Module rev Copy item path Source AnalogInput Get an instance of AnalogInput by using
CANSparkMax::GetAnalog(SparkMaxAnalogSensor::Mode)}. AnalogInput__bindgen_vtable CANAnalog @deprecated Use SparkMaxAnalogSensor instead. CANDigitalInput @deprecated Use SparkMaxLimitSwitch instead CANDigitalInput__bindgen_vtable CANEncoder @deprecated Use SparkMaxRelativeEncoder or SparkMaxAlternateEncoder instead CANPIDController @deprecated Use SparkMaxPIDController instead CANPIDController__bindgen_vtable CANSensor @deprecated Use MotorFeedbackSensor instead CANSensor__bindgen_vtable CANSparkMax CANSparkMaxLowLevel CANSparkMaxLowLevel_FollowConfig CANSparkMaxLowLevel_FollowConfigBits CANSparkMaxLowLevel_PeriodicStatus0 CANSparkMaxLowLevel_PeriodicStatus1 CANSparkMaxLowLevel_PeriodicStatus2 CANSparkMaxLowLevel_TelemetryMessage CANSparkMax_ExternalFollower CIEColor ColorMatch REV Robotics Color Sensor V3. ColorSensorV3 REV Robotics Color Sensor V3. ColorSensorV3_MainStatus ColorSensorV3_RawColor MotorFeedbackSensor A sensor that can be used to provide rotational feedback to a motor
controller RelativeEncoder SparkMaxAlternateEncoder Get an instance of this class by using CANSparkMax::GetEncoder() or
CANSparkMax::GetEncoder(CANSparkMax::EncoderType, int). SparkMaxAnalogSensor SparkMaxLimitSwitch SparkMaxPIDController SparkMaxRelativeEncoder Get an instance of this class by using CANSparkMax::GetEncoder() or
CANSparkMax::GetEncoder(SparkMaxRelativeEncoder::Type, int). CANAnalog_AnalogMode_kAbsolute CANAnalog_AnalogMode_kRelative CANDigitalInput_LimitSwitchPolarity_kNormallyClosed CANDigitalInput_LimitSwitchPolarity_kNormallyOpen CANEncoder_AlternateEncoderType_kQuadrature CANEncoder_EncoderType_kHallSensor CANEncoder_EncoderType_kNoSensor CANEncoder_EncoderType_kQuadrature CANPIDController_AccelStrategy_kSCurve CANPIDController_AccelStrategy_kTrapezoidal CANPIDController_ArbFFUnits_kPercentOut CANPIDController_ArbFFUnits_kVoltage CANSparkMaxLowLevel_ControlType_kCurrent CANSparkMaxLowLevel_ControlType_kDutyCycle CANSparkMaxLowLevel_ControlType_kPosition CANSparkMaxLowLevel_ControlType_kSmartMotion CANSparkMaxLowLevel_ControlType_kSmartVelocity CANSparkMaxLowLevel_ControlType_kVelocity CANSparkMaxLowLevel_ControlType_kVoltage CANSparkMaxLowLevel_FeedbackSensorType_kAltQuadrature CANSparkMaxLowLevel_FeedbackSensorType_kAnalog CANSparkMaxLowLevel_FeedbackSensorType_kHallSensor CANSparkMaxLowLevel_FeedbackSensorType_kNoSensor CANSparkMaxLowLevel_FeedbackSensorType_kQuadrature CANSparkMaxLowLevel_FeedbackSensorType_kSensorless CANSparkMaxLowLevel_MotorType_kBrushed CANSparkMaxLowLevel_MotorType_kBrushless CANSparkMaxLowLevel_ParameterStatus_kAccessMode CANSparkMaxLowLevel_ParameterStatus_kInvalid CANSparkMaxLowLevel_ParameterStatus_kInvalidID CANSparkMaxLowLevel_ParameterStatus_kMismatchType CANSparkMaxLowLevel_ParameterStatus_kNotImplementedDeprecated CANSparkMaxLowLevel_ParameterStatus_kOK CANSparkMaxLowLevel_PeriodicFrame_kStatus0 CANSparkMaxLowLevel_PeriodicFrame_kStatus1 CANSparkMaxLowLevel_PeriodicFrame_kStatus2 CANSparkMaxLowLevel_PeriodicFrame_kStatus3 CANSparkMaxLowLevel_TelemetryID_kAltEncPosition CANSparkMaxLowLevel_TelemetryID_kAltEncVelocity CANSparkMaxLowLevel_TelemetryID_kAnalogPosition CANSparkMaxLowLevel_TelemetryID_kAnalogVelocity CANSparkMaxLowLevel_TelemetryID_kAnalogVoltage CANSparkMaxLowLevel_TelemetryID_kAppliedOutput CANSparkMaxLowLevel_TelemetryID_kBusVoltage CANSparkMaxLowLevel_TelemetryID_kFaults CANSparkMaxLowLevel_TelemetryID_kIAccum CANSparkMaxLowLevel_TelemetryID_kMotorTemp CANSparkMaxLowLevel_TelemetryID_kOutputCurrent CANSparkMaxLowLevel_TelemetryID_kPosition CANSparkMaxLowLevel_TelemetryID_kStickyFaults CANSparkMaxLowLevel_TelemetryID_kTotalStreams CANSparkMaxLowLevel_TelemetryID_kVelocity CANSparkMax_FaultID_kBrownout CANSparkMax_FaultID_kCANRX CANSparkMax_FaultID_kCANTX CANSparkMax_FaultID_kDRVFault CANSparkMax_FaultID_kEEPROMCRC