SPARK MAX Configuration Parameters

Below is a list of all the configurable parameters within the SPARK MAX. Parameters can be set through the CAN or USB interfaces. The parameters are saved in a different region of memory from the device firmware and persist through a firmware update.

Name	ID	Type	Default	Description
kCanID	0	uint	0	CAN ID This parameter persists through a normal firmware update.
kInputMode	1	Input Mode	0	Input mode, this parameter is read only and the input mode is detected by the firmware automatically. 0 - PWM 1 - CAN 2 - USB
kMotorType	2	Motor Type	BRUSHLESS	Motor type: 0 - Brushed 1 - Brushless This parameter persists through a normal firmware update.
Reserved	3	-		Reserved
kSensorType	4	Sensor Type	HALL_EFFECT	Sensor type: 0 - No Sensor 1 - Hall Sensor 2 - Encoder This parameter persists through a normal firmware update.
kCtrlType	5	Ctrl Type	CTRL_DUTY_CYCLE	Control Type, this is a read only parameter of the currently active control type. The control type is changed by calling the correct API. 0 - Duty Cycle 1 - Velocity 2 - Voltage 3 - Position
kIdleMode	6	Idle Mode	IDLE_COAST	State of the half bridge when the motor controller commands zero output or is disabled. 0 - Coast 1 - Brake This parameter persists through a normal firmware update.
kInputDeadband	7	float32	%0.05	Percent of the input which results in zero output for PWM mode. This parameter persists through a normal firmware update.
Reserved	8	-	-	Reserved
Reserved	9	-	-	Reserved
kPolePairs	10	uint	7	Number of pole pairs for the brushless motor. This is the number of poles/2 and can be determined by either counting the number of magnets or counting the number of windings and dividing by 3. This is an important term for speed regulation to properly calculate the speed.
kCurrentChop	11	float32	115/Amps	If the half bridge detects this current limit, it will disable the motor driver for a fixed amount of time set by kCurrentChopCycles. This is a low sophistication 'current control'. Set to 0 to disable. The max value is 125.
kCurrentChopCycles	12	uint	0	Number of PWM Cycles for the h-bridge to be off in the case that the current limit is set. Min = 1, multiples of PWM period (50μs). During this time the current will be recirculating through the low side MOSFETs, so instead of 'freewheeling' the diodes, the bridge will be in brake mode during this time.
kP_0	13	float32	0	Proportional gain constant for gain slot 0.
kI_0	14	float32	0	Integral gain constant for gain slot 0.
kD_0	15	float32	0	Derivative gain constant for gain slot 0.
kF_0	16	float32	0	Feed Forward gain constant for gain slot 0.
kIZone_0	17	float32	0	Integrator zone constant for gain slot 0. The PIDF loop integrator will only accumulate while the setpoint is within IZone of the target.
kDFilter_0	18	float32	0	PIDF derivative filter constant for gain slot 0.
kOutputMin_0	19	float32	-1	Max output constant for gain slot 0. This is the max output of the controller.
kOutputMax_0	20	float32	1	Min output constant for gain slot 0. This is the min output of the controller.
kP_1	21	float32	0	Proportional gain constant for gain slot 1.
kI_1	22	float32	0	Integral gain constant for gain slot 1.
kD_1	23	float32	0	Derivative gain constant for gain slot 1.
kF_1	24	float32	0	Feed Forward gain constant for gain slot 1.
kIZone_1	25	float32	0	Integrator zone constant for gain slot 1. The PIDF loop integrator will only accumulate while the setpoint is within IZone of the target.
kDFilter_1	26	float32	0	PIDF derivative filter constant for gain slot 1.
kOutputMin_1	27	float32	-1	Max output constant for gain slot 1. This is the max output of the controller.
kOutputMax_1	28	float32	1	Min output constant for gain slot 1. This is the min output of the controller.
kP_2	29	float32	0	Proportional gain constant for gain slot 2.
kI_2	30	float32	0	Integral gain constant for gain slot 2.
kD_2	31	float32	0	Derivative gain constant for gain slot 2.
kF_2	32	float32	0	Feed Forward gain constant for gain slot 2.
kIZone_2	33	float32	0	Integrator zone constant for gain slot 2. The PIDF loop integrator will only accumulate while the setpoint is within IZone of the target.
kDFilter_2	34	float32	0	PIDF derivative filter constant for gain slot 2.
