SparkMax Class Reference
A class for controlling REV Robotics SPARK MAX via CAN bus. More...
#include <SparkMax.hpp>
Inheritance diagram for SparkMax:
Collaboration diagram for SparkMax:
Public Member Functions | |
| SparkMax (const std::string &interfaceName, uint8_t deviceId) | |
| ~SparkMax () override=default | |
 Public Member Functions inherited from SparkBase | |
| 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... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from SparkBase | |
| static void | Heartbeat () |
| Sends a heartbeat signal to keep all SPARK controllers active. More... | |
Detailed Description
A class for controlling REV Robotics SPARK MAX via CAN bus.
This class provides methods to configure, control, and monitor the SPARK MAX. It supports various control modes, parameter settings, and status readings.
Constructor & Destructor Documentation
◆ SparkMax()
|
explicit |
◆ ~SparkMax()
|
overridedefault |
The documentation for this class was generated from the following files:
- /home/grayson/sparkcan/include/SparkMax.hpp
- /home/grayson/sparkcan/src/SparkMax.cpp
