#include <SparkWrapper.hpp>

Inheritance diagram for yams::motorcontrollers::local::SparkWrapper:

Collaboration diagram for yams::motorcontrollers::local::SparkWrapper:

[legend]

Public Member Functions
	SparkWrapper (rev::spark::SparkMax spark, wpi::math::DCMotor motor, SmartMotorControllerConfig config)

	SparkWrapper (rev::spark::SparkFlex spark, wpi::math::DCMotor motor, SmartMotorControllerConfig config)

	~SparkWrapper ()

telemetry::UnsupportedTelemetryFields	GetUnsupportedTelemetryFields () override

bool	ApplyConfig (const SmartMotorControllerConfig &config) override

void	SetupSimulation () override

void	SimIterate () override

void	SeedRelativeEncoder () override

void	SynchronizeRelativeEncoder () override

void	SetDutyCycle (double dutyCycle) override

double	GetDutyCycle () override

void	SetVoltage (wpi::units::volt_t voltage) override

wpi::units::volt_t	GetVoltage () override

std::optional< wpi::units::second_t >	GetVelocityMeasurementDelay () const override

void	SetPosition (wpi::units::turn_t angle) override

void	SetPosition (wpi::units::meter_t distance) override

void	SetVelocity (wpi::units::turns_per_second_t velocity) override

void	SetVelocity (wpi::units::turns_per_second_t velocity, wpi::units::newton_t feedforwardForce) override

void	SetVelocity (wpi::units::meters_per_second_t velocity) override

void	SetEncoderPosition (wpi::units::turn_t angle) override

void	SetEncoderPosition (wpi::units::meter_t distance) override

void	SetEncoderVelocity (wpi::units::turns_per_second_t velocity) override

void	SetEncoderVelocity (wpi::units::meters_per_second_t velocity) override

wpi::units::turn_t	GetMechanismPosition () override

wpi::units::turns_per_second_t	GetMechanismVelocity () override

wpi::units::turn_t	GetRelativeMechanismPosition () override

wpi::units::turns_per_second_t	GetRelativeMechanismVelocity () override

wpi::units::turns_per_second_squared_t	GetMechanismAcceleration () override

wpi::units::turn_t	GetRotorPosition () override

wpi::units::turns_per_second_t	GetRotorVelocity () override

wpi::units::meter_t	GetMeasurementPosition () override

wpi::units::meters_per_second_t	GetMeasurementVelocity () override

wpi::units::meters_per_second_squared_t	GetMeasurementAcceleration () override

std::optional< wpi::units::turn_t >	GetExternalEncoderMechanismPosition () override

std::optional< wpi::units::turns_per_second_t >	GetExternalEncoderMechanismVelocity () override

std::optional< wpi::units::ampere_t >	GetSupplyCurrent () override

wpi::units::ampere_t	GetStatorCurrent () override

wpi::units::celsius_t	GetTemperature () override

wpi::math::DCMotor	GetDCMotor () override

void	SetZeroPower (MotorMode mode) override

void	SetMotorInverted (bool inverted) override

void	SetEncoderInverted (bool inverted) override

void	SetKp (double kP) override

void	SetKi (double kI) override

void	SetKd (double kD) override

void	SetFeedback (double kP, double kI, double kD) override

void	SetKs (double kS) override

void	SetKv (double kV) override

void	SetKa (double kA) override

void	SetKg (double kG) override

void	SetFeedforward (double kS, double kV, double kA, double kG) override

void	SetStatorCurrentLimit (wpi::units::ampere_t currentLimit) override

void	SetSupplyCurrentLimit (wpi::units::ampere_t currentLimit) override

void	SetClosedLoopRampRate (wpi::units::second_t rampRate) override

void	SetOpenLoopRampRate (wpi::units::second_t rampRate) override

void	SetMechanismUpperLimit (wpi::units::turn_t upperLimit) override

void	SetMechanismLowerLimit (wpi::units::turn_t lowerLimit) override

void	SetMechanismLimits (wpi::units::turn_t lower, wpi::units::turn_t upper) override

void	SetMechanismLimitsEnabled (bool enabled) override

void	SetMeasurementUpperLimit (wpi::units::meter_t upperLimit) override

void	SetMeasurementLowerLimit (wpi::units::meter_t lowerLimit) override

void	SetMotionProfileMaxVelocity (wpi::units::turns_per_second_t maxVelocity) override

void	SetMotionProfileMaxVelocity (wpi::units::meters_per_second_t maxVelocity) override

void	SetMotionProfileMaxAcceleration (wpi::units::turns_per_second_squared_t maxAcc) override

void	SetMotionProfileMaxAcceleration (wpi::units::meters_per_second_squared_t maxAcc) override

void	SetMotionProfileMaxJerk (wpi::units::angular_jerk::turns_per_second_cubed_t maxJerk) override

void	SetExponentialProfile (std::optional< double > kV, std::optional< double > kA, std::optional< wpi::units::volt_t > maxInput) override

void	SetClosedLoopSlot (ClosedLoopControllerSlot slot) override

void	SetMechanismGearing (const gearing::MechanismGearing &gearing) override

void	SetMechanismCircumference (wpi::units::meter_t circumference) override

SmartMotorControllerConfig &	GetConfig () override

void *	GetMotorController () override

void *	GetMotorControllerConfig () override

virtual void	SetVelocity (wpi::units::turns_per_second_t velocity)=0

virtual void	SetVelocity (wpi::units::meters_per_second_t velocity)=0

virtual void	SetVelocity (wpi::units::turns_per_second_t velocity, wpi::units::newton_t feedforwardForce)

void	SetVelocity (wpi::units::meters_per_second_t velocity, wpi::units::newton_t feedforwardForce)

