot,
		float	p
	)

Sets the proportional gain for the specified PID slot.

Parameters

slot	The PID slot (0-3)
p	The proportional gain value

◆ SetPolePairs()

void SparkBase::SetPolePairs ( uint16_t pairs )

Sets the number of pole pairs for brushless motors.

Parameters

pairs The number of pole pairs

◆ SetPosition()

void SparkBase::SetPosition ( float position )

Sets the motor's position.

Parameters

position The desired position

◆ SetPositionConversionFactor()

void SparkBase::SetPositionConversionFactor ( float factor )

Sets the position conversion factor.

Parameters

factor The position conversion factor

◆ SetPositionPIDMaxInput()

void SparkBase::SetPositionPIDMaxInput ( float maxInput )

Sets the maximum input for position PID.

Parameters

maxInput The maximum input value

Exceptions

std::invalid_argument if maxInput is not a finite number

◆ SetPositionPIDMinInput()

void SparkBase::SetPositionPIDMinInput ( float minInput )

Sets the minimum input for position PID.

Parameters

minInput The minimum input value

◆ SetPositionPIDWrapEnable()

void SparkBase::SetPositionPIDWrapEnable ( bool enable )

Enables or disables position PID wrap.

Parameters

enable True to enable, false to disable

◆ SetRampRate()

void SparkBase::SetRampRate ( float rate )

Sets the ramp rate.

Parameters

rate	The ramp rate in seconds from neutral to full output

◆ SetSensorType()

void SparkBase::SetSensorType ( SensorType sensor )

Sets the sensor type.

Parameters

sensor SensorType::kNoSensor for No Sensor, SensorType::kHallSensor for Hall Sensor, SensorType::kEncoder for Encoder

◆ SetSetpoint()

void SparkBase::SetSetpoint ( float setpoint )

Sets the value for the currently set control type.

Parameters

setpoint The desired value

◆ SetSlot3Placeholder1()

void SparkBase::SetSlot3Placeholder1	(	uint8_t	slot,
		float	value
	)

Sets a placeholder value for slot 3 (purpose undefined)

Parameters

slot	The PID slot (0-3)
value	The placeholder value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSlot3Placeholder2()

void SparkBase::SetSlot3Placeholder2	(	uint8_t	slot,
		float	value
	)

Sets a placeholder value for slot 3 (purpose undefined)

Parameters

slot	The PID slot (0-3)
value	The placeholder value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSlot3Placeholder3()

void SparkBase::SetSlot3Placeholder3	(	uint8_t	slot,
		float	value
	)

Sets a placeholder value for slot 3 (purpose undefined)

Parameters

slot	The PID slot (0-3)
value	The placeholder value

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSmartCurrentConfig()

void SparkBase::SetSmartCurrentConfig ( uint16_t config )

Sets the smart current configuration.

Parameters

config The configuration value

◆ SetSmartCurrentFreeLimit()

void SparkBase::SetSmartCurrentFreeLimit ( uint16_t limit )

Sets the smart current free limit.

Parameters

limit The free current limit

◆ SetSmartCurrentStallLimit()

void SparkBase::SetSmartCurrentStallLimit ( uint16_t limit )

Sets the smart current stall limit.

Parameters

limit The stall current limit

◆ SetSmartMotion()

void SparkBase::SetSmartMotion ( float smartMotion )

Sets the motor's smart motion.

Parameters

smartMotion The desired smart motion value

◆ SetSmartMotionAccelStrategy()

void SparkBase::SetSmartMotionAccelStrategy	(	uint8_t	slot,
		float	strategy
	)

Sets the acceleration strategy for Smart Motion in the specified slot.

Parameters

slot	The Smart Motion slot (0-3)
strategy	The acceleration strategy

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSmartMotionAllowedClosedLoopError()

void SparkBase::SetSmartMotionAllowedClosedLoopError	(	uint8_t	slot,
		float	error
	)

Sets the allowed closed loop error for Smart Motion in the specified slot.

Parameters

slot	The Smart Motion slot (0-3)
error	The allowed closed loop error

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSmartMotionMaxAccel()

void SparkBase::SetSmartMotionMaxAccel	(	uint8_t	slot,
		float	maxAccel
	)

Sets the maximum acceleration for Smart Motion in the specified slot.

Parameters

slot	The Smart Motion slot (0-3)
maxAccel	The maximum acceleration

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSmartMotionMaxVelocity()

void SparkBase::SetSmartMotionMaxVelocity	(	uint8_t	slot,
		float	maxVel
	)

Sets the maximum velocity for Smart Motion in the specified slot.