kOutputMin_2	35	float32	-1	Max output constant for gain slot 2. This is the max output of the controller.
kOutputMax_2	36	float32	1	Min output constant for gain slot 2. This is the min output of the controller.
kP_3	37	float32	0	Proportional gain constant for gain slot 3.
kI_3	38	float32	0	Integral gain constant for gain slot 3.
kD_3	39	float32	0	Derivative gain constant for gain slot 3.
kF_3	40	float32	0	Feed Forward gain constant for gain slot 3.
kIZone_3	41	float32	0	Integrator zone constant for gain slot 3. The PIDF loop integrator will only accumulate while the setpoint is within IZone of the target.
kDFilter_3	42	float32	0	PIDF derivative filter constant for gain slot 3.
kOutputMin_3	43	float32	-1	Max output constant for gain slot 3. This is the max output of the controller.
kOutputMax_3	44	float32	1	Min output constant for gain slot 3. This is the min output of the controller.
Reserved	45	-	-	Reserved
Reserved	46	-	-	Reserved
Reserved	47	-	-	Reserved
Reserved	48	-	-	Reserved
Reserved	49	-	-	Reserved
kLimitSwitchFwdPolarity	50	bool	0	Forward Limit Switch polarity. 0 - Normally Open 1 - Normally Closed
kLimitSwitchRevPolarity	51	bool	0	Reverse Limit Switch polarity. 0 - Normally Open 1 - Normally Closed
kHardLimitFwdEn	52	bool	1	Limit switch enable, enabled by default
kHardLimitRevEn	53	bool	1	Limit switch enable, enabled by default
Reserved	54	-	-	Reserved
Reserved	55	-	-	Reserved
kRampRate	56	float32	V/s 0	Voltage ramp rate active for all control modes in % output per second, a value of 0 disables this feature. All APIs take the reciprocal to make the unit 'time from 0 to full'.
kFollowerID	57	uint	0	CAN EXTID of the message with data to follow
kFollowerConfig	58	uint	0	Special configuration register for setting up to follow on a repeating message (follower mode). CFG[0] to CFG[3] where CFG[0] is the motor output start bit (LSB), CFG[1] is the motor output stop bit (MSB). CFG[0] - CFG[1] determines endianness. CFG[2] bits determine sign mode and inverted, CFG[3] sets a preconfigured controller (0x1A = REV, 0x1B = Talon/Victor style as of 2018 season)
kSmartCurrentStallLimit	59	uint	80A	Smart Current Limit at stall, or any RPM less than kSmartCurrentConfig RPM.
kSmartCurrentFreeLimit	60	uint	20A	Smart current limit at free speed
kSmartCurrentConfig	61	uint	10000	Smart current limit RPM value to start linear reduction of current limit. Set this > free speed to disable.
Reserved	62	-	-	Reserved
Reserved	63	-	-	Reserved
Reserved	64	-	-	Reserved
Reserved	65	-	-	Reserved
Reserved	66	-	-	Reserved
Reserved	67	-	-	Reserved
Reserved	68	-	-	Reserved
kEncoderCountsPerRev	69	uint	4096	Number of encoder counts in a single revolution, counting every edge on the A and B lines of a quadrature encoder. (Note: This is different than the CPR spec of the encoder which is 'Cycles per revolution'. This value is 4 * CPR.
kEncoderAverageDepth	70	uint	64	Number of samples to average for velocity data based on quadrature encoder input. This value can be between 1 and 64.
kEncoderSampleDelta	71	uint	200 per 500us	Delta time value for encoder velocity measurement in 500μs increments. The velocity calculation will take delta the current sample, and the sample x * 500μs behind, and divide by this the sample delta time. Can be any number between 1 and 255
Reserved	72	-	-	Reserved
Reserved	73	-	-	Reserved
Reserved	74	-	-	Reserved
kCompensatedNominalVoltage	75	float32	0 V	In voltage compensation mode mode, this is the max scaled voltage.
