Package frclib.motor

Class FrcCANSparkMax

java.lang.Object
trclib.motor.TrcMotor
frclib.motor.FrcCANSparkMax
All Implemented Interfaces:
TrcMotorController, TrcExclusiveSubsystem, TrcOdometrySensor
public class FrcCANSparkMax extends TrcMotor
This class implements a SparkMAX motor controller by REV robototics. It extends the TrcMotor class and implements the abstract methods required by TrcMotor to be compatible with the TRC library. Reference manual and API doc of the motor controller can be found here: http://www.revrobotics.com/sparkmax-users-manual/?mc_cid=a60a44dc08&mc_eid=1935741b98#section-2-3 https://codedocs.revrobotics.com/java/com/revrobotics/cansparkmax https://docs.revrobotics.com/revlib/24-to-25

  • Field Details

    • motor

      public final com.revrobotics.spark.SparkMax motor

    • config

      public com.revrobotics.spark.config.SparkMaxConfig config

  • Constructor Details

    • FrcCANSparkMax

      public FrcCANSparkMax(String instanceName, int canId, boolean brushless, boolean absEncoder, TrcMotor.ExternalSensors sensors)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      canId - specifies the CAN ID of the device.
      brushless - specifies true if the motor is brushless, false otherwise.
      absEncoder - specifies true if uses DutyCycle absolute encoder, false to use relative encoder.
      sensors - specifies external sensors, can be null if none.

    • FrcCANSparkMax

      public FrcCANSparkMax(String instanceName, int canId, boolean brushless, boolean absEncoder)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      canId - specifies the CAN ID of the device.
      brushless - specifies true if the motor is brushless, false otherwise.
      absEncoder - specifies true if uses DutyCycle absolute encoder, false to use relative encoder.

    • FrcCANSparkMax

      public FrcCANSparkMax(String instanceName, int canId, boolean brushless)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      canId - specifies the CAN ID of the device.
      brushless - specifies true if the motor is brushless, false otherwise.

  • Method Details

    • getErrorCount

      public int getErrorCount()
      This method returns the number of error responses seen from the motor after sending a command.
      Returns:
      The number of non-OK error code responses seen from the motor after sending a command.

    • getLastError

      public com.revrobotics.REVLibError getLastError()
      The method returns the last error code. If there is none, null is returned.
      Returns:
      last error code.

    • isBrushless

      public boolean isBrushless()
      This method returns the motor type.
      Returns:
      true if the motor is brushless, false otherwise.

    • resetFactoryDefault

      public void resetFactoryDefault()
      This method resets the motor controller configurations to factory default so that everything is at known state.

    • getBusVoltage

      public double getBusVoltage()
      This method returns the bus voltage of the motor controller.
      Returns:
      bus voltage of the motor controller.

    • setCurrentLimit

      public void setCurrentLimit(double currentLimit, double triggerThresholdCurrent, double triggerThresholdTime)
      This method sets the current limit of the motor.
      Parameters:
      currentLimit - specifies the current limit (holding current) in amperes when feature is activated.
      triggerThresholdCurrent - not used. SparkMax does not support this.
      triggerThresholdTime - not used. SparkMax does not support this.

    • setStatorCurrentLimit

      public void setStatorCurrentLimit(double currentLimit)
      This method sets the stator current limit of the motor.
      Parameters:
      currentLimit - specifies the stator current limit in amperes.

    • setCloseLoopRampRate

      public void setCloseLoopRampRate(double rampTime)
      This method sets the close loop ramp rate.
      Parameters:
      rampTime - specifies the ramp time in seconds from neutral to full speed.

    • setOpenLoopRampRate

      public void setOpenLoopRampRate(double rampTime)
      This method sets the open loop ramp rate.
      Parameters:
      rampTime - specifies the ramp time in seconds from neutral to full speed.

    • setBrakeModeEnabled

      public void setBrakeModeEnabled(boolean enabled)
      This method enables/disables motor brake mode. In motor brake mode, set power to 0 would stop the motor very abruptly by shorting the motor wires together using the generated back EMF to stop the motor. When not enabled, (i.e. float/coast mode), the motor wires are just disconnected from the motor controller so the motor will stop gradually.
      Parameters:
      enabled - specifies true to enable brake mode, false otherwise.

