Class CANSparkMaxDriver

Inheritance
Object
CANSparkMaxDriver
Namespace: REV.SparkMax
Assembly: WPILibSharp.REV.SparkMax.dll
Syntax
public class CANSparkMaxDriver : object

Methods

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BurnFlash(Void*)

Declaration
public static ErrorCode BurnFlash(void *handle)
Parameters
Type Name Description
Void* handle
Returns
Type Description
ErrorCode
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ClearFaults(Void*)

Declaration
public static ErrorCode ClearFaults(void *handle)
Parameters
Type Name Description
Void* handle
Returns
Type Description
ErrorCode
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Create(Int32, MotorType)

Declaration
public static void *Create(int deviceId, MotorType type)
Parameters
Type Name Description
Int32 deviceId
MotorType type
Returns
Type Description
Void*
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Create_Inplace(Int32)

Declaration
public static void *Create_Inplace(int deviceId)
Parameters
Type Name Description
Int32 deviceId
Returns
Type Description
Void*
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Destroy(Void*)

Declaration
public static void Destroy(void *handle)
Parameters
Type Name Description
Void* handle
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DisableVoltageCompensation(Void*)

Declaration
public static ErrorCode DisableVoltageCompensation(void *handle)
Parameters
Type Name Description
Void* handle
Returns
Type Description
ErrorCode
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EnableLimitSwitch(Void*, LimitDirection, Byte)

Declaration
public static ErrorCode EnableLimitSwitch(void *handle, LimitDirection sw, byte enable)
Parameters
Type Name Description
Void* handle
LimitDirection sw
Byte enable
Returns
Type Description
ErrorCode
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EnableSoftLimit(Void*, LimitDirection, Byte)

Declaration
public static ErrorCode EnableSoftLimit(void *handle, LimitDirection dir, byte enable)
Parameters
Type Name Description
Void* handle
LimitDirection dir
Byte enable
Returns
Type Description
ErrorCode
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EnableVoltageCompensation(Void*, Single)

Declaration
public static ErrorCode EnableVoltageCompensation(void *handle, float nominalVoltage)
Parameters
Type Name Description
Void* handle
Single nominalVoltage
Returns
Type Description
ErrorCode
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FactoryWipe(Void*, Byte)

Declaration
public static ErrorCode FactoryWipe(void *handle, byte persist)
Parameters
Type Name Description
Void* handle
Byte persist
Returns
Type Description
ErrorCode
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GenerateError(Int32, ErrorCode)

Declaration
public static ErrorCode GenerateError(int deviceID, ErrorCode error)
Parameters
Type Name Description
Int32 deviceID
ErrorCode error
Returns
Type Description
ErrorCode
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GetAltEncoderAverageDepth(Void*, UInt32*)

Declaration
public static ErrorCode GetAltEncoderAverageDepth(void *handle, uint *depth)
Parameters
Type Name Description
Void* handle
UInt32* depth
Returns
Type Description
ErrorCode
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GetAltEncoderCountsPerRevolution(Void*, UInt32*)

Declaration
public static ErrorCode GetAltEncoderCountsPerRevolution(void *handle, uint *cpr)
Parameters
Type Name Description
Void* handle
UInt32* cpr
Returns
Type Description
ErrorCode
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GetAltEncoderInverted(Void*, Byte*)

Declaration
public static ErrorCode GetAltEncoderInverted(void *handle, byte *inverted)
Parameters
Type Name Description
Void* handle
Byte* inverted
Returns
Type Description
ErrorCode
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GetAltEncoderMeasurementPeriod(Void*, UInt32*)

Declaration
public static ErrorCode GetAltEncoderMeasurementPeriod(void *handle, uint *samples)
Parameters
Type Name Description
Void* handle
UInt32* samples
Returns
Type Description
ErrorCode
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GetAltEncoderPosition(Void*, Single*)

Declaration
public static ErrorCode GetAltEncoderPosition(void *handle, float *position)
Parameters
Type Name Description
Void* handle
Single* position
Returns
Type Description
ErrorCode
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GetAltEncoderPositionFactor(Void*, Single*)

Declaration
public static ErrorCode GetAltEncoderPositionFactor(void *handle, float *conversion)
Parameters
Type Name Description
Void* handle
Single* conversion
Returns
Type Description
ErrorCode
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GetAltEncoderVelocity(Void*, Single*)

Declaration
public static ErrorCode GetAltEncoderVelocity(void *handle, float *velocity)
Parameters
Type Name Description
Void* handle
Single* velocity
Returns
Type Description
ErrorCode
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GetAltEncoderVelocityFactor(Void*, Single*)

Declaration
public static ErrorCode GetAltEncoderVelocityFactor(void *handle, float *conversion)
Parameters
Type Name Description
Void* handle
Single* conversion
Returns
Type Description
ErrorCode
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GetAnalogAverageDepth(Void*, UInt32*)

