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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.
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