CANSparkMax_FaultID_kHardLimitFwd CANSparkMax_FaultID_kHardLimitRev CANSparkMax_FaultID_kHasReset CANSparkMax_FaultID_kIWDTReset CANSparkMax_FaultID_kMotorFault CANSparkMax_FaultID_kOtherFault CANSparkMax_FaultID_kOvercurrent CANSparkMax_FaultID_kSensorFault CANSparkMax_FaultID_kSoftLimitFwd CANSparkMax_FaultID_kSoftLimitRev CANSparkMax_FaultID_kStall CANSparkMax_IdleMode_kBrake CANSparkMax_IdleMode_kCoast CANSparkMax_InputMode_kCAN CANSparkMax_InputMode_kPWM CANSparkMax_SoftLimitDirection_kForward CANSparkMax_SoftLimitDirection_kReverse ColorSensorV3_ColorMeasurementRate_k25ms ColorSensorV3_ColorMeasurementRate_k50ms ColorSensorV3_ColorMeasurementRate_k100ms ColorSensorV3_ColorMeasurementRate_k200ms ColorSensorV3_ColorMeasurementRate_k500ms ColorSensorV3_ColorMeasurementRate_k1000ms ColorSensorV3_ColorMeasurementRate_k2000ms ColorSensorV3_ColorResolution_k13bit ColorSensorV3_ColorResolution_k16bit ColorSensorV3_ColorResolution_k17bit ColorSensorV3_ColorResolution_k18bit ColorSensorV3_ColorResolution_k19bit ColorSensorV3_ColorResolution_k20bit ColorSensorV3_GainFactor_k1x ColorSensorV3_GainFactor_k3x ColorSensorV3_GainFactor_k6x ColorSensorV3_GainFactor_k9x ColorSensorV3_GainFactor_k18x ColorSensorV3_LEDCurrent_kPulse2mA ColorSensorV3_LEDCurrent_kPulse5mA ColorSensorV3_LEDCurrent_kPulse10mA ColorSensorV3_LEDCurrent_kPulse25mA ColorSensorV3_LEDCurrent_kPulse50mA ColorSensorV3_LEDCurrent_kPulse75mA ColorSensorV3_LEDCurrent_kPulse100mA ColorSensorV3_LEDCurrent_kPulse125mA ColorSensorV3_LEDPulseFrequency_k60kHz ColorSensorV3_LEDPulseFrequency_k70kHz ColorSensorV3_LEDPulseFrequency_k80kHz ColorSensorV3_LEDPulseFrequency_k90kHz ColorSensorV3_LEDPulseFrequency_k100kHz ColorSensorV3_MainCtrlFields_kLightSensorEnable ColorSensorV3_MainCtrlFields_kProximitySensorEnable ColorSensorV3_MainCtrlFields_kRGBMode ColorSensorV3_ProximityMeasurementRate_k6ms ColorSensorV3_ProximityMeasurementRate_k12ms ColorSensorV3_ProximityMeasurementRate_k25ms ColorSensorV3_ProximityMeasurementRate_k50ms ColorSensorV3_ProximityMeasurementRate_k100ms ColorSensorV3_ProximityMeasurementRate_k200ms ColorSensorV3_ProximityMeasurementRate_k400ms ColorSensorV3_ProximityResolution_k8bit ColorSensorV3_ProximityResolution_k9bit ColorSensorV3_ProximityResolution_k10bit ColorSensorV3_ProximityResolution_k11bit ColorSensorV3_Register_kDataBlue ColorSensorV3_Register_kDataGreen ColorSensorV3_Register_kDataInfrared ColorSensorV3_Register_kDataRed ColorSensorV3_Register_kLightSensorGain ColorSensorV3_Register_kLightSensorMeasurementRate ColorSensorV3_Register_kMainCtrl ColorSensorV3_Register_kMainStatus ColorSensorV3_Register_kPartID ColorSensorV3_Register_kProximityData ColorSensorV3_Register_kProximitySensorLED ColorSensorV3_Register_kProximitySensorPulses ColorSensorV3_Register_kProximitySensorRate ControlType_kCurrent ControlType_kDutyCycle ControlType_kPosition ControlType_kSmartMotion ControlType_kSmartVelocity ControlType_kVelocity ControlType_kVoltage REVLibError_kCANDisconnected REVLibError_kCantFindFirmware REVLibError_kDuplicateCANId REVLibError_kError REVLibError_kFirmwareTooNew REVLibError_kFirmwareTooOld REVLibError_kFollowConfigMismatch REVLibError_kHALError REVLibError_kInvalid REVLibError_kInvalidCANId REVLibError_kNotImplemented REVLibError_kOk REVLibError_kParamAccessMode REVLibError_kParamInvalid REVLibError_kParamInvalidID REVLibError_kParamMismatchType REVLibError_kParamNotImplementedDeprecated REVLibError_kSetpointOutOfRange REVLibError_kSparkMaxDataPortAlreadyConfiguredDifferently REVLibError_kTimeout REVLibError_kUnknown SparkMaxAlternateEncoder_Type_kQuadrature SparkMaxAnalogSensor_Mode_kAbsolute SparkMaxAnalogSensor_Mode_kRelative SparkMaxLimitSwitch_Direction_kForward SparkMaxLimitSwitch_Direction_kReverse SparkMaxLimitSwitch_Type_kNormallyClosed SparkMaxLimitSwitch_Type_kNormallyOpen SparkMaxPIDController_AccelStrategy_kSCurve SparkMaxPIDController_AccelStrategy_kTrapezoidal