Package org.texastorque.torquelib.legacy

Class TorqueSparkMax

java.lang.Object
org.texastorque.torquelib.legacy.base.TorqueMotor
org.texastorque.torquelib.legacy.TorqueSparkMax
All Implemented Interfaces:
TorqueEncoderMotor, TorquePIDMotor, TorqueSmartMotor
@Deprecated public final class TorqueSparkMax extends TorqueMotor implements TorqueSmartMotor
Deprecated.
NOT SUITABLE FOR 2023
The Texas Torque wrapper for the SparkMax motor controller.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final double
    CLICKS_PER_ROTATION
    Deprecated.
    Clicks per rotation on the motor encoder.

    Fields inherited from class org.texastorque.torquelib.legacy.base.TorqueMotor

    port

  • Constructor Summary

    Constructors
    Constructor
    Description
    TorqueSparkMax(int port)
    Deprecated.
    Construct a new TorqueSparkMax motor.

  • Method Summary

    Modifier and Type
    Method
    Description
    final void
    addFollower(int port)
    Deprecated.
    Add a follower SparkMax.
    final void
    addFollower(int port, boolean invert)
    Deprecated.
    Add a follower SparkMax and optionally invert.
    final void
    burnFlash()
    Deprecated.
    Burns the SparkMax flash.
    final void
    configureDumbCANFrame()
    Deprecated.
    Configure the CAN frames for a "dumb motor," which won't need to access CAN data often or at all.
    final void
    configureDumbLeaderCANFrame()
    Deprecated.
    Configure the CAN frames for a "dumb motor" leader, which won't give data often but will update fast for its follower.
    final void
    configureFastLeader()
    Deprecated.
    Configures CAN frames to be quick on the lead motor.
    final void
    configureIZone(double iZone)
    Deprecated.
    I-Zone is now included in KPID.
    final void
    configurePID(TorquePID pid)
    Deprecated.
    Configures the PID controller for the motor.
    final void
    configurePID(KPID kPID)
    Deprecated.
    final void
    configurePositionalCANFrame()
    Deprecated.
    Configures the CAN frame for a no-follower encoder-positional only sparkmax; such as would be in a climber.
    final void
    configureSmartMotion(double maxVelocity, double minVelocity, double maxAcceleration, double allowedError, int id)
    Deprecated.
    Configure needed variables for smart motion.
    final void
    disableVoltageCompensation()
    Deprecated.
     
    final double
    getAcceleration()
    Deprecated.
    Get the acceleration of the motor in encoder units per second per second.
    final double
    getAccelerationRPM()
    Deprecated.
    Get the acceleration of the motor in RPM/s.
    final double
    getAccelerationRPS()
    Deprecated.
    Get the acceleration of the motor in RPS/s.
    final double
    getCurrent()
    Deprecated.
    Gets current used by the SparkMax.
    final double
    getPosition()
    Deprecated.
    Get the position of the motor in encoder units.
    final double
    getPositionDegrees()
    Deprecated.
    Get the position of the motor in degrees.
    final double
    getPositionRotations()
    Deprecated.
    Get the position of the motor in rotations.
    final double
    getVelocity()
    Deprecated.
    Get the velocity of the motor in encoder units per second.
    final double
    getVelocityRPM()
    Deprecated.
    Get the velocity of the motor in RPM.
    final double
    getVelocityRPS()
    Deprecated.
    Get the velocity of the motor in RPS.
    final double
    getVoltage()
    Deprecated.
    Gets voltage used by the SparkMax.
    final void
    invert(boolean invert)
    Deprecated.
    Sets the inversion status of the lead motor.
    final void
    lowerFollowerCANFrame()
    Deprecated.
    Reduce the CAN frame interval for a follower.
    final void
    restoreFactoryDefaults()
    Deprecated.
    Restores the lead SparkMax to factory defaults.
    final void
    setCurrent(double setpoint)
    Deprecated.
    Set the motor to output a certain current setpoint.
    final void
    setEncoderZero(double position)
    Deprecated.
     
    final void
    setPercent(double percent)
    Deprecated.
    Sets the output of the motor to the given percent.
    final void
    setPosition(double setpoint)
    Deprecated.
    Set the motor's position in encoder units.
    final void
    setPositionConversionFactor(double positionFactor)
    Deprecated.
     
    final void
    setPositionDegrees(double setpoint)
    Deprecated.
    Set the motor's position in degrees.
    final void
    setPositionRotations(double setpoint)
    Deprecated.
    Set the motor's position in rotations.
    final void
    setSupplyLimit(int limit)
    Deprecated.
    Set a supply limit for the SparkMax.
    final void
    setVelocity(double setpoint)
    Deprecated.
    Set the motor's velocity in encoder units per second.
    final void
    setVelocityConversionFactor(double velocityFactor)
    Deprecated.
     
    final void
    setVelocityRPM(double setpoint)
    Deprecated.
    Set the motor's velocity in RPM.
    final void
    setVelocityRPS(double setpoint)
    Deprecated.
    Set the motor's velocity in RPS.
    final void
    setVoltage(double setpoint)
    Deprecated.
    Set the motor to output a certain voltage setpoint.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • CLICKS_PER_ROTATION

      public final double CLICKS_PER_ROTATION
      Deprecated.
      Clicks per rotation on the motor encoder.