    • enableMotorRevLimitSwitch

      public void enableMotorRevLimitSwitch(boolean normalClose)
      This method enables the reverse limit switch and configures it to the specified type.
      Parameters:
      normalClose - specifies true as the normal close switch type, false as normal open.

    • enableMotorFwdLimitSwitch

      public void enableMotorFwdLimitSwitch(boolean normalClose)
      This method enables the forward limit switch and configures it to the specified type.
      Parameters:
      normalClose - specifies true as the normal close switch type, false as normal open.

    • disableMotorRevLimitSwitch

      public void disableMotorRevLimitSwitch()
      This method disables the reverse limit switch.

    • disableMotorFwdLimitSwitch

      public void disableMotorFwdLimitSwitch()
      This method disables the forward limit switch.

    • isMotorRevLimitSwitchEnabled

      public boolean isMotorRevLimitSwitchEnabled()
      This method checks if the reverse limit switch is enabled.
      Returns:
      true if enabled, false if disabled.

    • isMotorFwdLimitSwitchEnabled

      public boolean isMotorFwdLimitSwitchEnabled()
      This method checks if the forward limit switch is enabled.
      Returns:
      true if enabled, false if disabled.

    • setMotorRevLimitSwitchInverted

      public void setMotorRevLimitSwitchInverted(boolean inverted)
      This method inverts the active state of the reverse limit switch, typically reflecting whether the switch is wired normally open or normally close.
      Parameters:
      inverted - specifies true to invert the limit switch to normal close, false to normal open.

    • setMotorFwdLimitSwitchInverted

      public void setMotorFwdLimitSwitchInverted(boolean inverted)
      This method inverts the active state of the forward limit switch, typically reflecting whether the switch is wired normally open or normally close.
      Parameters:
      inverted - specifies true to invert the limit switch to normal close, false to normal open.

    • isMotorRevLimitSwitchActive

      public boolean isMotorRevLimitSwitchActive()
      This method returns the state of the reverse limit switch.
      Returns:
      true if reverse limit switch is active, false otherwise.

    • isMotorFwdLimitSwitchActive

      public boolean isMotorFwdLimitSwitchActive()
      This method returns the state of the forward limit switch.
      Returns:
      true if forward limit switch is active, false otherwise.

    • setMotorRevSoftPositionLimit

      public void setMotorRevSoftPositionLimit(Double limit)
      This method sets the soft position limit for the reverse direction.
      Parameters:
      limit - specifies the limit in sensor units, null to disable.

    • setMotorFwdSoftPositionLimit

      public void setMotorFwdSoftPositionLimit(Double limit)
      This method sets the soft position limit for the forward direction.
      Parameters:
      limit - specifies the limit in sensor units, null to disable.

    • setMotorPositionSensorInverted

      public void setMotorPositionSensorInverted(boolean inverted)
      This method inverts the position sensor direction. This may be rare but there are scenarios where the motor encoder may be mounted somewhere in the power train that it rotates opposite to the motor rotation. This will cause the encoder reading to go down when the motor is receiving positive power. This method can correct this situation.
      Parameters:
      inverted - specifies true to invert position sensor direction, false otherwise.

    • isMotorPositionSensorInverted

      public boolean isMotorPositionSensorInverted()
      This method returns the state of the position sensor direction.
      Returns:
      true if the motor direction is inverted, false otherwise.

    • resetMotorPosition

      public void resetMotorPosition(boolean hardware)
      This method resets the motor position sensor, typically an encoder.

    • resetMotorPosition

      public void resetMotorPosition()
      This method resets the motor position sensor, typically an encoder.

    • setMotorInverted

      public void setMotorInverted(boolean inverted)
      This method inverts the spinning direction of the motor.
      Parameters:
      inverted - specifies true to invert motor direction, false otherwise.

    • isMotorInverted

      public boolean isMotorInverted()
      This method checks if the motor direction is inverted.
      Returns:
      true if motor direction is inverted, false otherwise.

    • setMotorPower

      public void setMotorPower(double power)
      This method sets the raw motor power.
      Parameters:
      power - specifies the percentage power (range -1.0 to 1.0) to be set.

    • getMotorPower

      public double getMotorPower()
      This method gets the current motor power.
      Returns:
      current motor power.

