REV Robotics SPARK Motor Controller with PWM control. More...

#include <wpi/hardware/motor/Spark.hpp>

Inheritance diagram for wpi::Spark:

Public Member Functions
	Spark (int channel)
	Constructor for a SPARK connected via PWM.
	Spark (Spark &&)=default
Spark &	operator= (Spark &&)=default
Public Member Functions inherited from wpi::PWMMotorController
	PWMMotorController (PWMMotorController &&)=default
PWMMotorController &	operator= (PWMMotorController &&)=default
void	SetDutyCycle (double dutyCycle) override
	Sets the duty cycle of the motor controller.
double	GetDutyCycle () const override
	Gets the duty cycle of the motor controller.
virtual wpi::units::volt_t	GetVoltage () const
	Gets the voltage output of the motor controller, nominally between -12 V and 12 V.
void	SetInverted (bool isInverted) override
	Sets the inversion state of the motor controller.
bool	GetInverted () const override
	Gets the inversion state of the motor controller.
void	Disable () override
	Disables the motor controller.
void	StopMotor () override
	Called to stop the motor when the timeout expires.
std::string	GetDescription () const override
	Returns a description to print when an error occurs.
int	GetChannel () const
void	EnableDeadbandElimination (bool eliminateDeadband)
	Optionally eliminate the deadband from a motor controller.
void	AddFollower (PWMMotorController &follower)
	Make the given PWM motor controller follow the output of this one.
template<std::derived_from< PWMMotorController > T>
void	AddFollower (T &&follower)
	Make the given PWM motor controller follow the output of this one.
Public Member Functions inherited from wpi::MotorController
virtual	~MotorController ()=default
virtual void	SetVoltage (wpi::units::volt_t voltage)
	Sets the voltage output of the motor controller.
Public Member Functions inherited from wpi::MotorSafety
	MotorSafety ()
virtual	~MotorSafety ()
	MotorSafety (MotorSafety &&rhs)
MotorSafety &	operator= (MotorSafety &&rhs)
void	Feed ()
	Feed the motor safety object.
void	SetExpiration (wpi::units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object.
wpi::units::second_t	GetExpiration () const
	Retrieve the timeout value for the corresponding motor safety object.
bool	IsAlive () const
	Determine if the motor is still operating or has timed out.
void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device.
bool	IsSafetyEnabled () const
	Return the state of the motor safety enabled flag.
void	Check ()
	Check if this motor has exceeded its timeout.
Public Member Functions inherited from wpi::util::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::util::SendableHelper< PWMMotorController >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default

Additional Inherited Members
Static Public Member Functions inherited from wpi::MotorSafety
static void	CheckMotors ()
	Check the motors to see if any have timed out.
Protected Member Functions inherited from wpi::PWMMotorController
	PWMMotorController (std::string_view name, int channel)
	Constructor for a PWM Motor Controller connected via PWM.
void	InitSendable (wpi::util::SendableBuilder &builder) override
	Initializes this Sendable object.
void	SetDutyCycleInternal (double dutyCycle)
double	GetDutyCycleInternal () const
void	SetBounds (wpi::units::microsecond_t maxPwm, wpi::units::microsecond_t deadbandMaxPwm, wpi::units::microsecond_t centerPwm, wpi::units::microsecond_t deadbandMinPwm, wpi::units::microsecond_t minPwm)
Protected Member Functions inherited from wpi::util::SendableHelper< PWMMotorController >
constexpr	~SendableHelper ()
Protected Attributes inherited from wpi::PWMMotorController
PWM	m_pwm
	PWM instances for motor controller.

Detailed Description

REV Robotics SPARK Motor Controller with PWM control.

Note that the SPARK uses the following bounds for PWM values. These values should work reasonably well for most controllers, but if users experience issues such as asymmetric behavior around the deadband or inability to saturate the controller in either direction, calibration is recommended. The calibration procedure can be found in the SPARK User Manual available from REV Robotics.

2.003ms = full "forward"
1.550ms = the "high end" of the deadband range
1.500ms = center of the deadband range (off)
1.460ms = the "low end" of the deadband range
0.999ms = full "reverse"

Constructor & Destructor Documentation

◆ Spark() [1/2]

wpi::Spark::Spark ( int channel )

explicit

Constructor for a SPARK connected via PWM.

Parameters

channel The PWM channel that the SPARK is attached to. 0-9 are on-board, 10-19 are on the MXP port

◆ Spark() [2/2]

wpi::Spark::Spark ( Spark && )

default

Member Function Documentation

◆ operator=()

Spark & wpi::Spark::operator= ( Spark && )