# Migrating from REVLib 2024 or Older

{% hint style="info" %}
Only SPARK MAX and SPARK Flex are affected by the REVLib 2025 release. Color Sensor V3 is unaffected.
{% endhint %}

## 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](https://github.com/REVrobotics/REV-Software-Binaries/releases/tag/revlib-2025.0.0-beta-1) 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 now `SparkMax`
* `CANSparkFlex` is now `SparkFlex`
* `CANSparkLowLevel` is now `SparkLowLevel`
* `SparkPIDController` is now `SparkClosedLoopController`

{% tabs %}
{% tab title="Java" %}

### Before

```java
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

```java
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();
```

{% endtab %}

{% tab title="C++" %}

### Before

```cpp
#include <rev/CANSparkMax.h>
#include <rev/CANSparkFlex.h>

using namespace rev;

CANSparkMax m_max{1, CANSparkMax::MotorType::kBrushless};
CANSparkFlex m_flex{2, CANSparkFlex::MotorType::kBrushless};
SparkPIDController m_maxPid = m_max.GetPIDController();
```

### After

```cpp
#include <rev/SparkMax.h>
#include <rev/SparkFlex.h>

using namespace rev::spark;

SparkMax m_max{1, SparkMax::MotorType::kBrushless};
SparkFlex m_flex{2, SparkFlex::MotorType::kBrushless};
SparkClosedLoopController m_maxPid = m_max.GetClosedLoopController();
```

{% endtab %}
{% endtabs %}

## 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.

{% hint style="info" %}
A more complete guide on the new configuration system will soon be available.
{% endhint %}

{% hint style="info" %}
For simplicity, only an example for SPARK MAX is provided. The following will still be valid for a SPARK Flex object.
{% endhint %}

{% tabs %}
{% tab title="Java" %}

### Before

```java
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

```java
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);
```

{% endtab %}

{% tab title="C++" %}

### Before

```cpp
using namespace rev;

CANSparkMax m_max{1, MotorType.kBrushless};
SparkRelativeEncoder m_enc = m_max.GetEncoder();
SparkPIDController m_pid = m_max.GetPIDController();

m_max.RestoreFactoryDefaults();

m_max.SetInverted(true);
m_max.SetIdleMode(IdleMode.kBrake);
m_enc.SetPositionConversionFactor(1000);
m_enc.SetVelocityConversionFactor(1000);
m_pid.SetFeedbackDevice(enc);
m_pid.SetP(1.0);
m_pid.SetI(0.0);
m_pid.SetD(0.0);

m_max.BurnFlash();
```

### After

```cpp
using namespace rev::spark;

SparkMax m_max{1, SparkMax::MotorType::kBrushless};
SparkMaxConfig config{};

config
    .Inverted(true)
    .SetIdleMode(SparkMaxConfig::IdleMode::kBrake);
config.encoder
    .PositionConversionFactor(1000)
    .VelocityConversionFactor(1000);
config.closedLoop
    .SetFeedbackSensor(ClosedLoopConfig::FeedbackSensor::kPrimaryEncoder)
    .Pid(1.0, 0.0, 0.0);
    
m_max.Configure(config, SparkMax::ResetMode::kResetSafeParameters, SparkMax::PersistMode::kPersistParameters);
```

{% endtab %}
{% endtabs %}

## Retrieving a configuration parameter from a SPARK

With the new configuration system, parameter getters moved to a `configAccessor` field in the `SparkMax` and `SparkFlex`.

{% hint style="info" %}
For simplicity, only an example for SPARK MAX is provided. The following will still be valid for a SPARK Flex object.
{% endhint %}

{% tabs %}
{% tab title="Java" %}

### Before

```java
CANSparkMax max = new CANSparkMax(1, MotorType.kBrushless);
RelativeEncoder enc = max.getEncoder();

boolean isInverted = max.getInverted();
double positionConversionFactor = enc.getPositionConversionFactor();
double velocityConversionFactor = enc.getVelocityConversionFactor();
```

### After

```java
SparkMax max = new SparkMax(1, MotorType.kBrushless);

boolean isInverted = max.configAccessor.getInverted();
double positionFactor = max.configAccessor.encoder.getPositionConversionFactor();
double velocityFactor = max.configAccessor.encoder.getVelocityConversionFactor();
```

{% endtab %}

{% tab title="C++" %}

### Before

```cpp
using namespace rev;

CANSparkMax m_max{1, CANSparkMax::MotorType::kBrushless};
SparkRelativeEncoder m_enc = m_max.GetEncoder();

bool isInverted = m_max.GetInverted();
double positionFactor = m_enc.GetPositionConversionFactor();
double velocityFactor = m_enc.GetVelocityConversionFactor();
```

### After

```cpp
using namespace rev::spark;

SparkMax m_max{1, SparkMax::MotorType::kBrushless};

bool isInverted = m_max.configAccessor.GetInverted();
double positionFactor = m_max.configAccessor.encoder.GetPositionConversionFactor();
double velocityFactor = m_max.configAccessor.encoder.GetVelocityConversionFactor();
```

{% endtab %}
{% endtabs %}

## 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.

{% hint style="info" %}
For simplicity, only an example for SPARK MAX is provided. The following will still be valid for a SPARK Flex object.
{% endhint %}

{% tabs %}
{% tab title="Java" %}

### Before

```java
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

```java
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();
```

{% endtab %}

{% tab title="C++" %}

### Before

```cpp
using namespace rev;

CANSparkMax m_max{1, MotorType.kBrushless};

m_max.RestoreFactoryDefaults();
// Adjust periodic status frame 2, which includes encoder position data
m_max.SetPeriodicFramePeriod(CANSparkMax::PeriodicFrame::kStatus2, 5);
m_max.BurnFlash();

double position = m_max.GetEncoder().GetPosition();
```

### After

```cpp
using namespace rev::spark;

SparkMax m_max{1, SparkMax::MotorType::kBrushless};
SparkMaxConfig config{};

config.signals.PrimaryEncoderPositionPeriodMs(5);
    
m_max.Configure(config, SparkMax::ResetMode::kResetSafeParameters, SparkMax::PersistMode::kPersistParameters);

double position = m_max.GetEncoder().GetPosition();
```

{% endtab %}
{% endtabs %}