  • Constructor Details

    • TorqueSparkMax

      public TorqueSparkMax(int port)
      Deprecated.
      Construct a new TorqueSparkMax motor.
      Parameters:
      port - The port (ID) of the motor.

  • Method Details

    • addFollower

      public final void addFollower(int port)
      Deprecated.
      Add a follower SparkMax.
      Specified by:
      addFollower in class TorqueMotor
      Parameters:
      port - The port (ID) of the follower SparkMax.

    • addFollower

      public final void addFollower(int port, boolean invert)
      Deprecated.
      Add a follower SparkMax and optionally invert.
      Specified by:
      addFollower in class TorqueMotor
      Parameters:
      port - The port (ID) of the follower SparkMax.

    • invert

      public final void invert(boolean invert)
      Deprecated.
      Sets the inversion status of the lead motor.
      Specified by:
      invert in class TorqueMotor
      Parameters:
      invert - To invert or not to invert.

    • setPosition

      public final void setPosition(double setpoint)
      Deprecated.
      Set the motor's position in encoder units.
      Specified by:
      setPosition in interface TorquePIDMotor
      Parameters:
      setpoint - The encoder units to set the motor to.

    • configurePID

      @Deprecated public final void configurePID(KPID kPID)
      Deprecated.
      Configures the PID controller for the motor.
      Specified by:
      configurePID in interface TorquePIDMotor
      Parameters:
      kPID - The KPID value to configure the motor too.

    • configurePID

      public final void configurePID(TorquePID pid)
      Deprecated.
      Configures the PID controller for the motor.
      Specified by:
      configurePID in interface TorquePIDMotor
      Parameters:
      pid - The PID to configure the motor with.

    • setPercent

      public final void setPercent(double percent)
      Deprecated.
      Sets the output of the motor to the given percent.
      Specified by:
      setPercent in class TorqueMotor
      Parameters:
      percent - The percent the motor should output at.

    • setVoltage

      public final void setVoltage(double setpoint)
      Deprecated.
      Set the motor to output a certain voltage setpoint.
      Specified by:
      setVoltage in class TorqueMotor
      Parameters:
      setpoint - The voltage to output.

    • setPositionDegrees

      public final void setPositionDegrees(double setpoint)
      Deprecated.
      Set the motor's position in degrees.
      Specified by:
      setPositionDegrees in interface TorquePIDMotor
      Parameters:
      setpoint - The degrees to set the motor to.

    • setPositionRotations

      public final void setPositionRotations(double setpoint)
      Deprecated.
      Set the motor's position in rotations.
      Specified by:
      setPositionRotations in interface TorquePIDMotor
      Parameters:
      setpoint - The rotations to set the motor to.

    • setVelocity

      public final void setVelocity(double setpoint)
      Deprecated.
      Set the motor's velocity in encoder units per second.
      Specified by:
      setVelocity in interface TorquePIDMotor
      Parameters:
      setpoint - The encoder units per second to set the motor to.

    • setVelocityRPS

      public final void setVelocityRPS(double setpoint)
      Deprecated.
      Set the motor's velocity in RPS.
      Specified by:
      setVelocityRPS in interface TorquePIDMotor
      Parameters:
      setpoint - The RPS to set the motor to.

    • setVelocityRPM

      public final void setVelocityRPM(double setpoint)
      Deprecated.
      Set the motor's velocity in RPM.
      Specified by:
      setVelocityRPM in interface TorquePIDMotor
      Parameters:
      setpoint - The RPM to set the motor to.

    • getPosition

      public final double getPosition()
      Deprecated.
      Get the position of the motor in encoder units.
      Specified by:
      getPosition in interface TorqueEncoderMotor
      Returns:
      The position of the encoder in encoder units.

    • getPositionDegrees

      public final double getPositionDegrees()
      Deprecated.
      Get the position of the motor in degrees.
      Specified by:
      getPositionDegrees in interface TorqueEncoderMotor
      Returns:
      The position of the encoder in degrees.

    • getPositionRotations

      public final double getPositionRotations()
      Deprecated.
      Get the position of the motor in rotations.
      Specified by:
      getPositionRotations in interface TorqueEncoderMotor
      Returns:
      The position of the encoder in rotations.