Declaration
public static ErrorCode GetAnalogAverageDepth(void *handle, uint *depth)
Parameters
Type Name Description
Void* handle
UInt32* depth
Returns
Type Description
ErrorCode
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GetAnalogInverted(Void*, Byte*)

Declaration
public static ErrorCode GetAnalogInverted(void *handle, byte *inverted)
Parameters
Type Name Description
Void* handle
Byte* inverted
Returns
Type Description
ErrorCode
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GetAnalogMeasurementPeriod(Void*, UInt32*)

Declaration
public static ErrorCode GetAnalogMeasurementPeriod(void *handle, uint *samples)
Parameters
Type Name Description
Void* handle
UInt32* samples
Returns
Type Description
ErrorCode
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GetAnalogMode(Void*, AnalogMode*)

Declaration
public static ErrorCode GetAnalogMode(void *handle, AnalogMode*mode)
Parameters
Type Name Description
Void* handle
AnalogMode* mode
Returns
Type Description
ErrorCode
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GetAnalogPosition(Void*, Single*)

Declaration
public static ErrorCode GetAnalogPosition(void *handle, float *position)
Parameters
Type Name Description
Void* handle
Single* position
Returns
Type Description
ErrorCode
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GetAnalogPositionConversionFactor(Void*, Single*)

Declaration
public static ErrorCode GetAnalogPositionConversionFactor(void *handle, float *conversion)
Parameters
Type Name Description
Void* handle
Single* conversion
Returns
Type Description
ErrorCode
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GetAnalogVelocity(Void*, Single*)

Declaration
public static ErrorCode GetAnalogVelocity(void *handle, float *velocity)
Parameters
Type Name Description
Void* handle
Single* velocity
Returns
Type Description
ErrorCode
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GetAnalogVelocityConversionFactor(Void*, Single*)

Declaration
public static ErrorCode GetAnalogVelocityConversionFactor(void *handle, float *conversion)
Parameters
Type Name Description
Void* handle
Single* conversion
Returns
Type Description
ErrorCode
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GetAnalogVoltage(Void*, Single*)

Declaration
public static ErrorCode GetAnalogVoltage(void *handle, float *voltage)
Parameters
Type Name Description
Void* handle
Single* voltage
Returns
Type Description
ErrorCode
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GetAPIVersion()

Declaration
public static APIVersion GetAPIVersion()
Returns
Type Description
APIVersion
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GetAppliedOutput(Void*, Single*)

Declaration
public static ErrorCode GetAppliedOutput(void *handle, float *appliedOutput)
Parameters
Type Name Description
Void* handle
Single* appliedOutput
Returns
Type Description
ErrorCode
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GetAverageDepth(Void*, UInt32*)

Declaration
public static ErrorCode GetAverageDepth(void *handle, uint *depth)
Parameters
Type Name Description
Void* handle
UInt32* depth
Returns
Type Description
ErrorCode
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GetBusVoltage(Void*, Single*)

Declaration
public static ErrorCode GetBusVoltage(void *handle, float *busVoltage)
Parameters
Type Name Description
Void* handle
Single* busVoltage
Returns
Type Description
ErrorCode
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GetClosedLoopRampRate(Void*, Single*)

Declaration
public static ErrorCode GetClosedLoopRampRate(void *handle, float *rate)
Parameters
Type Name Description
Void* handle
Single* rate
Returns
Type Description
ErrorCode
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GetControlFramePeriod(Void*)

Declaration
public static int GetControlFramePeriod(void *handle)
Parameters
Type Name Description
Void* handle
Returns
Type Description
Int32
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GetCountsPerRevolution(Void*, UInt32*)

Declaration
public static ErrorCode GetCountsPerRevolution(void *handle, uint *cpr)
Parameters
Type Name Description
Void* handle
UInt32* cpr
Returns
Type Description
ErrorCode
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GetD(Void*, Int32, Single*)

Declaration
public static ErrorCode GetD(void *handle, int slotID, float *gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* gain
Returns
Type Description
ErrorCode
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GetDataPortConfig(Void*, DataPortConfig*)

Declaration
public static ErrorCode GetDataPortConfig(void *handle, DataPortConfig*config)
Parameters
Type Name Description
Void* handle
DataPortConfig* config
Returns
Type Description
ErrorCode
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GetDeviceId(Void*, Int32*)

Declaration
public static ErrorCode GetDeviceId(void *handle, int *deviceId)
Parameters
Type Name Description
Void* handle
Int32* deviceId
Returns
Type Description
ErrorCode
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GetDFilter(Void*, Int32, Single*)

Declaration
public static ErrorCode GetDFilter(void *handle, int slotID, float *gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* gain
Returns
Type Description
ErrorCode
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GetDRVStatus(Void*, DRVStatus*)