kSmartMotionMaxVelocity_0	76	float32	0
kSmartMotionMaxAccel_0	77	float32	0
kSmartMotionMinVelOutput_0	78	float32	0
kSmartMotionAllowedClosedLoopError_0	79	float32	0
kSmartMotionAccelStrategy_0	80	float32	0
kSmartMotionMaxVelocity_1	81	float32	0
kSmartMotionMaxAccel_1	82	float32	0
kSmartMotionMinVelOutput_1	83	float32	0
kSmartMotionAllowedClosedLoopError_1	84	float32	0
kSmartMotionAccelStrategy_1	85	float32	0
kSmartMotionMaxVelocity_2	86	float32	0
kSmartMotionMaxAccel_2	87	float32	0
kSmartMotionMinVelOutput_2	88	float32	0
kSmartMotionAllowedClosedLoopError_2	89	float32	0
kSmartMotionAccelStrategy_2	90	float32	0
kSmartMotionMaxVelocity_3	91	float32	0
kSmartMotionMaxAccel_3	92	float32	0
kSmartMotionMinVelOutput_3	93	float32	0
kSmartMotionAllowedClosedLoopError_3	94	float32	0
kSmartMotionAccelStrategy_3	95	float32	0
kIMaxAccum_0	96	float32	0
kSlot3Placeholder1_0	97	float32	0
kSlot3Placeholder2_0	98	float32	0
kSlot3Placeholder3_0	99	float32	0
kIMaxAccum_1	100	float32	0
kSlot3Placeholder1_1	101	float32	0
kSlot3Placeholder2_1	102	float32	0
kSlot3Placeholder3_1	103	float32	0
kIMaxAccum_2	104	float32	0
kSlot3Placeholder1_2	105	float32	0
kSlot3Placeholder2_2	106	float32	0
kSlot3Placeholder3_2	107	float32	0
kIMaxAccum_3	108	float32	0
kSlot3Placeholder1_3	109	float32	0
kSlot3Placeholder2_3	110	float32	0
kSlot3Placeholder3_3	111	float32	0
kPositionConversionFactor	112	float32	1
kVelocityConversionFactor	113	float32	1
kClosedLoopRampRate	114	float32	0 DC/sec
kSoftLimitFwd	115	float32	0	Soft limit forward value
kSoftLimitRev	116	float32	0	Soft limit reverse value
Reserved	117	-	-	Reserved
Reserved	118	-	-	Reserved
kAnalogPositionConversion	119	float32	1 rev/volt	Conversion factor for position from analog sensor. This value is multiplied by the voltage to give an output value.
kAnalogVelocityConversion	120	float32	1 vel/v/s	Conversion factor for velocity from analog sensor. This value is multiplied by the voltage to give an output value.
kAnalogAverageDepth	121	uint	0	Number of samples in moving average of velocity.
kAnalogSensorMode	122	uint	0	0 Absolute: In this mode the sensor position is always read as voltage * conversion factor and reads the absolute position of the sensor. In this mode setPosition() does not have an effect. 1 Relative: In this mode the voltage difference is summed to calculate a relative position.
kAnalogInverted	123	bool	0	When inverted, the voltage is calculated as (ADC Full Scale - ADC Reading). This means that for absolute mode, the sensor value is 3.3V - voltage. In relative mode the direction is reversed.
kAnalogSampleDelta	124	uint	0	Delta time between samples for velocity measurement
Reserved	125	-	-	Reserved
Reserved	126	-	-	Reserved
kDataPortConfig	127	uint	0	0: Default configuration using limit switches 1: Alternate Encoder Mode - limit switches are disabled and alternate encoder is enabled. This parameter persists through a normal firmware update.
kAltEncoderCountsPerRev	128	uint	4096	Number of encoder counts in a single revolution, counting every edge on the A and B lines of a quadrature encoder. (Note: This is different than the CPR spec of the encoder which is 'Cycles per revolution'. This value is 4 * CPR.
kAltEncoderAverageDepth	129	uint	64	Number of samples to average for velocity data based on quadrature encoder input. This value can be between 1 and 64.
kAltEncoderSampleDelta	130	uint	200	Delta time value for encoder velocity measurement in 500μs increments. The velocity calculation will take delta the current sample, and the sample x * 500μs behind, and divide by this the sample delta time. Can be any number between 1 and 255.
kAltEncoderInverted	131	bool	0	Invert the phase of the encoder sensor. This is useful when the motor direction is opposite of the motor direction.
kAltEncoderPositionFactor	132	float32	1	Value multiplied by the native units (rotations) of the encoder for position.
kAltEncoderVelocityFactor	133	float32	1	Value multiplied by the native units (rotations) of the encoder for velocity.