SparkMaxPIDController_ArbFFUnits_kPercentOut SparkMaxPIDController_ArbFFUnits_kVoltage SparkMaxRelativeEncoder_Type_kHallSensor SparkMaxRelativeEncoder_Type_kNoSensor SparkMaxRelativeEncoder_Type_kQuadrature CANSparkMaxLowLevel_kAPIBuildVersion ⚠ CANSparkMaxLowLevel_kAPIMajorVersion ⚠ CANSparkMaxLowLevel_kAPIMinorVersion ⚠ CANSparkMaxLowLevel_kAPIVersion ⚠ CANSparkMax_kFollowerDisabled ⚠ CANSparkMax_kFollowerPhoenix ⚠ CANSparkMax_kFollowerSparkMax ⚠ CIEColor_IlluminantD65 ⚠ CIEColor_XYZtoRGB ⚠ ColorSensorV3_Cmatrix ⚠ CANSparkMaxLowLevel_CANSparkMaxLowLevel_destructor ⚠ Closes the SPARK MAX Controller CANSparkMaxLowLevel_EnableExternalUSBControl ⚠ Allow external controllers to recieve control commands over USB.
For example, a configuration where the heartbeat (and enable/disable)
is sent by the main controller, but control frames are sent by
other CAN devices over USB. CANSparkMaxLowLevel_GetDeviceId ⚠ Get the configured Device ID of the SPARK MAX. CANSparkMaxLowLevel_GetFirmwareString ⚠ Get the firmware version of the SPARK MAX as a string. CANSparkMaxLowLevel_GetFirmwareVersion ⚠ Get the firmware version of the SPARK MAX. CANSparkMaxLowLevel_GetFirmwareVersion1 ⚠ CANSparkMaxLowLevel_GetInitialMotorType ⚠ Get the motor type setting from when the SparkMax was created. CANSparkMaxLowLevel_GetMotorType ⚠ Get the motor type setting for the SPARK MAX. CANSparkMaxLowLevel_GetPeriodicStatus0 ⚠ CANSparkMaxLowLevel_GetPeriodicStatus1 ⚠ CANSparkMaxLowLevel_GetPeriodicStatus2 ⚠ CANSparkMaxLowLevel_GetSafeFloat ⚠ CANSparkMaxLowLevel_GetSerialNumber ⚠ Get the unique serial number of the SPARK MAX. Currently not implemented. CANSparkMaxLowLevel_RestoreFactoryDefaults ⚠ Restore motor controller parameters to factory default CANSparkMaxLowLevel_SetControlFramePeriodMs ⚠ Set the control frame send period for the native CAN Send thread. To
disable periodic sends, set periodMs to 0. CANSparkMaxLowLevel_SetEnable ⚠ Send enabled or disabled command to controllers. This is global for all
controllers on the same bus, and will only work for non-roboRIO targets
in non-competiton use. This function will also not work if a roboRIO is
present on the CAN bus. CANSparkMaxLowLevel_SetFollow ⚠ CANSparkMaxLowLevel_SetPeriodicFramePeriod ⚠ Set the rate of transmission for periodic frames from the SPARK MAX CANSparkMaxLowLevel_SetpointCommand ⚠ CANSparkMax_BurnFlash ⚠ Writes all settings to flash. CANSparkMax_CANSparkMax ⚠ Create a new object to control a SPARK MAX motor Controller CANSparkMax_ClearFaults ⚠ Clears all non-sticky faults. CANSparkMax_Disable ⚠ Common interface for disabling a motor. CANSparkMax_DisableVoltageCompensation ⚠ Disables the voltage compensation setting for all modes on the SPARK MAX. CANSparkMax_EnableSoftLimit ⚠ Enable soft limits CANSparkMax_EnableVoltageCompensation ⚠ Sets the voltage compensation setting for all modes on the SPARK MAX and
enables voltage compensation. CANSparkMax_Follow ⚠ Causes this controller’s output to mirror the provided leader. CANSparkMax_Follow1 ⚠ Causes this controller’s output to mirror the provided leader. CANSparkMax_Get ⚠ Common interface for getting the current set speed of a speed controller. CANSparkMax_GetAlternateEncoder ⚠ Returns an object for interfacing with a quadrature encoder connected to
the alternate encoder mode data port pins. These are defined as: CANSparkMax_GetAlternateEncoder1 ⚠ Returns an object for interfacing with a quadrature encoder connected to
the alternate encoder mode data port pins. These are defined as: CANSparkMax_GetAlternateEncoder2 ⚠ Returns an object for interfacing with a quadrature encoder connected to
the alternate encoder mode data port pins. These are defined as: CANSparkMax_GetAnalog ⚠ Returns an object for interfacing with a connected analog sensor.
By default, the mode is set to kAbsolute, thus treating the