Public Member Functions inherited from yams::motorcontrollers::SmartMotorController
virtual	~SmartMotorController ()

void	SetSimSupplier (std::shared_ptr< SimSupplier > supplier)

SimSupplier *	GetSimSupplier () const

void	SetVelocity (wpi::units::meters_per_second_t velocity, wpi::units::newton_t feedforwardForce)

wpi::units::second_t	GetClosedLoopControllerPeriod () const

void	StartClosedLoopController ()

void	StopClosedLoopController ()

void	IterateClosedLoopController ()

void	SetupTelemetry (std::shared_ptr< wpi::nt::NetworkTable > dataTable, std::shared_ptr< wpi::nt::NetworkTable > tuningTable)

void	SetupTelemetry ()

void	SetupLiveTuning ()

void	UpdateTelemetry ()

bool	TuningEnabled () const

void	ApplyTuningValues ()

void	StopLiveTuning ()

const std::vector< SmartMotorController * > &	GetLooselyCoupledFollowers () const

void	AddCloseHook (std::function< void()> hook)

SmartMotorController &	WithTelemetry (telemetry::SmartMotorControllerTelemetryConfig config)

ClosedLoopControllerSlot	GetClosedLoopControllerSlot () const

std::optional< wpi::units::turn_t >	GetMechanismPositionSetpoint () const

std::optional< wpi::units::turns_per_second_t >	GetMechanismSetpointVelocity () const

std::optional< wpi::units::meter_t >	GetMeasurementPositionSetpoint () const

std::optional< wpi::units::meters_per_second_t >	GetMeasurementSetpointVelocity () const

std::optional< wpi::units::newton_t >	GetSetpointFeedforwardForce () const

std::string	GetName () const

bool	IsMotor (const wpi::math::DCMotor &a, const wpi::math::DCMotor &b) const

void	CheckConfigSafety ()

void	Close ()

Additional Inherited Members
Public Types inherited from yams::motorcontrollers::SmartMotorController
using	ClosedLoopControllerSlot = SmartMotorControllerConfig::ClosedLoopControllerSlot

using	MotorMode = SmartMotorControllerConfig::MotorMode

using	ControlMode = SmartMotorControllerConfig::ControlMode

Protected Member Functions inherited from yams::motorcontrollers::SmartMotorController
void	LoadLooselyCoupledFollowers ()

void	ConfigureSoftwarePID (const SmartMotorControllerConfig &config)

void	ForwardPositionToFollowers (wpi::units::turn_t pos)

void	ForwardPositionToFollowers (wpi::units::meter_t dist)

void	ForwardVelocityToFollowers (wpi::units::turns_per_second_t vel)

void	ForwardVelocityToFollowers (wpi::units::meters_per_second_t vel)

const void *	BatterySimKey () const

Protected Attributes inherited from yams::motorcontrollers::SmartMotorController
SmartMotorControllerConfig *	m_config {nullptr}

ClosedLoopControllerSlot	m_slot {ClosedLoopControllerSlot::SLOT_0}

std::shared_ptr< SimSupplier >	m_simSupplier

std::vector< SmartMotorController * >	m_looseFollowers

std::optional< wpi::math::PIDController >	m_pid

std::optional< math::LQRController >	m_lqr

std::optional< wpi::math::TrapezoidProfile< wpi::units::turns >::State >	m_trapState

std::optional< wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::State >	m_expoState

std::optional< wpi::math::TrapezoidProfile< wpi::units::meters >::State >	m_linearTrapState

std::optional< wpi::math::ExponentialProfile< wpi::units::meters, wpi::units::volts >::State >	m_linearExpoState

std::optional< wpi::units::turn_t >	m_lastClosedLoopMechanismPosition

std::optional< wpi::units::turn_t >	m_setpointPosition

std::optional< wpi::units::turns_per_second_t >	m_setpointVelocity

std::optional< wpi::units::newton_t >	m_setpointFeedforwardForce

std::vector< std::function< void()> >	m_closeHooks

std::unique_ptr< wpi::Notifier >	m_closedLoopControllerThread

bool	m_closedLoopControllerRunning {false}

std::shared_ptr< wpi::nt::NetworkTable >	m_parentTable

std::shared_ptr< wpi::nt::NetworkTable >	m_telemetryTable

std::shared_ptr< wpi::nt::NetworkTable >	m_tuningTable

telemetry::SmartMotorControllerTelemetry	m_telemetry

telemetry::SmartMotorControllerTelemetryConfig	m_telemetryConfig

bool	m_telemetryConfigExplicit {false}

std::shared_ptr< telemetry::SmartMotorControllerTelemetryConfig >	m_specifiedTelemetryConfig

bool	m_liveTuningRegistered {false}

bool	m_closed {false}

Detailed Description

SmartMotorController implementation for REV SPARK Max and SPARK Flex motor controllers.

