Class CANSparkMaxLowLevel

Inheritance
Object
CANSparkMaxLowLevel
Namespace: REV.SparkMax
Assembly: WPILibSharp.REV.SparkMax.dll
Syntax
public class CANSparkMaxLowLevel : IDisposable

Constructors

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CANSparkMaxLowLevel(Int32, MotorType)

Declaration
public CANSparkMaxLowLevel(int deviceId, MotorType type)
Parameters
Type Name Description
Int32 deviceId
MotorType type

Fields

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kAPIBuildVersion

Declaration
public const byte kAPIBuildVersion = null
Field Value
Type Description
Byte
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kAPIMajorVersion

Declaration
public const byte kAPIMajorVersion = null
Field Value
Type Description
Byte
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kAPIMinorVersion

Declaration
public const byte kAPIMinorVersion = null
Field Value
Type Description
Byte
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kAPIVersion

Declaration
public const uint kAPIVersion = null
Field Value
Type Description
UInt32
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m_motorType

Declaration
protected MotorType m_motorType
Field Value
Type Description
MotorType
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m_sparkMax

Declaration
protected void *m_sparkMax
Field Value
Type Description
Void*

Properties

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DeviceId

Declaration
public int DeviceId { get; }
Property Value
Type Description
Int32
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FirmwareString

Declaration
public string FirmwareString { get; }
Property Value
Type Description
String
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FirmwareVersion

Declaration
public uint FirmwareVersion { get; }
Property Value
Type Description
UInt32
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FirmwareVersionDebug

Declaration
public (uint version, bool isDebug) FirmwareVersionDebug { get; }
Property Value
Type Description
System.ValueTuple<UInt32, Boolean>
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InitialMotorType

Declaration
public MotorType InitialMotorType { get; }
Property Value
Type Description
MotorType
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MotorType

Declaration
public MotorType MotorType { get; set; }
Property Value
Type Description
MotorType
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PeriodicStatus0

Declaration
protected PeriodicStatus0 PeriodicStatus0 { get; }
Property Value
Type Description
PeriodicStatus0
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PeriodicStatus1

Declaration
protected PeriodicStatus1 PeriodicStatus1 { get; }
Property Value
Type Description
PeriodicStatus1
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PeriodicStatus2

Declaration
protected PeriodicStatus2 PeriodicStatus2 { get; }
Property Value
Type Description
PeriodicStatus2
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SerialNumber

Declaration
public byte[] SerialNumber { get; }
Property Value
Type Description
Byte[]

Methods

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Dispose()

Declaration
public void Dispose()
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FollowerInvert(Boolean)

Declaration
protected ErrorCode FollowerInvert(bool invert)
Parameters
Type Name Description
Boolean invert
Returns
Type Description
ErrorCode
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GetSafeFloat(Single)

Declaration
protected float GetSafeFloat(float f)
Parameters
Type Name Description
Single f
Returns
Type Description
Single
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RestoreFactoryDefaults(Boolean)

Declaration
public ErrorCode RestoreFactoryDefaults(bool persist = false)
Parameters
Type Name Description
Boolean persist
Returns
Type Description
ErrorCode
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SetControlFramePeriod(TimeSpan)

Declaration
public void SetControlFramePeriod(TimeSpan period)
Parameters
Type Name Description
TimeSpan period
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SetEncPosition(Double)

Declaration
protected ErrorCode SetEncPosition(double value)
Parameters
Type Name Description
Double value
Returns
Type Description
ErrorCode
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SetFollow(CANSparkMaxLowLevel.FollowConfig)

Declaration
protected ErrorCode SetFollow(CANSparkMaxLowLevel.FollowConfig config)
Parameters
Type Name Description
CANSparkMaxLowLevel.FollowConfig config
Returns
Type Description
ErrorCode
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SetIAccum(Double)

Declaration
protected ErrorCode SetIAccum(double value)
Parameters
Type Name Description
Double value
Returns
Type Description
ErrorCode
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SetPeriodicFramePeriod(PeriodicFrame, TimeSpan)

Declaration
public ErrorCode SetPeriodicFramePeriod(PeriodicFrame frame, TimeSpan period)
Parameters
Type Name Description
PeriodicFrame frame
TimeSpan period
Returns
Type Description
ErrorCode
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SetpointCommand(Double, ControlType, Int32, Double, Int32)

Declaration
protected ErrorCode SetpointCommand(double value, ControlType ctrl = default(ControlType), int pidSlot = 0, double arbFeedforward = null, int arbFFUnits = 0)
Parameters
Type Name Description
Double value
ControlType ctrl
Int32 pidSlot
Double arbFeedforward
Int32 arbFFUnits
Returns
Type Description
ErrorCode