sensor as an absolute sensor. CANSparkMax_GetAnalog1 ⚠ Returns an object for interfacing with a connected analog sensor. CANSparkMax_GetAppliedOutput ⚠ Returns motor controller’s output duty cycle. CANSparkMax_GetBusVoltage ⚠ Returns the voltage fed into the motor controller. CANSparkMax_GetClosedLoopRampRate ⚠ Get the configured closed loop ramp rate CANSparkMax_GetEncoder ⚠ Returns an object for interfacing with the encoder connected to the
encoder pins or front port of the SPARK MAX. CANSparkMax_GetEncoder1 ⚠ Returns an object for interfacing with the encoder connected to the
encoder pins or front port of the SPARK MAX. CANSparkMax_GetFault ⚠ Returns whether the fault with the given ID occurred. CANSparkMax_GetFaults ⚠ Returns fault bits. CANSparkMax_GetForwardLimitSwitch ⚠ Returns an object for interfacing with the forward limit switch connected
to the appropriate pins on the data port. CANSparkMax_GetForwardLimitSwitch1 ⚠ Returns an object for interfacing with the forward limit switch connected
to the appropriate pins on the data port. CANSparkMax_GetIdleMode ⚠ Gets the idle mode setting for the SPARK MAX. CANSparkMax_GetInverted ⚠ Common interface for returning the inversion state of a speed controller. CANSparkMax_GetLastError ⚠ All device errors are tracked on a per thread basis for all
devices in that thread. This is meant to be called
immediately following another call that has the possibility
of throwing an error to validate if an error has occurred. CANSparkMax_GetMotorTemperature ⚠ Returns the motor temperature in Celsius. CANSparkMax_GetOpenLoopRampRate ⚠ Get the configured open loop ramp rate CANSparkMax_GetOutputCurrent ⚠ Returns motor controller’s output current in Amps. CANSparkMax_GetPIDController ⚠ Returns an object for interfacing with the integrated PID controller. CANSparkMax_GetReverseLimitSwitch ⚠ Returns an object for interfacing with the reverse limit switch connected
to the appropriate pins on the data port. CANSparkMax_GetReverseLimitSwitch1 ⚠ Returns an object for interfacing with the reverse limit switch connected
to the appropriate pins on the data port. CANSparkMax_GetSoftLimit ⚠ Get the soft limit setting in the controller CANSparkMax_GetStickyFault ⚠ Returns whether the sticky fault with the given ID occurred. CANSparkMax_GetStickyFaults ⚠ Returns sticky fault bits. CANSparkMax_GetVoltageCompensationNominalVoltage ⚠ Get the configured voltage compensation nominal voltage value CANSparkMax_IsFollower ⚠ Returns whether the controller is following another controller CANSparkMax_IsSoftLimitEnabled ⚠ Returns true if the soft limit is enabled. CANSparkMax_Set ⚠ Speed Controller Interface ****/
Common interface for setting the speed of a speed controller. CANSparkMax_SetCANTimeout ⚠ Sets timeout for sending CAN messages. A timeout of 0 also means that
error handling will be done automatically by registering calls and
waiting for responses, rather than needing to call GetLastError(). CANSparkMax_SetClosedLoopRampRate ⚠ Sets the ramp rate for closed loop control modes. CANSparkMax_SetIdleMode ⚠ Sets the idle mode setting for the SPARK MAX. CANSparkMax_SetInverted ⚠ Common interface for inverting direction of a speed controller. CANSparkMax_SetOpenLoopRampRate ⚠ Sets the ramp rate for open loop control modes. CANSparkMax_SetSecondaryCurrentLimit ⚠ Sets the secondary current limit in Amps. CANSparkMax_SetSmartCurrentLimit ⚠ Sets the current limit in Amps. CANSparkMax_SetSmartCurrentLimit1 ⚠ Sets the current limit in Amps. CANSparkMax_SetSoftLimit ⚠ Set the soft limit based on position. The default unit is
rotations, but will match the unit scaling set by the user. CANSparkMax_SetVoltage ⚠ Sets the voltage output of the SpeedController. This is equivalent to
a call to SetReference(output, CANSparkMax::ControlType::kVoltage). The
behavior of this call differs slightly from the WPILib documentation for
this call since the device internally sets the desired voltage (not a
compensation value). That means that this can be a ‘set-and-forget’