    • setMotorVelocity

      public void setMotorVelocity(double velocity, double acceleration, double feedForward)
      This method commands the motor to spin at the given velocity using close loop control.
      Parameters:
      velocity - specifies the motor velocity in rotations per second.
      acceleration - specifies the max motor acceleration rotations per second square (not supported).
      feedForward - specifies feedforward in volts if voltage comp is ON, otherwise fractional unit between -1 and 1 (not supported).

    • getMotorVelocity

      public double getMotorVelocity()
      This method returns the current motor velocity.
      Returns:
      current motor velocity in rotations per second.

    • setMotorPosition

      public void setMotorPosition(double position, Double powerLimit, double velocity, double feedForward)
      This method commands the motor to go to the given position using close loop control and optionally limits the power of the motor movement.
      Parameters:
      position - specifies the position in rotations.
      powerLimit - specifies the maximum power output limits, can be null if not provided. If not provided, the previous set limit is applied.
      velocity - specifies the max motor veloicty rotations per second (not supportec).
      feedForward - specifies feedforward in volts if voltage comp is ON, otherwise fractional unit between -1 and 1 (not supported).

    • getMotorPosition

      public double getMotorPosition()
      This method returns the motor position by reading the position sensor.
      Returns:
      current motor position in number of rotations.

    • setMotorCurrent

      public void setMotorCurrent(double current)
      This method commands the motor to spin at the given current value using close loop control.
      Parameters:
      current - specifies current in amperes.

    • getMotorCurrent

      public double getMotorCurrent()
      This method returns the motor current.
      Returns:
      motor current in amperes.

    • setMotorVelocityPidCoefficients

      public void setMotorVelocityPidCoefficients(TrcPidController.PidCoefficients pidCoeff)
      This method sets the PID coefficients of the motor controller's velocity PID controller.
      Parameters:
      pidCoeff - specifies the PID coefficients to set.

    • getMotorVelocityPidCoefficients

      public TrcPidController.PidCoefficients getMotorVelocityPidCoefficients()
      This method returns the PID coefficients of the motor controller's velocity PID controller.
      Returns:
      PID coefficients of the motor's veloicty PID controller.

    • setMotorPositionPidCoefficients

      public void setMotorPositionPidCoefficients(TrcPidController.PidCoefficients pidCoeff)
      This method sets the PID coefficients of the motor controller's position PID controller.
      Parameters:
      pidCoeff - specifies the PID coefficients to set.

    • getMotorPositionPidCoefficients

      public TrcPidController.PidCoefficients getMotorPositionPidCoefficients()
      This method returns the PID coefficients of the motor controller's position PID controller.
      Returns:
      PID coefficients of the motor's position PID controller.

    • setMotorCurrentPidCoefficients

      public void setMotorCurrentPidCoefficients(TrcPidController.PidCoefficients pidCoeff)
      This method sets the PID coefficients of the motor controller's current PID controller.
      Parameters:
      pidCoeff - specifies the PID coefficients to set.

    • getMotorCurrentPidCoefficients

      public TrcPidController.PidCoefficients getMotorCurrentPidCoefficients()
      This method returns the PID coefficients of the motor controller's current PID controller.
      Returns:
      PID coefficients of the motor's current PID controller.

    • setVoltageCompensationEnabled

      public void setVoltageCompensationEnabled(Double batteryNominalVoltage)
      This method enables/disables voltage compensation so that it will maintain the motor output regardless of battery voltage.
      Specified by:
      setVoltageCompensationEnabled in interface TrcMotorController
      Overrides:
      setVoltageCompensationEnabled in class TrcMotor
      Parameters:
      batteryNominalVoltage - specifies the nominal voltage of the battery to enable, null to disable.

    • isVoltageCompensationEnabled

      public boolean isVoltageCompensationEnabled()
      This method checks if voltage compensation is enabled.
      Specified by:
      isVoltageCompensationEnabled in interface TrcMotorController
      Overrides:
      isVoltageCompensationEnabled in class TrcMotor
      Returns:
      true if voltage compensation is enabled, false if disabled.

    • follow

      public void follow(TrcMotor otherMotor, boolean inverted, double scale)
      This method sets this motor to follow another motor.
      Specified by:
      follow in interface TrcMotorController
      Overrides:
      follow in class TrcMotor
      Parameters:
      otherMotor - specifies the other motor to follow.
      inverted - specifies true if this motor is inverted from the motor it is following, false otherwise.
      scale - specifies the value scale for the follower motor, 1.0 by default.