CANSparkMax_SetSmartCurrentLimit1

arfur_rev::ffi::root::rev

Function CANSparkMax_SetSmartCurrentLimit1 

Source 
pub unsafe extern "C" fn CANSparkMax_SetSmartCurrentLimit1(
    this: *mut CANSparkMax,
    stallLimit: c_uint,
    freeLimit: c_uint,
    limitRPM: c_uint,
) -> REVLibError
Expand description

Sets the current limit in Amps.

The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when using the NEO brushless motor.

The NEO Brushless Motor has a low internal resistance, which can mean large current spikes that could be enough to cause damage to the motor and controller. This current limit provides a smarter strategy to deal with high current draws and keep the motor and controller operating in a safe region.

The controller can also limit the current based on the RPM of the motor in a linear fashion to help with controllability in closed loop control. For a response that is linear the entire RPM range leave limit RPM at 0.

@param stallLimit The current limit in Amps at 0 RPM. @param freeLimit The current limit at free speed (5700RPM for NEO). @param limitRPM RPM less than this value will be set to the stallLimit, RPM values greater than limitRPM will scale linearly to freeLimit