call. CANSparkMax_StopMotor ⚠ Common interface to stop the motor until Set is called again. ColorMatch_AddColorMatch ⚠ Add color to match object ColorMatch_ColorMatch ⚠ ColorMatch_MatchClosestColor ⚠ MatchColor uses euclidean distance to compare a given normalized RGB
vector against stored values ColorMatch_MatchColor ⚠ MatchColor uses euclidean distance to compare a given normalized RGB
vector against stored values ColorMatch_MatchColor1 ⚠ MatchColor uses euclidean distance to compare a given normalized RGB
vector against stored values ColorMatch_SetConfidenceThreshold ⚠ Set the confidence interval for determining color. Defaults to 0.95 ColorSensorV3_ColorSensorV3 ⚠ Constructs a ColorSensorV3. ColorSensorV3_ConfigureColorSensor ⚠ Configure the color sensor. ColorSensorV3_ConfigureProximitySensor ⚠ Configure the proximity sensor. ColorSensorV3_ConfigureProximitySensorLED ⚠ Configure the the IR LED used by the proximity sensor. ColorSensorV3_GetCIEColor ⚠ Get the color converted to CIE XYZ color space using factory
calibrated constants. ColorSensorV3_GetColor ⚠ Get the normalized RGB color from the sensor (normalized based on
total R + G + B) ColorSensorV3_GetIR ⚠ Get the normalzied IR value from the sensor. Works best when within 2
inches and perpendicular to surface of interest. ColorSensorV3_GetProximity ⚠ Get the raw proximity value from the sensor ADC. This value is largest
when an object is close to the sensor and smallest when
far away. ColorSensorV3_GetRawColor ⚠ Get the raw color value from the sensor. ColorSensorV3_HasReset ⚠ Indicates if the device reset. Based on the power on status flag in the
status register. Per the datasheet: ColorSensorV3_IsConnected ⚠ Indicates if the device can currently be communicated with. ColorSensorV3_SetGain ⚠ Set the gain factor applied to color ADC measurements. SparkMaxAlternateEncoder_GetAverageDepth ⚠ Get the average sampling depth for a quadrature encoder. SparkMaxAlternateEncoder_GetCountsPerRevolution ⚠ Get the counts per revolution of the quadrature encoder. SparkMaxAlternateEncoder_GetInverted ⚠ Get the phase of the MotorFeedbackSensor. This will just return false
if the user tries to get inverted while the SparkMax is
Brushless and using the hall effect sensor. SparkMaxAlternateEncoder_GetMeasurementPeriod ⚠ Get the number of samples for reading from a quadrature encoder. This
value sets the number of samples in the average for velocity readings. SparkMaxAlternateEncoder_GetPosition ⚠ Get the position of the motor. This returns the native units
of ‘rotations’ by default, and can be changed by a scale factor
using setPositionConversionFactor(). SparkMaxAlternateEncoder_GetPositionConversionFactor ⚠ Get the conversion factor for position of the encoder. Multiplied by the
native output units to give you position SparkMaxAlternateEncoder_GetVelocity ⚠ Get the velocity of the motor. This returns the native units
of ‘RPM’ by default, and can be changed by a scale factor
using setVelocityConversionFactor(). SparkMaxAlternateEncoder_GetVelocityConversionFactor ⚠ Get the conversion factor for velocity of the encoder. Multiplied by the
native output units to give you velocity SparkMaxAlternateEncoder_SetAverageDepth ⚠ Set the average sampling depth for a quadrature encoder. This value
sets the number of samples in the average for velocity readings. This
can be any value from 1 to 64. SparkMaxAlternateEncoder_SetInverted ⚠ Set the phase of the MotorFeedbackSensor so that it is set to be in
phase with the motor itself. This only works for quadrature
encoders. SparkMaxAlternateEncoder_SetMeasurementPeriod ⚠ Set the measurement period for velocity measurements of a quadrature
encoder. SparkMaxAlternateEncoder_SetPosition ⚠ Set the position of the encoder. SparkMaxAlternateEncoder_SetPositionConversionFactor ⚠ Set the conversion factor for position of the encoder. Multiplied by the