Declaration
public static ErrorCode GetDRVStatus(void *handle, DRVStatus*drvStatus)
Parameters
Type Name Description
Void* handle
DRVStatus* drvStatus
Returns
Type Description
ErrorCode
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GetEncoderInverted(Void*, Byte*)

Declaration
public static ErrorCode GetEncoderInverted(void *handle, byte *inverted)
Parameters
Type Name Description
Void* handle
Byte* inverted
Returns
Type Description
ErrorCode
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GetEncoderPosition(Void*, Single*)

Declaration
public static ErrorCode GetEncoderPosition(void *handle, float *position)
Parameters
Type Name Description
Void* handle
Single* position
Returns
Type Description
ErrorCode
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GetEncoderVelocity(Void*, Single*)

Declaration
public static ErrorCode GetEncoderVelocity(void *handle, float *velocity)
Parameters
Type Name Description
Void* handle
Single* velocity
Returns
Type Description
ErrorCode
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GetFault(Void*, FaultID, Byte*)

Declaration
public static ErrorCode GetFault(void *handle, FaultID faultId, byte *fault)
Parameters
Type Name Description
Void* handle
FaultID faultId
Byte* fault
Returns
Type Description
ErrorCode
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GetFaults(Void*, UInt16*)

Declaration
public static ErrorCode GetFaults(void *handle, ushort *faults)
Parameters
Type Name Description
Void* handle
UInt16* faults
Returns
Type Description
ErrorCode
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GetFeedbackDeviceID(Void*, UInt32*)

Declaration
public static ErrorCode GetFeedbackDeviceID(void *handle, uint *id)
Parameters
Type Name Description
Void* handle
UInt32* id
Returns
Type Description
ErrorCode
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GetFF(Void*, Int32, Single*)

Declaration
public static ErrorCode GetFF(void *handle, int slotID, float *gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* gain
Returns
Type Description
ErrorCode
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GetFirmwareVersion(Void*, FirmwareVersion*)

Declaration
public static ErrorCode GetFirmwareVersion(void *handle, FirmwareVersion*fwVersion)
Parameters
Type Name Description
Void* handle
FirmwareVersion* fwVersion
Returns
Type Description
ErrorCode
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GetI(Void*, Int32, Single*)

Declaration
public static ErrorCode GetI(void *handle, int slotID, float *gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* gain
Returns
Type Description
ErrorCode
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GetIAccum(Void*, Single*)

Declaration
public static ErrorCode GetIAccum(void *handle, float *iAccum)
Parameters
Type Name Description
Void* handle
Single* iAccum
Returns
Type Description
ErrorCode
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GetIdleMode(Void*, IdleMode*)

Declaration
public static ErrorCode GetIdleMode(void *handle, IdleMode*idlemode)
Parameters
Type Name Description
Void* handle
IdleMode* idlemode
Returns
Type Description
ErrorCode
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GetIMaxAccum(Void*, Int32, Single*)

Declaration
public static ErrorCode GetIMaxAccum(void *handle, int slotID, float *iMaxAccum)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* iMaxAccum
Returns
Type Description
ErrorCode
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GetInverted(Void*, Byte*)

Declaration
public static ErrorCode GetInverted(void *handle, byte *inverted)
Parameters
Type Name Description
Void* handle
Byte* inverted
Returns
Type Description
ErrorCode
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GetIZone(Void*, Int32, Single*)

Declaration
public static ErrorCode GetIZone(void *handle, int slotID, float *IZone)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* IZone
Returns
Type Description
ErrorCode
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GetLastError(Void*)

Declaration
public static ErrorCode GetLastError(void *handle)
Parameters
Type Name Description
Void* handle
Returns
Type Description
ErrorCode
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GetLimitPolarity(Void*, LimitDirection, LimitPolarity*)

Declaration
public static ErrorCode GetLimitPolarity(void *handle, LimitDirection sw, LimitPolarity*polarity)
Parameters
Type Name Description
Void* handle
LimitDirection sw
LimitPolarity* polarity
Returns
Type Description
ErrorCode
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GetLimitSwitch(Void*, LimitDirection, Byte*)

Declaration
public static ErrorCode GetLimitSwitch(void *handle, LimitDirection sw, byte *limit)
Parameters
Type Name Description
Void* handle
LimitDirection sw
Byte* limit
Returns
Type Description
ErrorCode
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GetMeasurementPeriod(Void*, UInt32*)

Declaration
public static ErrorCode GetMeasurementPeriod(void *handle, uint *samples)
Parameters
Type Name Description
Void* handle
UInt32* samples
Returns
Type Description
ErrorCode
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GetMotorTemperature(Void*, Single*)

Declaration
public static ErrorCode GetMotorTemperature(void *handle, float *motorTemperature)
Parameters
Type Name Description
Void* handle
Single* motorTemperature
Returns
Type Description
ErrorCode
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GetMotorType(Void*, MotorType*)

