REV Robotics SPARK Motor Controller. More...

#include <frc/motorcontrol/Spark.h>

Inheritance diagram for frc::Spark:

Public Member Functions
	Spark (int channel)
	Constructor for a SPARK. More...

	Spark (Spark &&)=default

Spark &	operator= (Spark &&)=default

Public Member Functions inherited from frc::PWMMotorController
	PWMMotorController (PWMMotorController &&)=default

PWMMotorController &	operator= (PWMMotorController &&)=default

void	Set (double value) override
	Set the PWM value. More...

void	SetVoltage (units::volt_t output) override
	Sets the voltage output of the PWMMotorController. More...

double	Get () const override
	Get the recently set value of the PWM. More...

void	SetInverted (bool isInverted) override
	Common interface for inverting direction of a motor controller. More...

bool	GetInverted () const override
	Common interface for returning the inversion state of a motor controller. More...

void	Disable () override
	Common interface for disabling a motor. More...

void	StopMotor () override
	Called to stop the motor when the timeout expires. More...

std::string	GetDescription () const override
	Returns a description to print when an error occurs. More...

int	GetChannel () const

void	EnableDeadbandElimination (bool eliminateDeadband)
	Optionally eliminate the deadband from a motor controller. More...

void	AddFollower (PWMMotorController &follower)
	Make the given PWM motor controller follow the output of this one. More...

template<std::derived_from< PWMMotorController > T>
void	AddFollower (T &&follower)
	Make the given PWM motor controller follow the output of this one. More...

Public Member Functions inherited from frc::MotorController
virtual	~MotorController ()=default

virtual void	Set (double speed)=0
	Common interface for setting the speed of a motor controller. More...

virtual void	SetVoltage (units::volt_t output)
	Sets the voltage output of the MotorController. More...

virtual double	Get () const =0
	Common interface for getting the current set speed of a motor controller. More...

virtual void	SetInverted (bool isInverted)=0
	Common interface for inverting direction of a motor controller. More...

virtual bool	GetInverted () const =0
	Common interface for returning the inversion state of a motor controller. More...

virtual void	Disable ()=0
	Common interface for disabling a motor. More...

virtual void	StopMotor ()=0
	Common interface to stop the motor until Set is called again. More...

Public Member Functions inherited from frc::MotorSafety
	MotorSafety ()

virtual	~MotorSafety ()

	MotorSafety (MotorSafety &&rhs)

MotorSafety &	operator= (MotorSafety &&rhs)

void	Feed ()
	Feed the motor safety object. More...

void	SetExpiration (units::second_t expirationTime)
	Set the expiration time for the corresponding motor safety object. More...

units::second_t	GetExpiration () const
	Retrieve the timeout value for the corresponding motor safety object. More...

bool	IsAlive () const
	Determine if the motor is still operating or has timed out. More...

void	SetSafetyEnabled (bool enabled)
	Enable/disable motor safety for this device. More...

bool	IsSafetyEnabled () const
	Return the state of the motor safety enabled flag. More...

void	Check ()
	Check if this motor has exceeded its timeout. More...

virtual void	StopMotor ()=0
	Called to stop the motor when the timeout expires. More...

virtual std::string	GetDescription () const =0
	Returns a description to print when an error occurs. More...

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< PWMMotorController >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Static Public Member Functions inherited from frc::MotorSafety
static void	CheckMotors ()
	Check the motors to see if any have timed out. More...

Protected Member Functions inherited from frc::PWMMotorController
	PWMMotorController (std::string_view name, int channel)
	Constructor for a PWM Motor Controller connected via PWM. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Protected Member Functions inherited from wpi::SendableHelper< PWMMotorController >
	SendableHelper ()=default

	~SendableHelper ()

Protected Attributes inherited from frc::PWMMotorController
PWM	m_pwm
	PWM instances for motor controller. More...

Detailed Description

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"

Constructor & Destructor Documentation

◆ Spark() [1/2]

frc::Spark::Spark ( int channel )

explicit

Constructor for a SPARK.

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]

frc::Spark::Spark ( Spark && )

default

Member Function Documentation

◆ operator=()

Spark & frc::Spark::operator= ( Spark && )