native output units to give you position SparkMaxAlternateEncoder_SetVelocityConversionFactor ⚠ Set the conversion factor for velocity of the encoder. Multiplied by the
native output units to give you velocity SparkMaxAnalogSensor_GetAverageDepth ⚠ Get the number of samples included in the average for velocity readings. SparkMaxAnalogSensor_GetInverted ⚠ Get the phase of the MotorFeedbackSensor. This will just return false
if the user tries to get inverted while the SparkMax is
Brushless and using the hall effect sensor. SparkMaxAnalogSensor_GetMeasurementPeriod ⚠ Get the measurement period used for velocity readings. SparkMaxAnalogSensor_GetPosition ⚠ Get the position of the sensor. Returns value in the native unit
of ‘volt’ by default, and can be changed by a scale factor
using setPositionConversionFactor(). SparkMaxAnalogSensor_GetPositionConversionFactor ⚠ Get the current conversion factor for the position of the analog
sensor. SparkMaxAnalogSensor_GetVelocity ⚠ Get the velocity of the sensor. Returns value in the native units of
‘volts per second’ by default, and can be changed by a
scale factor using setVelocityConversionFactor(). SparkMaxAnalogSensor_GetVelocityConversionFactor ⚠ Get the current conversion factor for the velocity of the analog
sensor. SparkMaxAnalogSensor_GetVoltage ⚠ Get the voltage of the analog sensor. SparkMaxAnalogSensor_SetAverageDepth ⚠ Set the number of samples in the average for velocity readings. This
can be any value from 1 to 64. SparkMaxAnalogSensor_SetInverted ⚠ Set the phase of the MotorFeedbackSensor so that it is set to be in
phase with the motor itself. This only works for quadrature
encoders. This will throw an error if the user tries to set
inverted while the SparkMax is Brushless and using the hall
effect sensor. SparkMaxAnalogSensor_SetMeasurementPeriod ⚠ Set the measurement period for velocity readings. SparkMaxAnalogSensor_SetPositionConversionFactor ⚠ Set the conversion factor for the position of the analog sensor.
By default, revolutions per volt is 1. Changing the position conversion
factor will also change the position units. SparkMaxAnalogSensor_SetVelocityConversionFactor ⚠ Set the conversion factor for the velocity of the analog sensor.
By default, revolutions per volt second is 1. Changing the velocity
conversion factor will also change the velocity units. SparkMaxLimitSwitch_EnableLimitSwitch ⚠ Enables or disables controller shutdown based on limit switch. SparkMaxLimitSwitch_Get ⚠ Get the state of the limit switch, whether or not it is enabled
(limiting the rotation of the motor). SparkMaxLimitSwitch_IsLimitSwitchEnabled ⚠ Returns true if limit switch is enabled. SparkMaxPIDController_GetD ⚠ Get the Derivative Gain constant of the PIDF controller on the SPARK MAX. SparkMaxPIDController_GetDFilter ⚠ Get the Derivative Filter constant of the PIDF controller on the SPARK
MAX. SparkMaxPIDController_GetFF ⚠ Get the Feed-forward Gain constant of the PIDF controller on the SPARK
MAX. SparkMaxPIDController_GetI ⚠ Get the Integral Gain constant of the PIDF controller on the SPARK MAX. SparkMaxPIDController_GetIAccum ⚠ Get the I accumulator of the PID controller. This is useful when wishing
to see what the I accumulator value is to help with PID tuning SparkMaxPIDController_GetIMaxAccum ⚠ Get the maximum I accumulator of the PID controller. This value is used
to constrain the I accumulator to help manage integral wind-up SparkMaxPIDController_GetIZone ⚠ Get the IZone constant of the PIDF controller on the SPARK MAX. SparkMaxPIDController_GetOutputMax ⚠ Get the max output of the PIDF controller on the SPARK MAX. SparkMaxPIDController_GetOutputMin ⚠ Get the min output of the PIDF controller on the SPARK MAX. SparkMaxPIDController_GetP ⚠ Get the Proportional Gain constant of the PIDF controller on the SPARK
MAX. SparkMaxPIDController_GetSmartMotionAccelStrategy ⚠ Get the acceleration strategy used to control acceleration on the motor.