Declaration
public static ErrorCode GetMotorType(void *handle, MotorType*type)
Parameters
Type Name Description
Void* handle
MotorType* type
Returns
Type Description
ErrorCode
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GetOpenLoopRampRate(Void*, Single*)

Declaration
public static ErrorCode GetOpenLoopRampRate(void *handle, float *rate)
Parameters
Type Name Description
Void* handle
Single* rate
Returns
Type Description
ErrorCode
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GetOutputCurrent(Void*, Single*)

Declaration
public static ErrorCode GetOutputCurrent(void *handle, float *outputCurrent)
Parameters
Type Name Description
Void* handle
Single* outputCurrent
Returns
Type Description
ErrorCode
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GetOutputMax(Void*, Int32, Single*)

Declaration
public static ErrorCode GetOutputMax(void *handle, int slotID, float *max)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* max
Returns
Type Description
ErrorCode
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GetOutputMin(Void*, Int32, Single*)

Declaration
public static ErrorCode GetOutputMin(void *handle, int slotID, float *min)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* min
Returns
Type Description
ErrorCode
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GetP(Void*, Int32, Single*)

Declaration
public static ErrorCode GetP(void *handle, int slotID, float *gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* gain
Returns
Type Description
ErrorCode
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GetParameterBool(Void*, ConfigParameter, Byte*)

Declaration
public static ErrorCode GetParameterBool(void *handle, ConfigParameter paramId, byte *value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
Byte* value
Returns
Type Description
ErrorCode
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GetParameterFloat32(Void*, ConfigParameter, Single*)

Declaration
public static ErrorCode GetParameterFloat32(void *handle, ConfigParameter paramId, float *value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
Single* value
Returns
Type Description
ErrorCode
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GetParameterInt32(Void*, ConfigParameter, Int32*)

Declaration
public static ErrorCode GetParameterInt32(void *handle, ConfigParameter paramId, int *value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
Int32* value
Returns
Type Description
ErrorCode
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GetParameterUint32(Void*, ConfigParameter, UInt32*)

Declaration
public static ErrorCode GetParameterUint32(void *handle, ConfigParameter paramId, uint *value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
UInt32* value
Returns
Type Description
ErrorCode
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GetPeriodicStatus0(Void*, PeriodicStatus0*)

Declaration
public static ErrorCode GetPeriodicStatus0(void *handle, PeriodicStatus0*rawframe)
Parameters
Type Name Description
Void* handle
PeriodicStatus0* rawframe
Returns
Type Description
ErrorCode
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GetPeriodicStatus1(Void*, PeriodicStatus1*)

Declaration
public static ErrorCode GetPeriodicStatus1(void *handle, PeriodicStatus1*rawframe)
Parameters
Type Name Description
Void* handle
PeriodicStatus1* rawframe
Returns
Type Description
ErrorCode
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GetPeriodicStatus2(Void*, PeriodicStatus2*)

Declaration
public static ErrorCode GetPeriodicStatus2(void *handle, PeriodicStatus2*rawframe)
Parameters
Type Name Description
Void* handle
PeriodicStatus2* rawframe
Returns
Type Description
ErrorCode
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GetPeriodicStatus3(Void*, PeriodicStatus3*)

Declaration
public static ErrorCode GetPeriodicStatus3(void *handle, PeriodicStatus3*rawframe)
Parameters
Type Name Description
Void* handle
PeriodicStatus3* rawframe
Returns
Type Description
ErrorCode
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GetPeriodicStatus4(Void*, PeriodicStatus4*)

Declaration
public static ErrorCode GetPeriodicStatus4(void *handle, PeriodicStatus4*rawframe)
Parameters
Type Name Description
Void* handle
PeriodicStatus4* rawframe
Returns
Type Description
ErrorCode
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GetPositionConversionFactor(Void*, Single*)

Declaration
public static ErrorCode GetPositionConversionFactor(void *handle, float *conversion)
Parameters
Type Name Description
Void* handle
Single* conversion
Returns
Type Description
ErrorCode
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GetSecondaryCurrentLimit(Void*, Single*, Int32*)

Declaration
public static ErrorCode GetSecondaryCurrentLimit(void *handle, float *limit, int *chopCycles)
Parameters
Type Name Description
Void* handle
Single* limit
Int32* chopCycles
Returns
Type Description
ErrorCode
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GetSmartCurrentLimit(Void*, Byte*, Byte*, UInt32*)

Declaration
public static ErrorCode GetSmartCurrentLimit(void *handle, byte *stallLimit, byte *freeLimit, uint *limitRPM)
Parameters
Type Name Description
Void* handle
Byte* stallLimit
Byte* freeLimit
UInt32* limitRPM
Returns
Type Description
ErrorCode
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GetSmartMotionAccelStrategy(Void*, Int32, AccelStrategy*)

