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Migrating to REVLib

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.
Install the REVLib package.
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.
Install REVLib for C++ and Java.

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

import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.*;

Create Object CAN ID 1

private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);

TalonSRX talonSRX = new TalonSRX(1);

Reset Factory Defaults

sparkMax.restoreFactoryDefaults();

talonSRX.configFactoryDefault();

Select Encoder

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX

encoder = sparkMax.getEncoder();
encoder.setInverted(false);
sparkMax.setFeedbackDevice(encoder);

talonSRX.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, kPIDLoopIdx, Constants.kTimeoutMs);
talonSRX.setSensorPhase(true);

Set closed loop constants

pidController.setP(kP);
pidController.setI(kI);
pidController.setD(kD);
pidController.setIZone(kIz);
pidController.setFF(kFF);
pidController.setOutputRange(kMinOutput, kMaxOutput);

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

pidController.setReference(500.0, ControlType.kVelocity);

// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
talonSRX.set(ControlMode.Velocity, VelocityinUnitsPer100ms );

Read RPM of Motor

encoder.getVelocity();

talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

Read Applied Output Percent

sparkMax.getAppliedOutput();

talonSRX.getMotorOutputPercent();

Run Closed Loop Position Control

This example runs a position control loop for 10 rotations.

pidController.setReference(10.0, ControlType.kPosition);

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

encoder.setPositionFactor(M_PI * 4/15);

// No Equivellant

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).

pidController.setReference(24.0, ControlType.kPosition);

targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX.set(ControlMode.Position, targetPositionRotations);

Save Parameters

// Run after all parameters are set in RobotInit()
sparkMax.burnFlash();

//Automatic

Follow another device

sparkMax1.follow(sparkMax2);

talonSRX1.follow(talonSRX2);

Invert a device

sparkMax.setInverted(true);

talonSRX.setInverted(true);

Configure a limit switch

forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);

talonSRX.configForwardLimitSwitchSource(
                                        LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
                                        LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
                                        kTimeoutMs);

Disable a limit switch

forwardLimit.EnableLimitSwitch(false);

talonSRX.overrideLimitSwitchesEnable(true);

Migrating from CTRE Phoenix: C++

Include Library

#include "rev/CANSparkMax.h"

#include "ctre/Phoenix.h"

Create Object CAN ID 1

rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};

TalonSRX* talon = new TalonSRX(1);

Reset Factory Defaults

sparkMax.RestoreFactoryDefaults();

talon->ConfigFactoryDefault();

Select Encoder

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.

rev::CANEncoder encoder = sparkMax.GetEncoder(rev::CANEncoder::EncoderType::kQuadrature, 4096);
encoder.SetInverted(true);
sparkMax.SetFeedbackDevice(encoder);

talonSRX->ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0, kTimeoutMs);
talonSRX->SetSensorPhase(true);

Set closed loop constants

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);

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

pidController.SetReference(500.0, rev::ControlType::kVelocity);

"// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
talonSRX->Set(ControlMode::Velocity, VelocityinUnitsPer100ms );

Read RPM of Motor

encoder.GetVelocity();

talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

Read Applied Output Percent

sparkMax.GetAppliedOutput();

talonSRX->GetMotorOutputPercent();

Run Closed Loop Position Control

This example runs a position control loop for 10 rotations.

pidController.SetReference(10.0, rev::ControlType::kPosition);

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

encoder.SetPositionFactor( M_PI * 4 / 15 );

// No Equivellant

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).

pidController.SetReference(24.0, rev::ControlType::kPosition);

targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX->Set(ControlMode::Position, targetPositionRotations);

Save Parameters

// Run after all parameters are set in RobotInit()
sparkMax.BurnFlash();

//Automatic

Follow another device

sparkMax1.Follow(sparkMax2);

talonSRX1->Follow(*talon2);

Invert a device

sparkMax.SetInverted(true);

talonSRX->SetInverted(true);

Configure a limit switch

rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);

talonSRX->ConfigForwardLimitSwitchSource(
					LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
					LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
					kTimeoutMs);

Disable a limit switch

forwardLimit.EnableLimitSwitch(false);

talonSRX->OverrideLimitSwitchesEnable(true);

Migrating to REVLib

Migrating from the SPARK MAX API and/or Color Sensor V3 API

LabVIEW migration

Ensure that the old SPARK MAX API and/or Color Sensor V3 API packages are uninstalled.
Install the REVLib package.
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.
Install REVLib for C++ and Java.