Supports both SPARK Max and SPARK Flex hardware via a common internal interface. Wraps REV SparkBase, SparkClosedLoopController, and encoder objects to satisfy the SmartMotorController contract.

The SPARK runs in the raw units of its feedback sensor (rotations and RPM of the motor's encoder, or of the external encoder when it is used for feedback); no conversion factors are configured. Gains, setpoints, MAXMotion constraints, tolerances and soft limits are scaled from YAMS mechanism units by the mechanism-to-feedback-sensor ratio.

Supported external encoders (WithExternalEncoder): rev::spark::SparkAbsoluteEncoder*, rev::spark::SparkMaxAlternateEncoder* / rev::spark::SparkFlexExternalEncoder* (quadrature), and rev::detached::DetachedEncoder* / rev::detached::SplineEncoder* (read over CAN).

External encoder discontinuity point (absolute and detached encoders): 0.5 rotations reports [-0.5, 0.5), 1 rotation (the default) reports [0, 1).

Example usage SPARK Max (inside a subsystem constructor)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::local;
using namespace yams::gearing;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   rev::spark::SparkMax          m_sparkMax{3,
rev::spark::SparkLowLevel::MotorType::kBrushless};
//   std::optional<SparkWrapper>   m_smc;
 
SmartMotorControllerConfig cfg;
cfg.WithSubsystem(this)
   .WithFeedback(1.0, 0.0, 0.0)
   .WithMechanismCircumference(0.25_in, 22)
   .WithMotorGearing(MechanismGearing{GearBox::FromReductionStages({3.0, 4.0})})
   .WithZeroPower(Cfg::MotorMode::BRAKE)
   .WithSupplyCurrentLimit(40.0_A)
   .WithMotorInverted(false)
   .WithFeedforward(wpi::math::ElevatorFeedforward{
       0.0_V, 0.0_V, wpi::units::unit_t<wpi::math::ElevatorFeedforward::kv_unit>{0.0},
       wpi::units::unit_t<wpi::math::ElevatorFeedforward::ka_unit>{0.0}})
   .WithClosedLoopMode()
   .WithTelemetry("ElevatorMotor", Cfg::TelemetryVerbosity::HIGH);
 
m_smc.emplace(&m_sparkMax, wpi::math::DCMotor::NEO(1), &cfg);

Example usage SPARK Flex

// Declare as subsystem members:
//   rev::spark::SparkFlex        m_sparkFlex{4,
rev::spark::SparkLowLevel::MotorType::kBrushless};
//   std::optional<SparkWrapper>  m_smc;
 
m_smc.emplace(&m_sparkFlex, wpi::math::DCMotor::NeoVortex(1), &cfg);

Constructor & Destructor Documentation

◆ SparkWrapper() [1/2]

yams::motorcontrollers::local::SparkWrapper::SparkWrapper	(	rev::spark::SparkMax *	spark,
		wpi::math::DCMotor	motor,
		SmartMotorControllerConfig *	config
	)

Construct a SparkWrapper around a SPARK Max.

Parameters

spark	Pointer to the SPARK Max hardware object (must outlive this wrapper).
motor	DC motor model used for simulation.
config	Pointer to the SmartMotorControllerConfig (must outlive this wrapper).

◆ SparkWrapper() [2/2]

yams::motorcontrollers::local::SparkWrapper::SparkWrapper	(	rev::spark::SparkFlex *	spark,
		wpi::math::DCMotor	motor,
		SmartMotorControllerConfig *	config
	)

Construct a SparkWrapper around a SPARK Flex.

Parameters

spark	Pointer to the SPARK Flex hardware object (must outlive this wrapper).
motor	DC motor model used for simulation.
config	Pointer to the SmartMotorControllerConfig (must outlive this wrapper).

◆ ~SparkWrapper()

yams::motorcontrollers::local::SparkWrapper::~SparkWrapper ( )

Member Function Documentation

◆ ApplyConfig()

bool yams::motorcontrollers::local::SparkWrapper::ApplyConfig ( const SmartMotorControllerConfig & config )

overridevirtual

Apply a SmartMotorControllerConfig to the underlying hardware.

Parameters

config Configuration to apply.

Returns: true if the configuration was applied successfully.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetConfig()

SmartMotorControllerConfig & yams::motorcontrollers::local::SparkWrapper::GetConfig ( )

overridevirtual

Get a mutable reference to the current configuration.

Returns: Reference to the SmartMotorControllerConfig.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetDCMotor()

wpi::math::DCMotor yams::motorcontrollers::local::SparkWrapper::GetDCMotor ( )

overridevirtual

Get the DC motor model associated with this controller.