Declaration
public static ErrorCode GetSmartMotionAccelStrategy(void *handle, int slotID, AccelStrategy*accelStrategy)
Parameters
Type Name Description
Void* handle
Int32 slotID
AccelStrategy* accelStrategy
Returns
Type Description
ErrorCode
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GetSmartMotionAllowedClosedLoopError(Void*, Int32, Single*)

Declaration
public static ErrorCode GetSmartMotionAllowedClosedLoopError(void *handle, int slotID, float *allowedError)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* allowedError
Returns
Type Description
ErrorCode
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GetSmartMotionMaxAccel(Void*, Int32, Single*)

Declaration
public static ErrorCode GetSmartMotionMaxAccel(void *handle, int slotID, float *maxAccel)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* maxAccel
Returns
Type Description
ErrorCode
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GetSmartMotionMaxVelocity(Void*, Int32, Single*)

Declaration
public static ErrorCode GetSmartMotionMaxVelocity(void *handle, int slotID, float *maxVel)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* maxVel
Returns
Type Description
ErrorCode
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GetSmartMotionMinOutputVelocity(Void*, Int32, Single*)

Declaration
public static ErrorCode GetSmartMotionMinOutputVelocity(void *handle, int slotID, float *minVel)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single* minVel
Returns
Type Description
ErrorCode
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GetSoftLimit(Void*, LimitDirection, Single*)

Declaration
public static ErrorCode GetSoftLimit(void *handle, LimitDirection dir, float *limit)
Parameters
Type Name Description
Void* handle
LimitDirection dir
Single* limit
Returns
Type Description
ErrorCode
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GetStickyFault(Void*, FaultID, Byte*)

Declaration
public static ErrorCode GetStickyFault(void *handle, FaultID faultId, byte *stickyfault)
Parameters
Type Name Description
Void* handle
FaultID faultId
Byte* stickyfault
Returns
Type Description
ErrorCode
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GetStickyFaults(Void*, UInt16*)

Declaration
public static ErrorCode GetStickyFaults(void *handle, ushort *stickyFaults)
Parameters
Type Name Description
Void* handle
UInt16* stickyFaults
Returns
Type Description
ErrorCode
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GetVelocityConversionFactor(Void*, Single*)

Declaration
public static ErrorCode GetVelocityConversionFactor(void *handle, float *conversion)
Parameters
Type Name Description
Void* handle
Single* conversion
Returns
Type Description
ErrorCode
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GetVoltageCompensationNominalVoltage(Void*, Single*)

Declaration
public static ErrorCode GetVoltageCompensationNominalVoltage(void *handle, float *nominalVoltage)
Parameters
Type Name Description
Void* handle
Single* nominalVoltage
Returns
Type Description
ErrorCode
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IDAssign(UInt32, Byte)

Declaration
public static ErrorCode IDAssign(uint uniqueId, byte deviceId)
Parameters
Type Name Description
UInt32 uniqueId
Byte deviceId
Returns
Type Description
ErrorCode
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Identify(Void*)

Declaration
public static ErrorCode Identify(void *handle)
Parameters
Type Name Description
Void* handle
Returns
Type Description
ErrorCode
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IdentifyUniqueId(UInt32)

Declaration
public static ErrorCode IdentifyUniqueId(uint uniqueId)
Parameters
Type Name Description
UInt32 uniqueId
Returns
Type Description
ErrorCode
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IDQuery(UInt32*, IntPtr, IntPtr*)

Declaration
public static ErrorCode IDQuery(uint *uniqueIdArray, IntPtr uniqueIdArraySize, IntPtr*numberOfDevices)
Parameters
Type Name Description
UInt32* uniqueIdArray
IntPtr uniqueIdArraySize
IntPtr* numberOfDevices
Returns
Type Description
ErrorCode
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IsFollower(Void*, Byte*)

Declaration
public static ErrorCode IsFollower(void *handle, byte *isFollower)
Parameters
Type Name Description
Void* handle
Byte* isFollower
Returns
Type Description
ErrorCode
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IsLimitEnabled(Void*, LimitDirection, Byte*)

Declaration
public static ErrorCode IsLimitEnabled(void *handle, LimitDirection sw, byte *enabled)
Parameters
Type Name Description
Void* handle
LimitDirection sw
Byte* enabled
Returns
Type Description
ErrorCode
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IsSoftLimitEnabled(Void*, LimitDirection, Byte*)

Declaration
public static ErrorCode IsSoftLimitEnabled(void *handle, LimitDirection dir, byte *enabled)
Parameters
Type Name Description
Void* handle
LimitDirection dir
Byte* enabled
Returns
Type Description
ErrorCode
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RestoreFactoryDefaults(Void*, Byte)

Declaration
public static ErrorCode RestoreFactoryDefaults(void *handle, byte persist)
Parameters
Type Name Description
Void* handle
Byte persist
Returns
Type Description
ErrorCode
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SafeFloat(Single)

