Class Spark

java.lang.Object

org.wpilib.hardware.motor.MotorSafety

org.wpilib.hardware.motor.PWMMotorController

org.wpilib.hardware.motor.Spark

All Implemented Interfaces:

AutoCloseable, MotorController, Sendable

public class Spark
extends PWMMotorController

REV Robotics SPARK Motor Controller.

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"

Field Summary

Fields inherited from class PWMMotorController

m_pwm

Constructor Summary

Constructors

Constructor	Description
Spark(int channel)	Constructor.

Method Summary

Methods inherited from class PWMMotorController

addFollower, close, disable, enableDeadbandElimination, getChannel, getDescription, getDutyCycle, getDutyCycleInternal, getInverted, getPwmHandle, getVoltage, initSendable, setBoundsMicroseconds, setDutyCycle, setDutyCycleInternal, setInverted, stopMotor

Methods inherited from class MotorSafety

check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface MotorController

setVoltage, setVoltage

Constructor Details

Spark

public Spark(int channel)

Constructor.

Parameters:

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