The current strategy is trapezoidal motion profiling. SparkMaxPIDController_GetSmartMotionAllowedClosedLoopError ⚠ Get the allowed closed loop error of SmartMotion mode. This value is how
much deviation from your setpoint is tolerated and is useful in
preventing oscillation around your setpoint. SparkMaxPIDController_GetSmartMotionMaxAccel ⚠ Get the maximum acceleration of the SmartMotion mode. This is the
accleration that the motor velocity will increase at until the max
velocity is reached SparkMaxPIDController_GetSmartMotionMaxVelocity ⚠ Get the maximum velocity of the SmartMotion mode. This is the velocity
that is reached in the middle of the profile and is what the motor should
spend most of its time at SparkMaxPIDController_GetSmartMotionMinOutputVelocity ⚠ Get the mimimum velocity of the SmartMotion mode. Any requested
velocities below this value will be set to 0. SparkMaxPIDController_SetD ⚠ Set the Derivative Gain constant of the PIDF controller on the SPARK MAX.
This uses the Set Parameter API and should be used infrequently. The
parameter does not presist unless burnFlash() is called. The recommended
method to configure this parameter is use to SPARK MAX GUI to tune and
save parameters. SparkMaxPIDController_SetDFilter ⚠ Set the Derivative Filter constant of the PIDF controller on the SPARK
MAX. This uses the Set Parameter API and should be used infrequently. The
parameter does not presist unless burnFlash() is called. SparkMaxPIDController_SetFF ⚠ Set the Feed-froward Gain constant of the PIDF controller on the SPARK
MAX. This uses the Set Parameter API and should be used infrequently. The
parameter does not presist unless burnFlash() is called. The recommended
method to configure this parameter is use to SPARK MAX GUI to tune and
save parameters. SparkMaxPIDController_SetFeedbackDevice ⚠ Set the controller’s feedback device. SparkMaxPIDController_SetI ⚠ Set the Integral Gain constant of the PIDF controller on the SPARK MAX.
This uses the Set Parameter API and should be used infrequently. The
parameter does not presist unless burnFlash() is called. The recommended
method to configure this parameter is use to SPARK MAX GUI to tune and
save parameters. SparkMaxPIDController_SetIAccum ⚠ Set the I accumulator of the PID controller. This is useful when wishing
to force a reset on the I accumulator of the PID controller. You can also
preset values to see how it will respond to certain I characteristics SparkMaxPIDController_SetIMaxAccum ⚠ Configure the maximum I accumulator of the PID controller. This value is
used to constrain the I accumulator to help manage integral wind-up SparkMaxPIDController_SetIZone ⚠ Set the IZone range of the PIDF controller on the SPARK MAX. This value
specifies the range the |error| must be within for the integral constant
to take effect. SparkMaxPIDController_SetOutputRange ⚠ Set the min amd max output for the closed loop mode. SparkMaxPIDController_SetP ⚠ Set the Proportional Gain constant of the PIDF controller on the SPARK
MAX. This uses the Set Parameter API and should be used infrequently. The
parameter does not presist unless burnFlash() is called. The recommended
method to configure this parameter is use to SPARK MAX GUI to tune and
save parameters. SparkMaxPIDController_SetReference ⚠ Set the controller reference value based on the selected control mode. SparkMaxPIDController_SetReference1 ⚠ Set the controller reference value based on the selected control mode. SparkMaxPIDController_SetSmartMotionAccelStrategy ⚠ NOTE: As of the 2022 FRC season, the firmware only supports the
trapezoidal motion profiling acceleration strategy. SparkMaxPIDController_SetSmartMotionAccelStrategy1 ⚠ NOTE: As of the 2022 FRC season, the firmware only supports the
trapezoidal motion profiling acceleration strategy. SparkMaxPIDController_SetSmartMotionAllowedClosedLoopError ⚠ Configure the allowed closed loop error of SmartMotion mode. This value
is how much deviation from your setpoint is tolerated and is useful in
preventing oscillation around your setpoint. SparkMaxPIDController_SetSmartMotionMaxAccel ⚠ Configure the maximum acceleration of the SmartMotion mode. This is the
accleration that the motor velocity will increase at until the max
velocity is reached SparkMaxPIDController_SetSmartMotionMaxVelocity ⚠ Configure the maximum velocity of the SmartMotion mode. This is the
velocity that is reached in the middle of the profile and is what the
motor should spend most of its time at SparkMaxPIDController_SetSmartMotionMinOutputVelocity ⚠ Configure the mimimum velocity of the SmartMotion mode. Any requested