Parameters

slot	The Smart Motion slot (0-3)
maxVel	The maximum velocity

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSmartMotionMinVelOutput()

void SparkBase::SetSmartMotionMinVelOutput	(	uint8_t	slot,
		float	minVel
	)

Sets the minimum velocity output for Smart Motion in the specified slot.

Parameters

slot	The Smart Motion slot (0-3)
minVel	The minimum velocity

Exceptions

std::invalid_argument if slot is greater than 3

◆ SetSmartVelocity()

void SparkBase::SetSmartVelocity ( float smartVelocity )

Sets the motor's smart velocity.

Parameters

smartVelocity The desired smart velocity

◆ SetSoftLimitFwd()

void SparkBase::SetSoftLimitFwd ( float limit )

Sets the forward soft limit.

Parameters

limit The forward soft limit value

◆ SetSoftLimitFwdEn()

void SparkBase::SetSoftLimitFwdEn ( bool enable )

Enables or disables the forward soft limit.

Parameters

enable True to enable, false to disable

◆ SetSoftLimitRev()

void SparkBase::SetSoftLimitRev ( float limit )

Sets the reverse soft limit.

Parameters

limit The reverse soft limit value

◆ SetSoftLimitRevEn()

void SparkBase::SetSoftLimitRevEn ( bool enable )

Enables or disables the reverse soft limit.

Parameters

enable True to enable, false to disable

◆ SetVelocity()

void SparkBase::SetVelocity ( float velocity )

Sets the motor's velocity.

Parameters

velocity The desired velocity

◆ SetVelocityConversionFactor()

void SparkBase::SetVelocityConversionFactor ( float factor )

Sets the velocity conversion factor.

Parameters

factor The velocity conversion factor

◆ SetVoltage()

void SparkBase::SetVoltage ( float voltage )

Sets the motor's voltage.

Parameters

voltage The desired voltage

The documentation for this class was generated from the following files:

/home/grayson/sparkcan/include/SparkBase.hpp
/home/grayson/sparkcan/src/SparkBase.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SparkBase()

◆ ~SparkBase()

Member Function Documentation

◆ BurnFlash()

◆ ClearStickyFaults()

◆ FactoryDefaults()

◆ FactoryReset()

◆ GetAltEncoderAverageDepth()

◆ GetAltEncoderCountsPerRev()

◆ GetAltEncoderInverted()

◆ GetAltEncoderPositionFactor()

◆ GetAltEncoderSampleDelta()

◆ GetAltEncoderVelocityFactor()

◆ GetAlternateEncoderPosition()

◆ GetAlternateEncoderVelocity()

◆ GetAnalogAverageDepth()

◆ GetAnalogInverted()

◆ GetAnalogPosition()

◆ GetAnalogPositionConversion()

◆ GetAnalogSampleDelta()

◆ GetAnalogSensorMode()

◆ GetAnalogVelocity()

◆ GetAnalogVelocityConversion()

◆ GetAnalogVoltage()

◆ GetClosedLoopRampRate()

◆ GetClosedLoopVoltageMode()

◆ GetCompensatedNominalVoltage()

◆ GetCtrlType()

◆ GetCurrent()

◆ GetCurrentChop()

◆ GetCurrentChopCycles()

◆ GetD()

◆ GetDataPortConfig()

◆ GetDFilter()

◆ GetDutyCycle()

◆ GetDutyCycleAverageDepth()

◆ GetDutyCycleInverted()

◆ GetDutyCyclePositionFactor()

◆ GetDutyCyclePrescalar()

◆ GetDutyCycleVelocityFactor()

◆ GetDutyCycleZeroOffset()

◆ GetEncoderAverageDepth()

◆ GetEncoderCountsPerRev()

◆ GetEncoderInverted()

◆ GetEncoderSampleDelta()

◆ GetF()

◆ GetFaults()

◆ GetFeedbackSensorPID0()

◆ GetFollowerConfig()

◆ GetFollowerID()

◆ GetHallSensorAverageDepth()

◆ GetHallSensorSampleRate()

◆ GetHardLimitFwdEn()

◆ GetHardLimitRevEn()

◆ GetI()

◆ GetIdleMode() [1/2]

◆ GetIdleMode() [2/2]

◆ GetIMaxAccum()

◆ GetInputDeadband()

◆ GetInverted() [1/2]

◆ GetInverted() [2/2]

◆ GetIZone()

◆ GetLimitSwitchFwdPolarity()

◆ GetLimitSwitchRevPolarity()

◆ GetMotorKv()

◆ GetMotorL()

◆ GetMotorR()

◆ GetMotorType()

◆ GetOutputMax()

◆ GetOutputMin()

◆ GetP()

◆ GetPolePairs()

◆ GetPosition()

◆ GetPositionConversionFactor()

◆ GetPositionPIDMaxInput()

◆ GetPositionPIDMinInput()