Migrating from CTRE Phoenix

Migrating from CTRE Phoenix: Java

Include Library

import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import com.ctre.phoenix.motorcontrol.can.*;
import com.ctre.phoenix.motorcontrol.*;

Create Object CAN ID 1

private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);

TalonSRX talonSRX = new TalonSRX(1);

Reset Factory Defaults

sparkMax.restoreFactoryDefaults();

talonSRX.configFactoryDefault();

Select Encoder

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX

encoder = sparkMax.getEncoder();
encoder.setInverted(false);
sparkMax.setFeedbackDevice(encoder);

talonSRX.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, kPIDLoopIdx, Constants.kTimeoutMs);
talonSRX.setSensorPhase(true);

Set closed loop constants

pidController.setP(kP);
pidController.setI(kI);
pidController.setD(kD);
pidController.setIZone(kIz);
pidController.setFF(kFF);
pidController.setOutputRange(kMinOutput, kMaxOutput);

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

pidController.setReference(500.0, ControlType.kVelocity);

// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
talonSRX.set(ControlMode.Velocity, VelocityinUnitsPer100ms );

Read RPM of Motor

encoder.getVelocity();

talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

Read Applied Output Percent

sparkMax.getAppliedOutput();

talonSRX.getMotorOutputPercent();

Run Closed Loop Position Control

This example runs a position control loop for 10 rotations.

pidController.setReference(10.0, ControlType.kPosition);

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

encoder.setPositionFactor(M_PI * 4/15);

// No Equivellant

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).

pidController.setReference(24.0, ControlType.kPosition);

targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX.set(ControlMode.Position, targetPositionRotations);

Save Parameters

// Run after all parameters are set in RobotInit()
sparkMax.burnFlash();

//Automatic

Follow another device

sparkMax1.follow(sparkMax2);

talonSRX1.follow(talonSRX2);

Invert a device

sparkMax.setInverted(true);

talonSRX.setInverted(true);

Configure a limit switch

forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);

talonSRX.configForwardLimitSwitchSource(
                                        LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
                                        LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
                                        kTimeoutMs);

Disable a limit switch

forwardLimit.EnableLimitSwitch(false);

talonSRX.overrideLimitSwitchesEnable(true);

Migrating from CTRE Phoenix: C++

Include Library

#include "rev/CANSparkMax.h"

#include "ctre/Phoenix.h"

Create Object CAN ID 1

rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};

TalonSRX* talon = new TalonSRX(1);

Reset Factory Defaults

sparkMax.RestoreFactoryDefaults();

talon->ConfigFactoryDefault();

Select Encoder

This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.

rev::CANEncoder encoder = sparkMax.GetEncoder(rev::CANEncoder::EncoderType::kQuadrature, 4096);
encoder.SetInverted(true);
sparkMax.SetFeedbackDevice(encoder);

talonSRX->ConfigSelectedFeedbackSensor(FeedbackDevice::CTRE_MagEncoder_Relative, 0, kTimeoutMs);
talonSRX->SetSensorPhase(true);

Set closed loop constants

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);

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

pidController.SetReference(500.0, rev::ControlType::kVelocity);

"// Convert from 500 RPM to 'native units'
double VelocityinUnitsPer100ms  = 500.0 * 4096 / 600;
talonSRX->Set(ControlMode::Velocity, VelocityinUnitsPer100ms );

Read RPM of Motor

encoder.GetVelocity();

talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;

Read Applied Output Percent

sparkMax.GetAppliedOutput();

talonSRX->GetMotorOutputPercent();

Run Closed Loop Position Control

This example runs a position control loop for 10 rotations.

pidController.SetReference(10.0, rev::ControlType::kPosition);

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

encoder.SetPositionFactor( M_PI * 4 / 15 );

// No Equivellant

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).

pidController.SetReference(24.0, rev::ControlType::kPosition);

targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX->Set(ControlMode::Position, targetPositionRotations);

Save Parameters

// Run after all parameters are set in RobotInit()
sparkMax.BurnFlash();

//Automatic

Follow another device

sparkMax1.Follow(sparkMax2);

talonSRX1->Follow(*talon2);

Invert a device

sparkMax.SetInverted(true);

talonSRX->SetInverted(true);

Configure a limit switch

rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);

talonSRX->ConfigForwardLimitSwitchSource(
					LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
					LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
					kTimeoutMs);

Disable a limit switch

forwardLimit.EnableLimitSwitch(false);

talonSRX->OverrideLimitSwitchesEnable(true);