velocities below this value will be set to 0. SparkMaxRelativeEncoder_GetAverageDepth ⚠ Get the average sampling depth for a quadrature encoder. SparkMaxRelativeEncoder_GetCountsPerRevolution ⚠ Get the counts per revolution of the quadrature encoder. SparkMaxRelativeEncoder_GetInverted ⚠ Get the phase of the MotorFeedbackSensor. This will just return false
if the user tries to get inverted while the SparkMax is
Brushless and using the hall effect sensor. SparkMaxRelativeEncoder_GetMeasurementPeriod ⚠ Get the number of samples for reading from a quadrature encoder. This
value sets the number of samples in the average for velocity readings. SparkMaxRelativeEncoder_GetPosition ⚠ Get the position of the motor. This returns the native units
of ‘rotations’ by default, and can be changed by a scale factor
using setPositionConversionFactor(). SparkMaxRelativeEncoder_GetPositionConversionFactor ⚠ Get the conversion factor for position of the encoder. Multiplied by the
native output units to give you position SparkMaxRelativeEncoder_GetVelocity ⚠ Get the velocity of the motor. This returns the native units
of ‘RPM’ by default, and can be changed by a scale factor
using setVelocityConversionFactor(). SparkMaxRelativeEncoder_GetVelocityConversionFactor ⚠ Get the conversion factor for velocity of the encoder. Multiplied by the
native output units to give you velocity SparkMaxRelativeEncoder_SetAverageDepth ⚠ Set the average sampling depth for a quadrature encoder. This value
sets the number of samples in the average for velocity readings. This
can be any value from 1 to 64. SparkMaxRelativeEncoder_SetInverted ⚠ Set the phase of the MotorFeedbackSensor so that it is set to be in
phase with the motor itself. This only works for quadrature
encoders. This will throw an error if the user tries to set
inverted while the SparkMax is Brushless and using the hall
effect sensor. SparkMaxRelativeEncoder_SetMeasurementPeriod ⚠ Set the measurement period for velocity measurements of a quadrature
encoder. When the SparkMax controller is in Brushless mode, this will not
change any behavior. SparkMaxRelativeEncoder_SetPosition ⚠ Set the position of the encoder. SparkMaxRelativeEncoder_SetPositionConversionFactor ⚠ Set the conversion factor for position of the encoder. Multiplied by the
native output units to give you position SparkMaxRelativeEncoder_SetVelocityConversionFactor ⚠ Set the conversion factor for velocity of the encoder. Multiplied by the
native output units to give you velocity CANAnalog_AnalogMode Analog sensors have the ability to either be absolute or relative.
By default, GetAnalog() will return an absolute analog sensor, but
it can also be configured to be a relative sensor instead. CANDigitalInput_LimitSwitchPolarity @deprecated Use SparkMaxLimitSwitch::Type instead CANEncoder_AlternateEncoderType @deprecated Use SparkMaxAlternateEncoder::Type instead CANEncoder_EncoderType @deprecated Use SparkMaxRelativeEncoder::Type instead CANPIDController_AccelStrategy @deprecated Use SparkMaxPIDController::AccelStrategy instead CANPIDController_ArbFFUnits @deprecated Use SparkMaxPIDController::ArbFFUnits instead CANSparkMaxLowLevel_ControlType CANSparkMaxLowLevel_FeedbackSensorType CANSparkMaxLowLevel_MotorType CANSparkMaxLowLevel_ParameterStatus CANSparkMaxLowLevel_PeriodicFrame CANSparkMaxLowLevel_TelemetryID CANSparkMax_FaultID CANSparkMax_IdleMode CANSparkMax_InputMode @deprecated You don’t need this CANSparkMax_SoftLimitDirection ColorSensorV3_ColorMeasurementRate ColorSensorV3_ColorResolution ColorSensorV3_GainFactor ColorSensorV3_LEDCurrent ColorSensorV3_LEDPulseFrequency ColorSensorV3_MainCtrlFields ColorSensorV3_ProximityMeasurementRate ColorSensorV3_ProximityResolution ColorSensorV3_Register ControlType @deprecated Use CANSparkMax::ControlType instead REVLibError SparkMaxAlternateEncoder_Type The type of encoder wired as an Alternate Encoder on a SPARK MAX SparkMaxAnalogSensor_Mode Analog sensors have the ability to either be absolute or relative.
By default, CANSparkMax::GetAnalog() will return an absolute analog
sensor, but it can also be configured to be a relative sensor instead. SparkMaxLimitSwitch_Direction SparkMaxLimitSwitch_Type Represents whether the circuit is open or closed when the switch is not
being pressed SparkMaxPIDController_AccelStrategy Acceleration strategy used by Smart Motion SparkMaxPIDController_ArbFFUnits Units for arbitrary feed-forward SparkMaxRelativeEncoder_Type The type of encoder connected to a SPARK MAX CANSparkMaxLowLevel_FollowConfig_FollowConfigUnion