Package edu.wpi.first.wpilibj
Class Spark
- java.lang.Object
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- edu.wpi.first.wpilibj.MotorSafety
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- edu.wpi.first.wpilibj.PWM
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- edu.wpi.first.wpilibj.PWMSpeedController
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- edu.wpi.first.wpilibj.Spark
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- All Implemented Interfaces:
PIDOutput
,Sendable
,SpeedController
,AutoCloseable
public class Spark extends PWMSpeedController
REV Robotics SPARK Speed Controller.
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Nested Class Summary
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Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.PWM
PWM.PeriodMultiplier
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Constructor Summary
Constructors Constructor Description Spark(int channel)
Constructor.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description protected void
initSpark()
Common initialization code called by all constructors.-
Methods inherited from class edu.wpi.first.wpilibj.PWMSpeedController
disable, get, getDescription, getInverted, initSendable, pidWrite, set, setInverted
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Methods inherited from class edu.wpi.first.wpilibj.PWM
addChild, close, enableDeadbandElimination, getChannel, getName, getPosition, getRaw, getRawBounds, getSpeed, getSubsystem, setBounds, setDisabled, setName, setName, setName, setPeriodMultiplier, setPosition, setRaw, setSpeed, setSubsystem, setZeroLatch, stopMotor
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Methods inherited from class edu.wpi.first.wpilibj.MotorSafety
check, checkMotors, feed, getExpiration, isAlive, isSafetyEnabled, setExpiration, setSafetyEnabled
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Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj.SpeedController
stopMotor
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Method Detail
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initSpark
protected void initSpark()
Common initialization code called by all constructors.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" - 1.55ms = the "high end" of the deadband range - 1.50ms = center of the deadband range (off) - 1.46ms = the "low end" of the deadband range - .999ms = full "reverse"
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