Migrating to REVLib 2025
Summary
The 2025 version of REVLib introduced a series of breaking changes from the previous year. These changes include:
An overhauled configuration system
Updated import paths
Renamed classes
For a more complete changelog, please see our 2025 beta release notes on GitHub.
Below shows how to migrate certain common tasks from previous versions of REVLib to the 2025 release.
Including the library and creating a SPARK object
In the 2025 version, all SPARK related classes moved to a spark
package in Java and a spark
namespace in C++.
In addition, some of the classes were renamed:
CANSparkMax
is nowSparkMax
CANSparkFlex
is nowSparkFlex
CANSparkLowLevel
is nowSparkLowLevel
SparkPIDController
is nowSparkClosedLoopController
Before
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkFlex;
import com.revrobotics.CANSparkLowLevel.MotorType;
import com.revrobotics.SparkPIDController;
CANSparkMax max = new CANSparkMax(1, MotorType.kBrushless);
CANSparkFlex flex = new CANSparkFlex(2, MotorType.kBrushless);
SparkPIDController maxPid = max.getPIDController();
After
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkClosedLoopController;
SparkMax max = new SparkMax(1, MotorType.kBrushless);
SparkFlex flex = new SparkFlex(2, MotorType.kBrushless);
SparkClosedLoopController maxPid = max.getClosedLoopController();
Configuring a SPARK
Instead of imperatively configuring parameters of the SPARK by calling methods directly on it and its auxiliary objects (sensors, closed loop controller, etc.), configuration parameters are set in a more declarative way through configuration objects and applying that configuration to the SPARK.
Before
CANSparkMax max = new CANSparkMax(1, MotorType.kBrushless);
RelativeEncoder enc = max.getEncoder();
SparkPIDController pid = max.getPIDController();
max.restoreFactoryDefaults();
max.setInverted(true);
max.setIdleMode(IdleMode.kBrake);
enc.setPositionConversionFactor(1000);
enc.setVelocityConversionFactor(1000);
pid.setFeedbackDevice(enc);
pid.setP(1.0);
pid.setI(0.0);
pid.setD(0.0);
max.burnFlash();
After
SparkMax max = new SparkMax(1, MotorType.kBrushless);
SparkMaxConfig config = new SparkMaxConfig();
config
.inverted(true)
.idleMode(IdleMode.kBrake);
config.encoder
.positionConversionFactor(1000)
.velocityConversionFactor(1000);
config.closedLoop
.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
.pid(1.0, 0.0, 0.0);
max.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
Retrieving a configuration parameter from a SPARK
With the new configuration system, parameter getters moved to a configAccessor
field in the SparkMax
and SparkFlex
.
Before
CANSparkMax max = new CANSparkMax(1, MotorType.kBrushless);
RelativeEncoder enc = max.getEncoder();
boolean isInverted = max.getInverted();
double positionConversionFactor = enc.getPositionConversionFactor();
double velocityConversionFactor = enc.getVelocityConversionFactor();
After
SparkMax max = new SparkMax(1, MotorType.kBrushless);
boolean isInverted = max.configAccessor.getInverted();
double positionFactor = max.configAccessor.encoder.getPositionConversionFactor();
double velocityFactor = max.configAccessor.encoder.getVelocityConversionFactor();
Setting status periods
Previously, setting status periods required the user to know which periodic status frame a signal belonged to. Now, status signals' periods can be individually configured, and REVLib will handle figuring out which status frame to adjust.
These values can be configured through the new configuration system.
Before
CANSparkMax max = new CANSparkMax(1, MotorType.kBrushless);
max.restoreFactoryDefaults();
// Adjust periodic status frame 2, which includes encoder position data
max.setPeriodicFramePeriod(PeriodicFrame.kStatus2, 5);
max.burnFlash();
double position = max.getEncoder().getPosition();
After
SparkMax max = new SparkMax(1, MotorType.kBrushless);
SparkMaxConfig config = new SparkMaxConfig();
config.signals.primaryEncoderPositionPeriodMs(5);
max.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
double position = max.getEncoder().getPosition();
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