Declaration
public static float SafeFloat(float f)
Parameters
Type Name Description
Single f
Returns
Type Description
Single
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SetAltEncoderAverageDepth(Void*, UInt32)

Declaration
public static ErrorCode SetAltEncoderAverageDepth(void *handle, uint depth)
Parameters
Type Name Description
Void* handle
UInt32 depth
Returns
Type Description
ErrorCode
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SetAltEncoderCountsPerRevolution(Void*, UInt32)

Declaration
public static ErrorCode SetAltEncoderCountsPerRevolution(void *handle, uint cpr)
Parameters
Type Name Description
Void* handle
UInt32 cpr
Returns
Type Description
ErrorCode
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SetAltEncoderInverted(Void*, Byte)

Declaration
public static ErrorCode SetAltEncoderInverted(void *handle, byte inverted)
Parameters
Type Name Description
Void* handle
Byte inverted
Returns
Type Description
ErrorCode
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SetAltEncoderMeasurementPeriod(Void*, UInt32)

Declaration
public static ErrorCode SetAltEncoderMeasurementPeriod(void *handle, uint samples)
Parameters
Type Name Description
Void* handle
UInt32 samples
Returns
Type Description
ErrorCode
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SetAltEncoderPosition(Void*, Single)

Declaration
public static ErrorCode SetAltEncoderPosition(void *handle, float position)
Parameters
Type Name Description
Void* handle
Single position
Returns
Type Description
ErrorCode
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SetAltEncoderPositionFactor(Void*, Single)

Declaration
public static ErrorCode SetAltEncoderPositionFactor(void *handle, float conversion)
Parameters
Type Name Description
Void* handle
Single conversion
Returns
Type Description
ErrorCode
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SetAltEncoderVelocityFactor(Void*, Single)

Declaration
public static ErrorCode SetAltEncoderVelocityFactor(void *handle, float conversion)
Parameters
Type Name Description
Void* handle
Single conversion
Returns
Type Description
ErrorCode
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SetAnalogAverageDepth(Void*, UInt32)

Declaration
public static ErrorCode SetAnalogAverageDepth(void *handle, uint depth)
Parameters
Type Name Description
Void* handle
UInt32 depth
Returns
Type Description
ErrorCode
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SetAnalogInverted(Void*, Byte)

Declaration
public static ErrorCode SetAnalogInverted(void *handle, byte inverted)
Parameters
Type Name Description
Void* handle
Byte inverted
Returns
Type Description
ErrorCode
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SetAnalogMeasurementPeriod(Void*, UInt32)

Declaration
public static ErrorCode SetAnalogMeasurementPeriod(void *handle, uint samples)
Parameters
Type Name Description
Void* handle
UInt32 samples
Returns
Type Description
ErrorCode
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SetAnalogMode(Void*, AnalogMode)

Declaration
public static ErrorCode SetAnalogMode(void *handle, AnalogMode mode)
Parameters
Type Name Description
Void* handle
AnalogMode mode
Returns
Type Description
ErrorCode
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SetAnalogPositionConversionFactor(Void*, Single)

Declaration
public static ErrorCode SetAnalogPositionConversionFactor(void *handle, float conversion)
Parameters
Type Name Description
Void* handle
Single conversion
Returns
Type Description
ErrorCode
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SetAnalogVelocityConversionFactor(Void*, Single)

Declaration
public static ErrorCode SetAnalogVelocityConversionFactor(void *handle, float conversion)
Parameters
Type Name Description
Void* handle
Single conversion
Returns
Type Description
ErrorCode
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SetAverageDepth(Void*, UInt32)

Declaration
public static ErrorCode SetAverageDepth(void *handle, uint depth)
Parameters
Type Name Description
Void* handle
UInt32 depth
Returns
Type Description
ErrorCode
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SetCANTimeout(Void*, Int32)

Declaration
public static ErrorCode SetCANTimeout(void *handle, int timeoutMs)
Parameters
Type Name Description
Void* handle
Int32 timeoutMs
Returns
Type Description
ErrorCode
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SetClosedLoopRampRate(Void*, Single)

Declaration
public static ErrorCode SetClosedLoopRampRate(void *handle, float rate)
Parameters
Type Name Description
Void* handle
Single rate
Returns
Type Description
ErrorCode
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SetControlFramePeriod(Void*, Int32)

Declaration
public static void SetControlFramePeriod(void *handle, int periodMs)
Parameters
Type Name Description
Void* handle
Int32 periodMs
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SetCountsPerRevolution(Void*, UInt32)

Declaration
public static ErrorCode SetCountsPerRevolution(void *handle, uint cpr)
Parameters
Type Name Description
Void* handle
UInt32 cpr
Returns
Type Description
ErrorCode
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SetD(Void*, Int32, Single)

Declaration
public static ErrorCode SetD(void *handle, int slotID, float gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single gain
Returns
Type Description
ErrorCode
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SetDataPortConfig(Void*, DataPortConfig)