Returns: wpi::math::DCMotor model.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetDutyCycle()

double yams::motorcontrollers::local::SparkWrapper::GetDutyCycle ( )

overridevirtual

Get the current motor duty cycle.

Returns: Duty cycle in [-1, 1].

Implements yams::motorcontrollers::SmartMotorController.

◆ GetExternalEncoderMechanismPosition()

std::optional< wpi::units::turn_t > yams::motorcontrollers::local::SparkWrapper::GetExternalEncoderMechanismPosition ( )

overridevirtual

Get the mechanism position from the external (absolute) encoder (applies the external encoder gearing). Available whether or not the external encoder is used for feedback.

Returns: Mechanism position in turns from the external encoder, or empty if none is attached.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetExternalEncoderMechanismVelocity()

std::optional< wpi::units::turns_per_second_t > yams::motorcontrollers::local::SparkWrapper::GetExternalEncoderMechanismVelocity ( )

overridevirtual

Get the mechanism velocity from the external (absolute) encoder (applies the external encoder gearing). Available whether or not the external encoder is used for feedback.

Returns: Mechanism velocity in turns per second from the external encoder, or empty if none is attached.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMeasurementAcceleration()

wpi::units::meters_per_second_squared_t yams::motorcontrollers::local::SparkWrapper::GetMeasurementAcceleration ( )

overridevirtual

Get the linear measurement acceleration.

Returns: Linear acceleration in meters per second squared.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMeasurementPosition()

wpi::units::meter_t yams::motorcontrollers::local::SparkWrapper::GetMeasurementPosition ( )

overridevirtual

Get the linear measurement position (applies circumference conversion).

Returns: Linear position in meters.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMeasurementVelocity()

wpi::units::meters_per_second_t yams::motorcontrollers::local::SparkWrapper::GetMeasurementVelocity ( )

overridevirtual

Get the linear measurement velocity (applies circumference conversion).

Returns: Linear velocity in meters per second.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMechanismAcceleration()

wpi::units::turns_per_second_squared_t yams::motorcontrollers::local::SparkWrapper::GetMechanismAcceleration ( )

overridevirtual

Get the mechanism acceleration (derived from velocity).

Returns: Mechanism acceleration in turns per second squared.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMechanismPosition()

wpi::units::turn_t yams::motorcontrollers::local::SparkWrapper::GetMechanismPosition ( )

overridevirtual

Get the mechanism position (applies gearing). Uses the external (absolute) encoder when one is configured with SmartMotorControllerConfig::WithUseExternalFeedbackEncoder(), otherwise the relative encoder. Use GetRelativeMechanismPosition() to only read the relative encoder.

Returns: Mechanism position in turns.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMechanismVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::local::SparkWrapper::GetMechanismVelocity ( )

overridevirtual

Get the mechanism velocity (applies gearing). Uses the external (absolute) encoder when one is configured with SmartMotorControllerConfig::WithUseExternalFeedbackEncoder(), otherwise the relative encoder. Use GetRelativeMechanismVelocity() to only read the relative encoder.

Returns: Mechanism velocity in turns per second.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMotorController()

void * yams::motorcontrollers::local::SparkWrapper::GetMotorController ( )

overridevirtual

Get a raw pointer to the underlying SPARK hardware object.

Returns: Pointer to the rev::spark::SparkBase instance (SparkMax or SparkFlex).

Implements yams::motorcontrollers::SmartMotorController.

◆ GetMotorControllerConfig()

void * yams::motorcontrollers::local::SparkWrapper::GetMotorControllerConfig ( )

overridevirtual

Get a raw pointer to the internally managed SPARK configuration object.

Returns: Pointer to the active SparkMaxConfig or SparkFlexConfig instance.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetRelativeMechanismPosition()

wpi::units::turn_t yams::motorcontrollers::local::SparkWrapper::GetRelativeMechanismPosition ( )

overridevirtual

Get the mechanism position from the relative encoder in the motor (applies gearing). Never uses the external (absolute) encoder.

Returns: Mechanism position in turns from the relative encoder.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetRelativeMechanismVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::local::SparkWrapper::GetRelativeMechanismVelocity ( )

overridevirtual

Get the mechanism velocity from the relative encoder in the motor (applies gearing). Never uses the external (absolute) encoder.

Returns: Mechanism velocity in turns per second from the relative encoder.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetRotorPosition()

wpi::units::turn_t yams::motorcontrollers::local::SparkWrapper::GetRotorPosition ( )

overridevirtual

Get the raw rotor position (no gearing applied).

Returns: Rotor position in turns.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetRotorVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::local::SparkWrapper::GetRotorVelocity ( )

overridevirtual

Get the raw rotor velocity (no gearing applied).

Returns: Rotor velocity in turns per second.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetStatorCurrent()

wpi::units::ampere_t yams::motorcontrollers::local::SparkWrapper::GetStatorCurrent ( )

overridevirtual

Get the stator (output) current draw.

