January 4, 2025 Update -
Documentation for REVLib 2025 can now be found at:
Please bookmark our new page as we transition over and add more information there!
Migrating from the SPARK MAX API and/or Color Sensor V3 API
Beginning in 2022, The SPARK MAX API and the Color Sensor V3 API have been merged into a unified library called REVLib. You need to make sure that you have uninstalled those old libraries before you install REVLib.
LabVIEW migration
Ensure that the old SPARK MAX API and/or Color Sensor V3 API packages are uninstalled.
Opening a project that used the old APIs should work fine. When it is loading, it may show that there are some missing VIs, but eventually LabVIEW should find the new VIs automatically.
C++/Java migration
Open your robot project in VSCode.
Click on the WPI icon in the corner to open the WPI Command Pallet.
Select Manage Vendor Libraries .
Select Manage Current Libraries .
Check the REVRobotics
and/or REVColorSensorV3
items (whichever ones are present)
Click the OK
button to uninstall them.
Migrating from CTRE Phoenix
Many teams have been using various CTRE motor controllers such as the Talon SRX and Talon SPX, and have concerns about porting software between platforms. Fortunately the feature set and code required is similar between the two, and porting from one to the other is easy. Below shows the common tasks and the changes required to convert from the code for CTRE Phoenix devices to the SPARK MAX.
Migrating from CTRE Phoenix: Java
Include Library
Copy import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
Copy import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.*;
Create Object CAN ID 1
Copy private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);
Copy TalonSRX talonSRX = new TalonSRX(1);
Reset Factory Defaults
Copy sparkMax.restoreFactoryDefaults();
Copy talonSRX.configFactoryDefault();
Select Encoder
This is a brushed motor feature and not needed for using brushless motors with SPARK MAX
Copy encoder = sparkMax.getEncoder();
encoder.setInverted(false);
sparkMax.setFeedbackDevice(encoder);
Copy talonSRX.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, kPIDLoopIdx, Constants.kTimeoutMs);
talonSRX.setSensorPhase(true);
Set closed loop constants
Copy pidController.setP(kP);
pidController.setI(kI);
pidController.setD(kD);
pidController.setIZone(kIz);
pidController.setFF(kFF);
pidController.setOutputRange(kMinOutput, kMaxOutput);
Copy talonSRX.configNominalOutputForward(0, kTimeoutMs);
talonSRX.configNominalOutputReverse(0, kTimeoutMs);
talonSRX.configPeakOutputForward(kMaxOutput, kTimeoutMs);
talonSRX.configPeakOutputReverse(kMinOutput, kTimeoutMs);
talonSRX.config_kF(kPIDLoopIdx, kP, kTimeoutMs);
talonSRX.config_kP(kPIDLoopIdx, kI, kTimeoutMs);
talonSRX.config_kI(kPIDLoopIdx, kD, kTimeoutMs);
talonSRX.config_kD(kPIDLoopIdx, kF, kTimeoutMs);
Run Closed Loop Velocity Control
For this example velocity is set at 500 RPM
Copy pidController.setReference(500.0, ControlType.kVelocity);
Copy // Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms = 500.0 * 4096 / 600;
talonSRX.set(ControlMode.Velocity, VelocityinUnitsPer100ms );
Read RPM of Motor
Copy encoder.getVelocity();
Copy talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;
Read Applied Output Percent
Copy sparkMax.getAppliedOutput();
Copy talonSRX.getMotorOutputPercent();
Run Closed Loop Position Control
This example runs a position control loop for 10 rotations.
Copy pidController.setReference(10.0, ControlType.kPosition);
Copy targetPositionRoations = 10.0 * 4096;
talonSRX.set(ControlMode.Position, targetPositionRotations);
Change Units from 'rotations' to 'inches'
This example assumes a 4" wheel on a 15:1 reduction
Copy encoder.setPositionFactor(M_PI * 4/15);
Run Closed Loop Position Control for a set distance
This example assumes a 4" wheel on a 15:1 reduction to move 2 feet (24 inches).