Declaration
public static ErrorCode SetDataPortConfig(void *handle, DataPortConfig config)
Parameters
Type Name Description
Void* handle
DataPortConfig config
Returns
Type Description
ErrorCode
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SetDFilter(Void*, Int32, Single)

Declaration
public static ErrorCode SetDFilter(void *handle, int slotID, float gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single gain
Returns
Type Description
ErrorCode
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SetEncoderInverted(Void*, Byte)

Declaration
public static ErrorCode SetEncoderInverted(void *handle, byte inverted)
Parameters
Type Name Description
Void* handle
Byte inverted
Returns
Type Description
ErrorCode
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SetEncoderPosition(Void*, Single)

Declaration
public static ErrorCode SetEncoderPosition(void *handle, float position)
Parameters
Type Name Description
Void* handle
Single position
Returns
Type Description
ErrorCode
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SetFeedbackDevice(Void*, UInt32)

Declaration
public static ErrorCode SetFeedbackDevice(void *handle, uint sensorID)
Parameters
Type Name Description
Void* handle
UInt32 sensorID
Returns
Type Description
ErrorCode
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SetFeedbackDeviceRange(Void*, Single, Single)

Declaration
public static ErrorCode SetFeedbackDeviceRange(void *handle, float min, float max)
Parameters
Type Name Description
Void* handle
Single min
Single max
Returns
Type Description
ErrorCode
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SetFF(Void*, Int32, Single)

Declaration
public static ErrorCode SetFF(void *handle, int slotID, float gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single gain
Returns
Type Description
ErrorCode
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SetFollow(Void*, UInt32, UInt32)

Declaration
public static ErrorCode SetFollow(void *handle, uint followerArbId, uint followerCfg)
Parameters
Type Name Description
Void* handle
UInt32 followerArbId
UInt32 followerCfg
Returns
Type Description
ErrorCode
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SetI(Void*, Int32, Single)

Declaration
public static ErrorCode SetI(void *handle, int slotID, float gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single gain
Returns
Type Description
ErrorCode
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SetIAccum(Void*, Single)

Declaration
public static ErrorCode SetIAccum(void *handle, float iAccum)
Parameters
Type Name Description
Void* handle
Single iAccum
Returns
Type Description
ErrorCode
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SetIdleMode(Void*, IdleMode)

Declaration
public static ErrorCode SetIdleMode(void *handle, IdleMode idlemode)
Parameters
Type Name Description
Void* handle
IdleMode idlemode
Returns
Type Description
ErrorCode
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SetIMaxAccum(Void*, Int32, Single)

Declaration
public static ErrorCode SetIMaxAccum(void *handle, int slotID, float iMaxAccum)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single iMaxAccum
Returns
Type Description
ErrorCode
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SetInverted(Void*, Byte)

Declaration
public static ErrorCode SetInverted(void *handle, byte inverted)
Parameters
Type Name Description
Void* handle
Byte inverted
Returns
Type Description
ErrorCode
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SetIZone(Void*, Int32, Single)

Declaration
public static ErrorCode SetIZone(void *handle, int slotID, float IZone)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single IZone
Returns
Type Description
ErrorCode
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SetLastError(Void*, ErrorCode)

Declaration
public static void SetLastError(void *handle, ErrorCode error)
Parameters
Type Name Description
Void* handle
ErrorCode error
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SetLimitPolarity(Void*, LimitDirection, LimitPolarity)

Declaration
public static ErrorCode SetLimitPolarity(void *handle, LimitDirection sw, LimitPolarity polarity)
Parameters
Type Name Description
Void* handle
LimitDirection sw
LimitPolarity polarity
Returns
Type Description
ErrorCode
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SetMeasurementPeriod(Void*, UInt32)

Declaration
public static ErrorCode SetMeasurementPeriod(void *handle, uint samples)
Parameters
Type Name Description
Void* handle
UInt32 samples
Returns
Type Description
ErrorCode
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SetMotorType(Void*, MotorType)

Declaration
public static ErrorCode SetMotorType(void *handle, MotorType type)
Parameters
Type Name Description
Void* handle
MotorType type
Returns
Type Description
ErrorCode
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SetOpenLoopRampRate(Void*, Single)

Declaration
public static ErrorCode SetOpenLoopRampRate(void *handle, float rate)
Parameters
Type Name Description
Void* handle
Single rate
Returns
Type Description
ErrorCode
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SetOutputRange(Void*, Int32, Single, Single)

Declaration
public static ErrorCode SetOutputRange(void *handle, int slotID, float min, float max)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single min
Single max
Returns
Type Description
ErrorCode
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SetP(Void*, Int32, Single)

Declaration
public static ErrorCode SetP(void *handle, int slotID, float gain)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single gain
Returns
Type Description
ErrorCode
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SetParameterBool(Void*, ConfigParameter, Byte)