    • getVelocity

      public final double getVelocity()
      Deprecated.
      Get the velocity of the motor in encoder units per second.
      Specified by:
      getVelocity in interface TorqueEncoderMotor
      Returns:
      acceleration in encoder units per second.

    • getVelocityRPS

      public final double getVelocityRPS()
      Deprecated.
      Get the velocity of the motor in RPS.
      Specified by:
      getVelocityRPS in interface TorqueEncoderMotor
      Returns:
      acceleration in RPS.

    • getVelocityRPM

      public final double getVelocityRPM()
      Deprecated.
      Get the velocity of the motor in RPM.
      Specified by:
      getVelocityRPM in interface TorqueEncoderMotor
      Returns:
      acceleration in RPM.

    • getAcceleration

      public final double getAcceleration()
      Deprecated.
      Get the acceleration of the motor in encoder units per second per second.
      Specified by:
      getAcceleration in interface TorqueEncoderMotor
      Returns:
      acceleration in encoder units per second per second.

    • getAccelerationRPS

      public final double getAccelerationRPS()
      Deprecated.
      Get the acceleration of the motor in RPS/s.
      Specified by:
      getAccelerationRPS in interface TorqueEncoderMotor
      Returns:
      acceleration in RPM/s.

    • getAccelerationRPM

      public final double getAccelerationRPM()
      Deprecated.
      Get the acceleration of the motor in RPM/s.
      Specified by:
      getAccelerationRPM in interface TorqueEncoderMotor
      Returns:
      acceleration in RPM/s.

    • restoreFactoryDefaults

      public final void restoreFactoryDefaults()
      Deprecated.
      Restores the lead SparkMax to factory defaults.

    • disableVoltageCompensation

      public final void disableVoltageCompensation()
      Deprecated.

    • getVoltage

      public final double getVoltage()
      Deprecated.
      Gets voltage used by the SparkMax.
      Returns:
      The voltage used by the SparkMax.

    • getCurrent

      public final double getCurrent()
      Deprecated.
      Gets current used by the SparkMax.
      Returns:
      The current used by the SparkMax.

    • setCurrent

      public final void setCurrent(double setpoint)
      Deprecated.
      Set the motor to output a certain current setpoint.
      Parameters:
      setpoint - The current to output.

    • burnFlash

      public final void burnFlash()
      Deprecated.
      Burns the SparkMax flash.

    • configureIZone

      @Deprecated public final void configureIZone(double iZone)
      Deprecated.
      I-Zone is now included in KPID.
      Configures an I-Zone on PID.
      Parameters:
      iZone - The I-Zone value to set.

    • setSupplyLimit

      public final void setSupplyLimit(int limit)
      Deprecated.
      Set a supply limit for the SparkMax.
      Parameters:
      limit - max amps.

    • configureSmartMotion

      public final void configureSmartMotion(double maxVelocity, double minVelocity, double maxAcceleration, double allowedError, int id)
      Deprecated.
      Configure needed variables for smart motion. - setSmartMotionMaxVelocity() will limit the velocity in RPM of the pid controller in Smart Motion mode - setSmartMotionMinOutputVelocity() will put a lower bound in RPM of the pid controller in Smart Motion mode - setSmartMotionMaxAccel() will limit the acceleration in RPM^2 of the pid controller in Smart Motion mode - setSmartMotionAllowedClosedLoopError() will set the max allowed error for the pid controller in Smart Motion mode
      Parameters:
      maxVelocity - the max velocity
      minVelocity - the min velocity
      maxAcceleration - the maxAcceleration
      allowedError - the allowed amount of error
      id - the id for the pid (usually 0)

    • configureFastLeader

      public final void configureFastLeader()
      Deprecated.
      Configures CAN frames to be quick on the lead motor.

    • configureDumbCANFrame

      public final void configureDumbCANFrame()
      Deprecated.
      Configure the CAN frames for a "dumb motor," which won't need to access CAN data often or at all.

    • configureDumbLeaderCANFrame

      public final void configureDumbLeaderCANFrame()
      Deprecated.
      Configure the CAN frames for a "dumb motor" leader, which won't give data often but will update fast for its follower.

    • configurePositionalCANFrame

      public final void configurePositionalCANFrame()
      Deprecated.
      Configures the CAN frame for a no-follower encoder-positional only sparkmax; such as would be in a climber.

    • lowerFollowerCANFrame

      public final void lowerFollowerCANFrame()
      Deprecated.
      Reduce the CAN frame interval for a follower.

    • setPositionConversionFactor

      public final void setPositionConversionFactor(double positionFactor)
      Deprecated.

    • setVelocityConversionFactor

      public final void setVelocityConversionFactor(double velocityFactor)
      Deprecated.

    • setEncoderZero

      public final void setEncoderZero(double position)
      Deprecated.