> For the complete documentation index, see [llms.txt](https://docs.revrobotics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.revrobotics.com/revlib/spark.md).

# SPARK Motor Controllers

- [SPARK MAX vs SPARK Flex](https://docs.revrobotics.com/revlib/spark/max-vs-flex.md)
- [Configuring a SPARK](https://docs.revrobotics.com/revlib/spark/configuring-a-spark.md)
- [Closed Loop Control](https://docs.revrobotics.com/revlib/spark/closed-loop.md)
- [Closed Loop Control Getting Started](https://docs.revrobotics.com/revlib/spark/closed-loop/closed-loop-control-getting-started.md)
- [Getting Started with PID Tuning](https://docs.revrobotics.com/revlib/spark/closed-loop/getting-started-with-pid-tuning.md)
- [Units](https://docs.revrobotics.com/revlib/spark/closed-loop/units.md)
- [Feed Forward Control](https://docs.revrobotics.com/revlib/spark/closed-loop/feed-forward-control.md)
- [Position Control Mode](https://docs.revrobotics.com/revlib/spark/closed-loop/position-control-mode.md)
- [Velocity Control Mode](https://docs.revrobotics.com/revlib/spark/closed-loop/velocity-control-mode.md)
- [Current Control Mode](https://docs.revrobotics.com/revlib/spark/closed-loop/current-control-mode.md)
- [MAXMotion Position Control](https://docs.revrobotics.com/revlib/spark/closed-loop/maxmotion-position-control.md)
- [MAXMotion Velocity Control](https://docs.revrobotics.com/revlib/spark/closed-loop/maxmotion-velocity-control.md)
- [Simulation](https://docs.revrobotics.com/revlib/spark/sim.md)
- [Simulation Getting Started](https://docs.revrobotics.com/revlib/spark/sim/simulation-getting-started.md)
- [REVLib Simulation Feature Overview](https://docs.revrobotics.com/revlib/spark/sim/revlib-simulation-feature-overview.md)
- [Simulating Additional Sensors and Auxiliary Devices](https://docs.revrobotics.com/revlib/spark/sim/simulating-additional-sensors-and-auxiliary-devices.md)