Returns: Stator current.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetSupplyCurrent()

std::optional< wpi::units::ampere_t > yams::motorcontrollers::local::SparkWrapper::GetSupplyCurrent ( )

overridevirtual

SPARKs do not report supply current; always empty.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetTemperature()

wpi::units::celsius_t yams::motorcontrollers::local::SparkWrapper::GetTemperature ( )

overridevirtual

Get the motor controller temperature.

Returns: Temperature in degrees Celsius.

Implements yams::motorcontrollers::SmartMotorController.

◆ GetUnsupportedTelemetryFields()

telemetry::UnsupportedTelemetryFields yams::motorcontrollers::local::SparkWrapper::GetUnsupportedTelemetryFields ( )

overridevirtual

Return telemetry fields not supported by this motor controller implementation.

Subclasses override this to disable fields for hardware that lacks certain signals (e.g. SPARK controllers do not expose supply current).

Returns: Struct with optional lists of unsupported boolean and double fields.

Reimplemented from yams::motorcontrollers::SmartMotorController.

◆ GetVelocityMeasurementDelay()

std::optional< wpi::units::second_t > yams::motorcontrollers::local::SparkWrapper::GetVelocityMeasurementDelay ( ) const

overridevirtual

Read from the SPARK's encoder settings when the config is applied. The SPARK's closed loop uses the velocity as soon as it is filtered. A closed loop run on the SystemCore reads it from its status frame instead, which on average is half the frame's period older.

Reimplemented from yams::motorcontrollers::SmartMotorController.

◆ GetVoltage()

wpi::units::volt_t yams::motorcontrollers::local::SparkWrapper::GetVoltage ( )

overridevirtual

Get the voltage currently applied to the motor.

Returns: Applied voltage.

Implements yams::motorcontrollers::SmartMotorController.

◆ SeedRelativeEncoder()

void yams::motorcontrollers::local::SparkWrapper::SeedRelativeEncoder ( )

overridevirtual

Seed the relative encoder from the absolute sensor position (one-shot on startup).

Implements yams::motorcontrollers::SmartMotorController.

◆ SetClosedLoopRampRate()

void yams::motorcontrollers::local::SparkWrapper::SetClosedLoopRampRate ( wpi::units::second_t rampRate )

overridevirtual

Set the closed-loop output ramp rate.

Parameters

rampRate Time to ramp from 0 to full output.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetClosedLoopSlot()

void yams::motorcontrollers::local::SparkWrapper::SetClosedLoopSlot ( ClosedLoopControllerSlot slot )

overridevirtual

Select the active closed-loop gain slot.

Parameters

slot	Gain slot to activate.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetDutyCycle()

void yams::motorcontrollers::local::SparkWrapper::SetDutyCycle ( double dutyCycle )

overridevirtual

Command a duty-cycle output to the motor.

Parameters

dutyCycle Normalized duty cycle in [-1, 1].

Implements yams::motorcontrollers::SmartMotorController.

◆ SetEncoderInverted()

void yams::motorcontrollers::local::SparkWrapper::SetEncoderInverted ( bool inverted )

overridevirtual

Set the encoder count direction.

Parameters

inverted true to invert the encoder.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetEncoderPosition() [1/2]

void yams::motorcontrollers::local::SparkWrapper::SetEncoderPosition ( wpi::units::meter_t distance )

overridevirtual

Write a linear distance into the encoder (seeds the position). Converts distance to turns using the configured mechanism circumference.

Parameters

distance Linear distance to write.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetEncoderPosition() [2/2]

void yams::motorcontrollers::local::SparkWrapper::SetEncoderPosition ( wpi::units::turn_t angle )

overridevirtual

Write a mechanism angle into the encoder (seeds the position).

Parameters

angle Mechanism angle to write.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetEncoderVelocity() [1/2]

void yams::motorcontrollers::local::SparkWrapper::SetEncoderVelocity ( wpi::units::meters_per_second_t velocity )

overridevirtual

Linear version of SetEncoderVelocity(turns_per_second_t); throws without a mechanism circumference.

Parameters

velocity Mechanism linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetEncoderVelocity() [2/2]

void yams::motorcontrollers::local::SparkWrapper::SetEncoderVelocity ( wpi::units::turns_per_second_t velocity )

overridevirtual

Set the simulated encoder velocities. Throws std::runtime_error outside of simulation, since SPARKs do not support setting the encoder velocity.

Parameters

velocity Mechanism velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetExponentialProfile()

void yams::motorcontrollers::local::SparkWrapper::SetExponentialProfile	(	std::optional< double >	kV,
		std::optional< double >	kA,
		std::optional< wpi::units::volt_t >	maxInput
	)

overridevirtual

Update the exponential profile (run on the RoboRIO, SPARKs have no exponential profile). Missing values keep the configured ones.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetFeedback()

void yams::motorcontrollers::local::SparkWrapper::SetFeedback	(	double	kP,
		double	kI,
		double	kD
	)

overridevirtual

Set all three PID feedback gains at once (live update).