Copy pidController.setReference(24.0, ControlType.kPosition);
Copy targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX.set(ControlMode.Position, targetPositionRotations);
Save Parameters
Copy // Run after all parameters are set in RobotInit()
sparkMax.burnFlash();
Follow another device
Copy sparkMax1.follow(sparkMax2);
Copy talonSRX1.follow(talonSRX2);
Invert a device
Copy sparkMax.setInverted(true);
Copy talonSRX.setInverted(true);
Copy forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
Copy talonSRX.configForwardLimitSwitchSource(
LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
kTimeoutMs);
Disable a limit switch
Copy forwardLimit.EnableLimitSwitch(false);
Copy talonSRX.overrideLimitSwitchesEnable(true);
Migrating from CTRE Phoenix: C++
Include Library
Copy #include "rev/CANSparkMax.h"
Copy #include "ctre/Phoenix.h"
Create Object CAN ID 1
Copy rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};
Copy TalonSRX* talon = new TalonSRX(1);
Reset Factory Defaults
Copy sparkMax.RestoreFactoryDefaults();
Copy talon->ConfigFactoryDefault();
Select Encoder
This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.
Copy rev::CANEncoder encoder = sparkMax.GetEncoder(rev::CANEncoder::EncoderType::kQuadrature, 4096);
encoder.SetInverted(true);
sparkMax.SetFeedbackDevice(encoder);
Copy talonSRX->ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0, kTimeoutMs);
talonSRX->SetSensorPhase(true);
Set closed loop constants
Copy rev::CANPIDController pidController = sparkMax.GetPIDController();
pidController.SetFeedbackDevice(encoder);
pidController.SetP(kP);
pidController.SetI(kI);
pidController.SetD(kD);
pidController.SetIZone(kIz);
pidController.SetFF(kFF);
pidController.SetOutputRange(kMinOutput, kMaxOutput);
Copy talonSRX->ConfigNominalOutputForward(0, kTimeoutMs);
talonSRX->ConfigNominalOutputReverse(0, kTimeoutMs);
talonSRX->ConfigPeakOutputForward(1, kTimeoutMs);
talonSRX->ConfigPeakOutputReverse(-1, kTimeoutMs);
talonSRX->Config_kF(kPIDLoopIdx, 0.1097, kTimeoutMs);
talonSRX->Config_kP(kPIDLoopIdx, 0.22, kTimeoutMs);
talonSRX->Config_kI(kPIDLoopIdx, 0.0, kTimeoutMs);
talonSRX->Config_kD(kPIDLoopIdx, 0.0, kTimeoutMs);
Run Closed Loop Velocity Control
For this example velocity is set at 500 RPM
Copy pidController.SetReference(500.0, rev::ControlType::kVelocity);
Copy "// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms = 500.0 * 4096 / 600;
talonSRX->Set(ControlMode::Velocity, VelocityinUnitsPer100ms );
Read RPM of Motor
Copy encoder.GetVelocity();
Copy talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;
Read Applied Output Percent
Copy sparkMax.GetAppliedOutput();
Copy talonSRX->GetMotorOutputPercent();
Run Closed Loop Position Control
This example runs a position control loop for 10 rotations.
Copy pidController.SetReference(10.0, rev::ControlType::kPosition);
Copy targetPositionRotations = 10.0 * 4096;
talonSRX->Set(ControlMode::Position, targetPositionRotations);;
Change Units from 'rotations' to 'inches'
This example assumes a 4" wheel on a 15:1 reduction
Copy encoder.SetPositionFactor( M_PI * 4 / 15 );
Run Closed Loop Position Control for a set distance
This example assumes a 4" wheel on a 15:1 reduction to move 2 feet (24 inches).
Copy pidController.SetReference(24.0, rev::ControlType::kPosition);
Copy targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX->Set(ControlMode::Position, targetPositionRotations);
Save Parameters
Copy // Run after all parameters are set in RobotInit()
sparkMax.BurnFlash();
Follow another device
Copy sparkMax1.Follow(sparkMax2);
Copy talonSRX1->Follow(*talon2);
Invert a device
Copy sparkMax.SetInverted(true);
Copy talonSRX->SetInverted(true);
Copy rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);
Copy talonSRX->ConfigForwardLimitSwitchSource(
LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
kTimeoutMs);
Disable a limit switch
Copy forwardLimit.EnableLimitSwitch(false);
Copy talonSRX->OverrideLimitSwitchesEnable(true);