Declaration
public static ErrorCode SetParameterBool(void *handle, ConfigParameter paramId, byte value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
Byte value
Returns
Type Description
ErrorCode
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SetParameterFloat32(Void*, ConfigParameter, Single)

Declaration
public static ErrorCode SetParameterFloat32(void *handle, ConfigParameter paramId, float value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
Single value
Returns
Type Description
ErrorCode
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SetParameterInt32(Void*, ConfigParameter, Int32)

Declaration
public static ErrorCode SetParameterInt32(void *handle, ConfigParameter paramId, int value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
Int32 value
Returns
Type Description
ErrorCode
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SetParameterUint32(Void*, ConfigParameter, UInt32)

Declaration
public static ErrorCode SetParameterUint32(void *handle, ConfigParameter paramId, uint value)
Parameters
Type Name Description
Void* handle
ConfigParameter paramId
UInt32 value
Returns
Type Description
ErrorCode
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SetPeriodicFramePeriod(Void*, PeriodicFrame, Int32)

Declaration
public static ErrorCode SetPeriodicFramePeriod(void *handle, PeriodicFrame frameId, int periodMs)
Parameters
Type Name Description
Void* handle
PeriodicFrame frameId
Int32 periodMs
Returns
Type Description
ErrorCode
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SetpointCommand(Void*, Single, ControlType, Int32, Single, Int32)

Declaration
public static ErrorCode SetpointCommand(void *handle, float value, ControlType ctrl, int pidSlot, float arbFeedforward, int arbFFUnits)
Parameters
Type Name Description
Void* handle
Single value
ControlType ctrl
Int32 pidSlot
Single arbFeedforward
Int32 arbFFUnits
Returns
Type Description
ErrorCode
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SetPositionConversionFactor(Void*, Single)

Declaration
public static ErrorCode SetPositionConversionFactor(void *handle, float conversion)
Parameters
Type Name Description
Void* handle
Single conversion
Returns
Type Description
ErrorCode
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SetSecondaryCurrentLimit(Void*, Single, Int32)

Declaration
public static ErrorCode SetSecondaryCurrentLimit(void *handle, float limit, int chopCycles)
Parameters
Type Name Description
Void* handle
Single limit
Int32 chopCycles
Returns
Type Description
ErrorCode
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SetSensorType(Void*, EncoderType)

Declaration
public static ErrorCode SetSensorType(void *handle, EncoderType sensorType)
Parameters
Type Name Description
Void* handle
EncoderType sensorType
Returns
Type Description
ErrorCode
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SetSmartCurrentLimit(Void*, Byte, Byte, UInt32)

Declaration
public static ErrorCode SetSmartCurrentLimit(void *handle, byte stallLimit, byte freeLimit, uint limitRPM)
Parameters
Type Name Description
Void* handle
Byte stallLimit
Byte freeLimit
UInt32 limitRPM
Returns
Type Description
ErrorCode
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SetSmartMotionAccelStrategy(Void*, Int32, AccelStrategy)

Declaration
public static ErrorCode SetSmartMotionAccelStrategy(void *handle, int slotID, AccelStrategy accelStrategy)
Parameters
Type Name Description
Void* handle
Int32 slotID
AccelStrategy accelStrategy
Returns
Type Description
ErrorCode
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SetSmartMotionAllowedClosedLoopError(Void*, Int32, Single)

Declaration
public static ErrorCode SetSmartMotionAllowedClosedLoopError(void *handle, int slotID, float allowedError)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single allowedError
Returns
Type Description
ErrorCode
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SetSmartMotionMaxAccel(Void*, Int32, Single)

Declaration
public static ErrorCode SetSmartMotionMaxAccel(void *handle, int slotID, float maxAccel)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single maxAccel
Returns
Type Description
ErrorCode
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SetSmartMotionMaxVelocity(Void*, Int32, Single)

Declaration
public static ErrorCode SetSmartMotionMaxVelocity(void *handle, int slotID, float maxVel)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single maxVel
Returns
Type Description
ErrorCode
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SetSmartMotionMinOutputVelocity(Void*, Int32, Single)

Declaration
public static ErrorCode SetSmartMotionMinOutputVelocity(void *handle, int slotID, float minVel)
Parameters
Type Name Description
Void* handle
Int32 slotID
Single minVel
Returns
Type Description
ErrorCode
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SetSoftLimit(Void*, LimitDirection, Single)

Declaration
public static ErrorCode SetSoftLimit(void *handle, LimitDirection dir, float limit)
Parameters
Type Name Description
Void* handle
LimitDirection dir
Single limit
Returns
Type Description
ErrorCode
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SetVelocityConversionFactor(Void*, Single)

Declaration
public static ErrorCode SetVelocityConversionFactor(void *handle, float conversion)
Parameters
Type Name Description
Void* handle
Single conversion
Returns
Type Description
ErrorCode