Parameters

kP	Proportional gain.
kI	Integral gain.
kD	Derivative gain.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetFeedforward()

void yams::motorcontrollers::local::SparkWrapper::SetFeedforward	(	double	kS,
		double	kV,
		double	kA,
		double	kG
	)

overridevirtual

Set all four feedforward gains at once (live update).

Parameters

kS	Static friction voltage.
kV	Velocity feedforward coefficient.
kA	Acceleration feedforward coefficient.
kG	Gravity feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKa()

void yams::motorcontrollers::local::SparkWrapper::SetKa ( double kA )

overridevirtual

Set the acceleration feedforward coefficient (live update).

Parameters

kA	Acceleration feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKd()

void yams::motorcontrollers::local::SparkWrapper::SetKd ( double kD )

overridevirtual

Set the derivative gain (live update).

Parameters

kD	Derivative gain.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKg()

void yams::motorcontrollers::local::SparkWrapper::SetKg ( double kG )

overridevirtual

Set the gravity feedforward gain (live update).

Uses kCos if an arm feedforward is configured (cosine gravity compensation), or kG otherwise (elevator/simple constant gravity compensation).

Parameters

kG	Gravity compensation coefficient.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKi()

void yams::motorcontrollers::local::SparkWrapper::SetKi ( double kI )

overridevirtual

Set the integral gain (live update).

Parameters

kI	Integral gain.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKp()

void yams::motorcontrollers::local::SparkWrapper::SetKp ( double kP )

overridevirtual

Set the proportional gain (live update).

Parameters

kP	Proportional gain.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKs()

void yams::motorcontrollers::local::SparkWrapper::SetKs ( double kS )

overridevirtual

Set the static friction feedforward (live update).

Parameters

kS	Static friction voltage.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetKv()

void yams::motorcontrollers::local::SparkWrapper::SetKv ( double kV )

overridevirtual

Set the velocity feedforward coefficient (live update).

Parameters

kV	Velocity feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMeasurementLowerLimit()

void yams::motorcontrollers::local::SparkWrapper::SetMeasurementLowerLimit ( wpi::units::meter_t lowerLimit )

overridevirtual

Set the lower soft limit via a linear measurement.

Requires both a mechanism circumference and an upper limit to already be configured. Converts the distance to turns using the circumference and applies it as the reverse soft limit on the SPARK hardware.

Parameters

lowerLimit Minimum linear distance the mechanism may travel in reverse.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMeasurementUpperLimit()

void yams::motorcontrollers::local::SparkWrapper::SetMeasurementUpperLimit ( wpi::units::meter_t upperLimit )

overridevirtual

Set the upper soft limit via a linear measurement.

Requires both a mechanism circumference and a lower limit to already be configured. Converts the distance to turns using the circumference and applies it as the forward soft limit on the SPARK hardware.

Parameters

upperLimit Maximum linear distance the mechanism may travel forward.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMechanismCircumference()

void yams::motorcontrollers::local::SparkWrapper::SetMechanismCircumference ( wpi::units::meter_t circumference )

overridevirtual

Update the mechanism circumference and rewrite the SPARK values that depend on it.

Parameters

circumference New mechanism circumference.

Reimplemented from yams::motorcontrollers::SmartMotorController.

◆ SetMechanismGearing()

void yams::motorcontrollers::local::SparkWrapper::SetMechanismGearing ( const gearing::MechanismGearing & gearing )

overridevirtual

Update the mechanism gearing and rewrite the SPARK values that depend on it (gains, MAXMotion constraints, tolerance and soft limits).

Parameters

gearing New mechanism gearing.

Reimplemented from yams::motorcontrollers::SmartMotorController.

◆ SetMechanismLimits()

void yams::motorcontrollers::local::SparkWrapper::SetMechanismLimits	(	wpi::units::turn_t	lower,
		wpi::units::turn_t	upper
	)

overridevirtual

Set both angular soft limits for the mechanism.

Parameters

lower	Lower angle limit.
upper	Upper angle limit.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMechanismLimitsEnabled()

void yams::motorcontrollers::local::SparkWrapper::SetMechanismLimitsEnabled ( bool enabled )

overridevirtual

Enable or disable the mechanism angular soft limits.

Parameters

enabled true to enforce the limits.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMechanismLowerLimit()

void yams::motorcontrollers::local::SparkWrapper::SetMechanismLowerLimit ( wpi::units::turn_t lowerLimit )

overridevirtual

Set the lower angular soft limit for the mechanism.

Parameters

lowerLimit Lower angle limit.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMechanismUpperLimit()

void yams::motorcontrollers::local::SparkWrapper::SetMechanismUpperLimit ( wpi::units::turn_t upperLimit )

overridevirtual

Set the upper angular soft limit for the mechanism.

Parameters

upperLimit Upper angle limit.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMotionProfileMaxAcceleration() [1/2]

void yams::motorcontrollers::local::SparkWrapper::SetMotionProfileMaxAcceleration ( wpi::units::meters_per_second_squared_t maxAcc )

overridevirtual

Set the maximum linear acceleration for the motion profile. Converts linear acceleration to turns per second squared using the configured mechanism circumference.

