SPARK Flex Firmware Changelog
It is recommended to keep your SPARK Flex up-to-date with the latest firmware. The REV Hardware Client will automatically download the latest firmware, but you can also download the firmware manually below:
If notified by the REV Hardware Client, you may need to install your SPARK Flex Motor Controller's first firmware update via Recovery Mode.
Version 24.0.8
Fixes bug in velocity calculation when changing the encoder average depth
Fixes issue causing motor EEPROM to occasionally reload fully after disabling the motor, causing brief dropout of status frames
Version 24.0.7
Adds parameters for status frame periods
Performs contextual validation on the sensor type parameter
Always keeps the hall sensor active when in brushless mode, in addition to the specified sensor type
Recalculates the hall angle more frequently to prevent lockup
Version 24.0.6
Fixes issue where an invalid sensor type for a given motor type can cause a sensor fault
Version 24.0.5
Improves handling of errors on the CAN bus
Fixes incorrect EEPROM faults appearing
Reduces boot time
Properly handles the case where a CAN device sends a payload longer than 8 bytes
Improves internal watchdog
Version 24.0.4
Fixes issue where SPARK Flex constantly disables itself while running when certain third-party commands are being sent to the CAN bus
Version 24.0.3
Fixes position data inaccuracy when the position conversion factor is not 1
Version 24.0.2
Improves filtering of invalid PWM signals
Previously, noise on the signal wires could be occasionally be erroneously interpreted as a PWM signal, causing the motor to spin unexpectedly
Fixes issue where CAN errors would cause the device to switch between brake mode and coast mode, resulting in a clicking sound if you manually turned the motor
Version 24.0.0
Breaking Changes
Moves the IAccum value to periodic status frame 7
Periodic status frame 7 is new to this release, and by default is sent every 250ms.
Enhancements
Adds Orange/Green blink code to indicate temperature cutoff
Refuses to run in brushed mode when connected to a NEO Vortex
Improves the precision of the main encoder
Previously, the higher the position value was, the less precise the value would be
For the NEO Vortex's internal encoder, this change starts making a difference after only ~1,000 rotations
Requires REVLib 2024.2.0 or later or REV Hardware Client 1.6.2 or later to take advantage of the additional precision
Allows changing the CAN ID of a SPARK Flex connected directly via USB without affecting other SPARK devices on the CAN bus with the same CAN ID
Makes changes towards improving the reliability of saving and persisting parameters
Bug fixes
Fixes analog sensor values when it is configured to be inverted
Fixes setting the NEO encoder's position to values other than zero
Fixes the NEO encoder's position when the motor is inverted
Version 23.0.2
Adds support for updating the firmware via CAN and USB (without Recovery Mode)
Known issues
Setting the NEO encoder's position always resets the position to 0, regardless of the specified value
When the analog sensor is configured to be inverted, its reported values will be incorrect
Version 23.0.0
Initial version with intent to support equivalent features to SPARK MAX
Features requiring the SPARK Flex Dock (coming soon) are not yet supported, e.g. brushed motor driving and NEO/NEO550 brushless motor driving
Alternate Encoder Mode is not necessary for SPARK Flex, therefore it is replaced by the External Encoder Data Port feature:
Can be used simultaneously with the internal encoders in NEO class motors
Can be used simultaneously with an absolute encoder and limit switches
Virtually no RPM limit
No special configuration
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