Class Spark
- java.lang.Object
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- edu.wpi.first.wpilibj.MotorSafety
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- edu.wpi.first.wpilibj.motorcontrol.PWMMotorController
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- edu.wpi.first.wpilibj.motorcontrol.Spark
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- All Implemented Interfaces:
Sendable
,MotorController
,SpeedController
,AutoCloseable
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"
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Field Summary
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Fields inherited from class edu.wpi.first.wpilibj.motorcontrol.PWMMotorController
m_pwm
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Constructor Summary
Constructors Constructor Description Spark(int channel)
Constructor.
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Method Summary
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Methods inherited from class edu.wpi.first.wpilibj.motorcontrol.PWMMotorController
close, disable, enableDeadbandElimination, get, getChannel, getDescription, getInverted, getPwmHandle, initSendable, set, setInverted, 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.motorcontrol.MotorController
setVoltage
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Constructor Detail
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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
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