Parameters

maxAcc Maximum linear acceleration.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMotionProfileMaxAcceleration() [2/2]

void yams::motorcontrollers::local::SparkWrapper::SetMotionProfileMaxAcceleration ( wpi::units::turns_per_second_squared_t maxAcc )

overridevirtual

Set the maximum angular acceleration for the motion profile.

Parameters

maxAcc Maximum mechanism angular acceleration.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMotionProfileMaxJerk()

void yams::motorcontrollers::local::SparkWrapper::SetMotionProfileMaxJerk ( wpi::units::angular_jerk::turns_per_second_cubed_t maxJerk )

overridevirtual

Set the maximum jerk of a velocity trapezoidal profile (its acceleration constraint). Has no effect on position profiles. MAXMotion has no jerk limit, so only the RoboRIO profile changes.

Parameters

maxJerk Maximum angular jerk.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMotionProfileMaxVelocity() [1/2]

void yams::motorcontrollers::local::SparkWrapper::SetMotionProfileMaxVelocity ( wpi::units::meters_per_second_t maxVelocity )

overridevirtual

Set the maximum linear velocity for the motion profile. Converts linear velocity to turns per second using the configured mechanism circumference.

Parameters

maxVelocity Maximum linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMotionProfileMaxVelocity() [2/2]

void yams::motorcontrollers::local::SparkWrapper::SetMotionProfileMaxVelocity ( wpi::units::turns_per_second_t maxVelocity )

overridevirtual

Set the maximum angular velocity for the motion profile.

Parameters

maxVelocity Maximum mechanism angular velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetMotorInverted()

void yams::motorcontrollers::local::SparkWrapper::SetMotorInverted ( bool inverted )

overridevirtual

Set the motor output direction.

Parameters

inverted true to invert the motor direction.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetOpenLoopRampRate()

void yams::motorcontrollers::local::SparkWrapper::SetOpenLoopRampRate ( wpi::units::second_t rampRate )

overridevirtual

Set the open-loop output ramp rate.

Parameters

rampRate Time to ramp from 0 to full output.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetPosition() [1/2]

void yams::motorcontrollers::local::SparkWrapper::SetPosition ( wpi::units::meter_t distance )

overridevirtual

Command a linear measurement position setpoint (closed-loop). Converts distance to turns using the configured mechanism circumference.

Parameters

distance Target linear distance.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetPosition() [2/2]

void yams::motorcontrollers::local::SparkWrapper::SetPosition ( wpi::units::turn_t angle )

overridevirtual

Command a mechanism angle position setpoint (closed-loop).

Parameters

angle Target mechanism angle.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetStatorCurrentLimit()

void yams::motorcontrollers::local::SparkWrapper::SetStatorCurrentLimit ( wpi::units::ampere_t currentLimit )

overridevirtual

Set the stator (output) current limit.

Parameters

currentLimit Maximum stator current.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetSupplyCurrentLimit()

void yams::motorcontrollers::local::SparkWrapper::SetSupplyCurrentLimit ( wpi::units::ampere_t currentLimit )

overridevirtual

Supply current limits are not supported on SPARKs; has no effect.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetupSimulation()

void yams::motorcontrollers::local::SparkWrapper::SetupSimulation ( )

overridevirtual

Initialize the DCMotorSim used for simulation.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetVelocity() [1/7]

void yams::motorcontrollers::local::SparkWrapper::SetVelocity ( wpi::units::meters_per_second_t velocity )

overridevirtual

Command a linear measurement velocity setpoint (closed-loop). Converts linear velocity to turns per second using the configured mechanism circumference.

Parameters

velocity Target linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetVelocity() [2/7]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::meters_per_second_t velocity )

virtual

Command a linear measurement velocity setpoint (closed-loop).

Parameters

velocity Target linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetVelocity() [3/7]

void yams::motorcontrollers::SmartMotorController::SetVelocity	(	wpi::units::meters_per_second_t	velocity,
		wpi::units::newton_t	feedforwardForce
	)

Command a linear velocity setpoint with an additional feedforward force applied on top.

Throws SmartMotorControllerConfigurationException if the mechanism circumference is not configured.

Parameters

velocity	Target linear velocity.
feedforwardForce	Additional feedforward force at the mechanism.

◆ SetVelocity() [4/7]

void yams::motorcontrollers::local::SparkWrapper::SetVelocity ( wpi::units::turns_per_second_t velocity )

overridevirtual

Command a mechanism angular velocity setpoint (closed-loop).

Parameters

velocity Target mechanism angular velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetVelocity() [5/7]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::turns_per_second_t velocity )

virtual

Command a mechanism angular velocity setpoint (closed-loop).

Parameters

velocity Target mechanism angular velocity.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetVelocity() [6/7]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity	(	wpi::units::turns_per_second_t	velocity,
		wpi::units::newton_t	feedforwardForce
	)

virtual

Command a mechanism angular velocity setpoint with an additional feedforward force applied on top, e.g. from a path-following set-point generator.

