Migrating from CTRE Phoenix to SPARK MAX

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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. 
JAVA
Include Library
REV SPARK MAX
Phoenix Framework
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
REV SPARK MAX
Phoenix Framework
private CANSparkMax sparkMax = new CANSparkMax(deviceID, MotorType.kBrushless);
TalonSRX talonSRX = new TalonSRX(1);
Reset Factory Defaults
REV SPARK MAX
Phoenix Framework
sparkMax.restoreFactoryDefaults();
talonSRX.configFactoryDefault();
Select Encoder
This is a brushed motor feature and not needed for using brushless motors with SPARK MAX
REV SPARK MAX
Phoenix Framework
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
REV SPARK MAX
Phoenix Framework
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
REV SPARK MAX
Phoenix Framework 
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
REV SPARK MAX
Phoenix Framework
encoder.getVelocity();
talonSRX.getSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;
Read Applied Output Percent
REV SPARK MAX
Phoenix Framework
sparkMax.getAppliedOutput();
talonSRX.getMotorOutputPercent();
Run Closed Loop Position Control
This example runs a position control loop for 10 rotations.
REV SPARK MAX
Phoenix Framework
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
REV SPARK MAX
Phoenix Framwork
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).
REV SPARK MAX
Phoenix Framework
pidController.setReference(24.0, ControlType.kPosition);
targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX.set(ControlMode.Position, targetPositionRotations);
Save Parameters
REV SPARK MAX
Phoenix Framework
// Run after all parameters are set in RobotInit()
sparkMax.burnFlash();
//Automatic
Follow another device
REV SPARK MAX
Phoenix Framework
sparkMax1.follow(sparkMax2);
talonSRX1.follow(talonSRX2);
Invert a device
REV SPARK MAX
Phoenix Framework
sparkMax.setInverted(true);
talonSRX.setInverted(true);
Configure a limit switch
REV SPARK MAX
Phoenix Framework
forwardLimit = sparkMax.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
talonSRX.configForwardLimitSwitchSource(
                                        LimitSwitchSource.LimitSwitchSource_FeedbackConnector,
                                        LimitSwitchNormal.LimitSwitchNormal_NormallyOpen,
                                        kTimeoutMs);
Disable a limit switch
REV SPARK MAX
Phoenix Framework
forwardLimit.EnableLimitSwitch(false);
talonSRX.overrideLimitSwitchesEnable(true);
C++
Include Library
REV SPARK MAX
Phoenix Framework
#include "rev/CANSparkMax.h"
#include "ctre/Phoenix.h"
Create Object CAN ID 1
REV SPARK MAX
Phoenix Framework
rev::CANSparkMax sparkMax{1, rev::CANSparkMax::MotorType::kBrushless};
TalonSRX* talon = new TalonSRX(1);
Reset Factory Defaults
REV SPARK MAX
Phoenix Framework
sparkMax.RestoreFactoryDefaults();
talon->ConfigFactoryDefault();
Select Encoder
This is a brushed motor feature and not needed for using brushless motors with SPARK MAX.
REV SPARK MAX
Phoenix Framework
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 SPARK MAX
Phoenix Framework
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
REV SPARK MAX
Phoenix Framework 
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
REV SPARK MAX
Phoenix Framework
encoder.GetVelocity();
talonSRX->GetSelectedSensorVelocity(kPIDLoopIdx) * 600 / 4096;
Read Applied Output Percent
REV SPARK MAX
Phoenix Framework
sparkMax.GetAppliedOutput();
talonSRX->GetMotorOutputPercent();
Run Closed Loop Position Control
This example runs a position control loop for 10 rotations.
REV SPARK MAX
Phoenix Framework
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
REV SPARK MAX
Phoenix Framwork
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).
REV SPARK MAX
Phoenix Framework
pidController.SetReference(24.0, rev::ControlType::kPosition);
targetPositionRotations = (M_PI * 4 / 15 * 4096) * 24;
talonSRX->Set(ControlMode::Position, targetPositionRotations);
Save Parameters
REV SPARK MAX
Phoenix Framework
// Run after all parameters are set in RobotInit()
sparkMax.BurnFlash();
//Automatic
Follow another device
REV SPARK MAX
Phoenix Framework
sparkMax1.Follow(sparkMax2);
talonSRX1->Follow(*talon2);
Invert a device
REV SPARK MAX
Phoenix Framework
sparkMax.SetInverted(true);
talonSRX->SetInverted(true);
Configure a limit switch
REV SPARK MAX
Phoenix Framework
rev::CANDigitalInput forwardLimit = sparkMax.GetForwardLimitSwitch(rev::CANDigitalInput::LimitSwitchPolarity::kNormallyOpen);
talonSRX->ConfigForwardLimitSwitchSource(
					LimitSwitchSource::LimitSwitchSource_FeedbackConnector,
					LimitSwitchNormal::LimitSwitchNormal_NormallyOpen,
					kTimeoutMs);
Disable a limit switch
REV SPARK MAX
Phoenix Framework
forwardLimit.EnableLimitSwitch(false);
talonSRX->OverrideLimitSwitchesEnable(true);

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Last modified 10mo ago

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On this page

JAVA

Include Library

Create Object CAN ID 1

Reset Factory Defaults

Select Encoder

Set closed loop constants

Run Closed Loop Velocity Control

Read RPM of Motor

Read Applied Output Percent

Run Closed Loop Position Control

Change Units from 'rotations' to 'inches'

Run Closed Loop Position Control for a set distance

Save Parameters

Follow another device

Invert a device

Configure a limit switch

Disable a limit switch

C++