The force is converted to a voltage with SmartMotorControllerConfig::ConvertToVoltage and added by the RoboRIO closed-loop controller, so the mechanism circumference must be set.

Parameters

velocity	Target mechanism angular velocity.
feedforwardForce	Additional feedforward force at the mechanism.

Reimplemented from yams::motorcontrollers::SmartMotorController.

◆ SetVelocity() [7/7]

void yams::motorcontrollers::local::SparkWrapper::SetVelocity	(	wpi::units::turns_per_second_t	velocity,
		wpi::units::newton_t	feedforwardForce
	)

overridevirtual

Command a velocity setpoint with an additional feedforward force, sent to the SPARK as an arbitrary feedforward voltage (or added by the RoboRIO loop when an LQR is used).

Parameters

velocity	Target mechanism angular velocity.
feedforwardForce	Additional feedforward force at the mechanism.

Reimplemented from yams::motorcontrollers::SmartMotorController.

◆ SetVoltage()

void yams::motorcontrollers::local::SparkWrapper::SetVoltage ( wpi::units::volt_t voltage )

overridevirtual

Command a voltage output to the motor.

Parameters

voltage Voltage to apply.

Implements yams::motorcontrollers::SmartMotorController.

◆ SetZeroPower()

void yams::motorcontrollers::local::SparkWrapper::SetZeroPower ( MotorMode mode )

overridevirtual

Set the idle (neutral) mode of the motor.

Parameters

mode	COAST or BRAKE.

Implements yams::motorcontrollers::SmartMotorController.

◆ SimIterate()

void yams::motorcontrollers::local::SparkWrapper::SimIterate ( )

overridevirtual

Advance the motor simulation by one loop iteration.

Implements yams::motorcontrollers::SmartMotorController.

◆ SynchronizeRelativeEncoder()

void yams::motorcontrollers::local::SparkWrapper::SynchronizeRelativeEncoder ( )

overridevirtual

Periodically re-synchronize the relative encoder to the absolute sensor.

Implements yams::motorcontrollers::SmartMotorController.

The documentation for this class was generated from the following file:

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/local/SparkWrapper.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Example usage SPARK Max (inside a subsystem constructor)

Example usage SPARK Flex

Constructor & Destructor Documentation

◆ SparkWrapper() [1/2]

◆ SparkWrapper() [2/2]

◆ ~SparkWrapper()

Member Function Documentation

◆ ApplyConfig()

◆ GetConfig()

◆ GetDCMotor()

◆ GetDutyCycle()

◆ GetExternalEncoderMechanismPosition()

◆ GetExternalEncoderMechanismVelocity()

◆ GetMeasurementAcceleration()

◆ GetMeasurementPosition()

◆ GetMeasurementVelocity()

◆ GetMechanismAcceleration()

◆ GetMechanismPosition()

◆ GetMechanismVelocity()

◆ GetMotorController()

◆ GetMotorControllerConfig()

◆ GetRelativeMechanismPosition()

◆ GetRelativeMechanismVelocity()

◆ GetRotorPosition()

◆ GetRotorVelocity()

◆ GetStatorCurrent()

◆ GetSupplyCurrent()

◆ GetTemperature()

◆ GetUnsupportedTelemetryFields()

◆ GetVelocityMeasurementDelay()

◆ GetVoltage()

◆ SeedRelativeEncoder()

◆ SetClosedLoopRampRate()

◆ SetClosedLoopSlot()

◆ SetDutyCycle()

◆ SetEncoderInverted()

◆ SetEncoderPosition() [1/2]

◆ SetEncoderPosition() [2/2]

◆ SetEncoderVelocity() [1/2]

◆ SetEncoderVelocity() [2/2]

◆ SetExponentialProfile()

◆ SetFeedback()

◆ SetFeedforward()

◆ SetKa()

◆ SetKd()

◆ SetKg()

◆ SetKi()

◆ SetKp()

◆ SetKs()

◆ SetKv()

◆ SetMeasurementLowerLimit()

◆ SetMeasurementUpperLimit()

◆ SetMechanismCircumference()

◆ SetMechanismGearing()

◆ SetMechanismLimits()

◆ SetMechanismLimitsEnabled()

◆ SetMechanismLowerLimit()

◆ SetMechanismUpperLimit()

◆ SetMotionProfileMaxAcceleration() [1/2]

◆ SetMotionProfileMaxAcceleration() [2/2]

◆ SetMotionProfileMaxJerk()

◆ SetMotionProfileMaxVelocity() [1/2]

◆ SetMotionProfileMaxVelocity() [2/2]

◆ SetMotorInverted()

◆ SetOpenLoopRampRate()

◆ SetPosition() [1/2]

◆ SetPosition() [2/2]

◆ SetStatorCurrentLimit()

◆ SetSupplyCurrentLimit()

◆ SetupSimulation()

◆ SetVelocity() [1/7]

◆ SetVelocity() [2/7]

◆ SetVelocity() [3/7]

◆ SetVelocity() [4/7]

◆ SetVelocity() [5/7]

◆ SetVelocity() [6/7]

◆ SetVelocity() [7/7]